CN109452905A - Autonomous mobile apparatus - Google Patents
Autonomous mobile apparatus Download PDFInfo
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- CN109452905A CN109452905A CN201811399760.9A CN201811399760A CN109452905A CN 109452905 A CN109452905 A CN 109452905A CN 201811399760 A CN201811399760 A CN 201811399760A CN 109452905 A CN109452905 A CN 109452905A
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- Prior art keywords
- machine body
- mobile apparatus
- autonomous mobile
- protective cover
- sensor
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- 230000001681 protective effect Effects 0.000 claims abstract description 97
- 230000001939 inductive effect Effects 0.000 claims abstract description 57
- 230000004888 barrier function Effects 0.000 claims abstract description 31
- 230000001960 triggered effect Effects 0.000 claims abstract description 22
- 230000006698 induction Effects 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 17
- 238000001514 detection method Methods 0.000 description 8
- 238000004140 cleaning Methods 0.000 description 6
- 238000003860 storage Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
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- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
- 241000208340 Araliaceae Species 0.000 description 1
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- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
-
- 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
-
- 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
- A47L11/4002—Installations of electric equipment
-
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of autonomous mobile apparatus, including machine body, protective cover and sensor module, the protective cover is rotatably set on the machine body, the protective cover can be rotated around at least one of first axle and second axis, the first axle and the second axis are not parallel, when the protective cover is rotated relative to the machine body, the sensor module can be triggered and issue inductive signal to the machine body, the machine body executes movement of getting rid of poverty according to the inductive signal, to make the autonomous mobile apparatus far from barrier, avoid autonomous mobile apparatus stuck by barrier.
Description
Technical field
The present invention relates to autonomous technical field, in particular to a kind of autonomous mobile apparatus.
Background technique
Autonomous mobile apparatus, such as clean robot are the equipment for being not necessarily to user's operation and capableing of autonomous.It is autonomous to move
Protective cover is arranged in the top of dynamic equipment.During autonomous mobile apparatus is advanced, the protective cover of autonomous mobile apparatus may
Because barrier blocks, such as the space below bed or sofa, prevent autonomous mobile apparatus influences autonomous mobile apparatus from moving
Working efficiency.
Summary of the invention
In order to solve foregoing problems, the present invention, which provides, a kind of can be avoided the autonomous mobile apparatus stuck by barrier.
A kind of autonomous mobile apparatus, including machine body, protective cover and sensor module, the protective cover is rotatably
It is set on the machine body, the protective cover can be rotated around at least one of first axle and second axis, described
First axle and the second axis are not parallel, when the protective cover is rotated relative to the machine body, can trigger the biography
Sensor component issues inductive signal to the machine body, and the machine body executes movement of getting rid of poverty according to the inductive signal,
To make the protective cover far from barrier.
Autonomous mobile apparatus provided by the invention, since the protective cover can be around not parallel first axle and second axis
At least one of rotation, when the protective cover collides barrier, can trigger sensor module and issue inductive signal, and make
The machine body can determine the barrier in multiple directions around, and execute movement of getting rid of poverty, greatly improve get rid of poverty it is several
Rate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the three-dimensional assembling schematic diagram of the part-structure of autonomous mobile apparatus provided in an embodiment of the present invention.
Fig. 2 is the top view of autonomous mobile apparatus shown in FIG. 1.
Fig. 3 is the partial cutaway schematic view of autonomous mobile apparatus shown in FIG. 1.
Fig. 4 is the part-structure perspective exploded view of autonomous mobile apparatus shown in FIG. 1.
Fig. 5 is the stereoscopic schematic diagram of first rotating shaft provided in an embodiment of the present invention.
Fig. 6 is the three-dimensional assembling schematic diagram that autonomous mobile apparatus shown in FIG. 1 removes protective cover and rotating assembly.
Fig. 7 is the top view that autonomous mobile apparatus shown in FIG. 1 removes protective cover and rotating assembly.
Fig. 8 is the three-dimensional assembling schematic diagram of sensor module provided in an embodiment of the present invention.
Fig. 9 is the perspective exploded view of sensor module shown in Fig. 8.
Figure 10 is the structural block diagram of autonomous mobile apparatus.
Figure 11 is another diagrammatic cross-section of autonomous mobile apparatus shown in FIG. 1.
Figure 12 is the stereoscopic schematic diagram of elastic component provided in an embodiment of the present invention.
Figure 13 is one stress diagram when the protective cover of autonomous mobile apparatus encounters barrier.
Figure 14 is that the protective cover of autonomous mobile apparatus encounters another stress diagram when barrier.
Figure 15 is that the protective cover of autonomous mobile apparatus encounters another stress diagram when barrier.
Figure 16 is the top view for the autonomous mobile apparatus that one embodiment of the invention provides.
Figure 17 is a structural block diagram of the autonomous mobile apparatus that one embodiment of the invention provides.
Figure 18 is the bottom view of autonomous mobile apparatus shown in Figure 16.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, Fig. 1 is the vertical of the part-structure of autonomous mobile apparatus provided in an embodiment of the present invention
Body assembling schematic diagram, Fig. 2 are the top view of autonomous mobile apparatus shown in FIG. 1, and Fig. 3 is autonomous mobile apparatus shown in FIG. 1
Partial cutaway schematic view.
Autonomous mobile apparatus 100 includes machine body 10, protective cover 30 and sensor module 50.Protective cover 30 can rotate
Ground is set on machine body 10, for protecting the function element on machine body 10.Fig. 4 is please referred to, Fig. 4 is
The part-structure perspective exploded view of autonomous mobile apparatus provided in an embodiment of the present invention.Protective cover 30 can be with respect to machine master
Body 10 is rotated around at least one of first axle 101 and second axis 103, and first axle 101 and second axis 103 are uneven
Row.Sensor module 50 is fixedly installed on machine body 10.When protective cover 30 is rotated relative to machine body 10, biography can be triggered
Sensor component 50 issues inductive signal to machine body 10, and machine body 10 determines the side of barrier according to the inductive signal
Position, and movement of getting rid of poverty is executed, to make protective cover 50 far from barrier.
In present embodiment, since protective cover 30 can be in not parallel first axle 101 and second axis 103 at least
One rotation to can trigger sensor module 50 when protective cover 30 collides barrier and issue inductive signal, and makes machine
Device main body 10 can determine the barrier in multiple directions around, and execute movement of getting rid of poverty, and greatly improve the probability got rid of poverty.
Specifically, the function element on machine body 10 includes position determining means 11, position determining means 11 are convexly equipped in
For measuring the ginseng such as size of the distance between autonomous mobile apparatus 100 and side object and side object on machine body 10
Number.Protective cover 30 forms accommodating chamber 35, and position determining means 11 are partially housed in accommodating chamber 35.In present embodiment, position is true
Determining device 11 is laser radar.
In the present embodiment, protective cover 30 is set to the top of machine body 10, and position determining means 11 protrude machine body 10
Upper setting and can 360 degree of detecting surrounding objects at a distance from machine body 10 and the size of surrounding objects, and since position is true
Determine device 11 to be set in protective cover 30, will not be damaged because of collision.
Protective cover 30 includes the first cover 31 and the second cover 33 being fixed together with the first cover 31.Second cover 33
Side set on protective cover 30 far from machine body 10.First cover 31 and the second cover 33 are collectively formed accommodated position and determine dress
Set 11 accommodating chamber 35.First cover 31 is substantially cylindrical.Position determining means 11 are partially housed in the first cover 31 and
In the accommodating chamber 35 that two covers 33 are collectively formed.
Gap 37 is formed between first cover 31 and the second cover 33, is swashed for what is emitted by position determining means 11
Light.The surrounding between the first cover 31 and the setting of 32 periphery of the second cover between the first cover 31 and the second cover 33 of gap 37
Gap, thus, position determining means 11 can 360 degree launch outward laser, and can 360 degree of detecting surrounding objects and machine body 10
The size of distance and surrounding objects.It is appreciated that protective cover 30 can be integrated manufactured cover, protective cover 30 can be to engrave
Hollow structure, also can protect position determining means 11 while facilitating position determining means 11 to launch outward laser.
Autonomous mobile apparatus 100 further includes rotating assembly 40.Rotating assembly 40 includes first rotating shaft 41 and the second shaft 43.
First rotating shaft 41 and machine body 10 are rotatablely connected.First cover 31 is rotatablely connected by the second shaft 43 with first rotating shaft 41.
Referring to Fig. 5, Fig. 5 is the stereoscopic schematic diagram of first rotating shaft provided in an embodiment of the present invention.First rotating shaft 41 is substantially
T-shaped structure.First rotating shaft 41 includes shaft ontology 411 and the mounting portion 413 being fixedly connected with shaft ontology 411.Shaft sheet
Body 411 has first axle 101.Connecting hole 15 (as shown in Figure 3) is set on machine body 10.Shaft ontology 411 and machine body 10
Connecting hole 15 be rotatablely connected.Wherein, mounting portion 413 has mounting hole 4131, and mounting hole 4131 has second axis 103.
Further, referring to Fig. 4, the first cover 31 includes installing department 311 and articulated section 313.Installing department 311 with
Second cover 33 is fixedly connected.Articulated section 313 is convexly equipped in separate second cover, 33 side of installing department 311.Second shaft 43 is living
The mounting hole 4131 of the dynamic mounting portion 413 for being arranged in first rotating shaft 41 is simultaneously rotatablely connected with articulated section 313.In second shaft 43 tool
Mandrel line 105.Central axis 105 is overlapped with the second axis 103 of mounting portion 413.Protective cover 30 passes through first rotating shaft 41 and the
Two shafts 43 connect with the rotation of machine body 10, so that realizing can be around at least one in first axle 101 and second axis 103
It is a to be rotated relative to machine body 10.
In present embodiment, shaft ontology 411 and 413 vertical connection of mounting portion, first axle 101 and second axis 103
It is mutually perpendicular to.It is appreciated that the shape and structure and set-up mode to first rotating shaft 41 and the second shaft 43 are not construed as limiting, meet and protect
Shield 30 can be rotated around at least one of first axle 101 and second axis 103 relative to machine body 10, for example,
First rotating shaft 41 can be to be rod-shaped etc., and first rotating shaft 41 can be provided separately with the second shaft 43, first axle 101 and the second axis
Line 103 can also be located at two in the coplanar interior setting that intersects, first axle 103 with second axis 103 and put down
Face.
Angle between first axle 101 and second axis 103 is also possible to other angles for being not equal to zero, that is, first
Axis 101 and second axis 103 at an acute angle can also be arranged, as long as meeting protective cover 30 around first axle 101 and second axis
103 relative to machine body 10 rotate when rotation direction be greater than two, thus, the collision of multiple angles can be responded and turned
It is dynamic, and accordingly make sensor module 50 that can be triggered with multi-angle, and realize getting rid of poverty for multi-angle.
In some embodiments, first axle 101 is the axis that vertical direction extends, and second axis 103 is horizontal direction
The axis of extension, thus, protective cover 30 can carry out in the horizontal direction back rotation with respect to machine body 10, and in the vertical direction
Carry out back rotation, and realize four direction/angle collision triggering and get rid of poverty, wherein the vertical direction, horizontal direction refer to
It is direction when autonomous mobile apparatus 100 is placed on the loading ends such as ground.
In one embodiment, the second shaft 43 can be omitted, and protective cover 30 is straight by articulated section 313 and mounting portion 4131
It connects and is articulated in together.In one embodiment, can be turned by more than two shafts between protective cover 30 and machine body 10
It is dynamic to connect, realize that protective cover 30 can carry out multiple free angle movements with respect to machine body 10.That is, in some embodiments,
Protective cover 30 relative to machine body 10 rotation institute around axis can also be the quantity such as three, four, and this grade axis it is not parallel,
To which the rotation of more perspective can be responded, trigger and get rid of poverty by realizing.
Fig. 6 and Fig. 7 is please referred to, Fig. 6 is three-dimensional group that autonomous mobile apparatus shown in FIG. 1 removes protective cover and rotating assembly
Schematic diagram is filled, Fig. 7 is the top view that autonomous mobile apparatus shown in FIG. 1 removes protective cover and rotating assembly.Sensor module 50
The power of multiple directions can be sensed and generate corresponding inductive signal.Specifically, in protective cover 30 by external force with respect to machine master
When body 10 rotates and contradicts sensor module 50, sensor module 50, which is triggered, generates different inductive signals, so that machine master
Body 10 executes different movements of getting rid of poverty according to different inductive signals.
Fig. 8 and Fig. 9 are please referred to, Fig. 8 is the three-dimensional assembling schematic diagram of sensor module provided in an embodiment of the present invention, Fig. 9
For the perspective exploded view of sensor module shown in Fig. 8.Sensor module 50 is including circuit board 51 and is fixed on circuit board
Sensor 53 on 51.Circuit board 51 is fixed on machine body 10.Sensor 53 is fixed on circuit board 51.Protective cover 30 by
To external force relative to machine body 10 rotate when contradict sensor 53, sensor 53 in response to protective cover 30 conflict and the generation that is triggered
Inductive signal, so that machine body 10 executes movement of getting rid of poverty according to inductive signal.Wherein, when autonomous mobile apparatus 100 and obstacle
When object collides, then external force can be generated to protective cover 30 due to collision.
Referring to Fig. 10, Figure 10 is the structural block diagram of autonomous mobile apparatus.Machine body 10 further includes 17 He of processing unit
Driving unit 19.
Processing unit 17 is electrically connected with sensor 53, for the inductive signal that receiving sensor 53 generates, processing unit 17
Actuated signal control driving unit 19 drives machine body 10 to execute movement of getting rid of poverty based on the received, and realizes de- from barrier
It is tired.Processing unit 17 is arranged on the circuit board in the machine body 10 of autonomous mobile apparatus 100, can be determined and be filled according to position
Set the ambient enviroment object of the feedbacks such as 11 information and preset location algorithm, draw autonomous mobile apparatus 100 local environment
Instant map.Processing unit 17 can also be according to steep cliff sensor, ultrasonic sensor, infrared sensor, magnetometer, acceleration
The range information and velocity information comprehensive descision autonomous mobile apparatus 100 of the devices such as meter, gyroscope, odometer feedback are presently in
Working condition.Processing unit 17 can be by one or more application specific integrated circuit (ASIC), digital signal processor
(DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processing
Unit, microprocessing unit, microprocessor or other electronic components are realized, for executing the recharging side in the embodiment of the present disclosure
Method.Driving unit 19 includes the motor for applying driving force.
In present embodiment, sensor 53 is multistage microswitch.Sensor 53 includes the touching being arranged towards different directions
Hair point 531.Trigger sensor 53 above-mentioned refers to be that protective cover 30 is contradicted to biography when protective cover 30 is moved with respect to machine body 10
Trigger sensor 53 generates corresponding inductive signal in turn for the trigger point 531 of sensor 53.Wherein, at least one trigger point 531 is set
In the top of sensor 53, remaining trigger point 531 is set to the side of sensor 53.Protective cover 30 triggers different trigger points
When 531, sensor 53 generates different inductive signals, and is sent to processing unit 17.
In present embodiment, trigger point 531 includes the first trigger point 5311, the second trigger point 5313 and third trigger point
5315.From the second trigger point 5313 set on the side of sensor 53 and towards different directions, third is touched for first trigger point 5311
Hair point 5315 is set to the top of sensor 53.When the first trigger point 5311 is triggered, sensor 53 generates the first induction letter
Number and be sent to processing unit 17；When the second trigger point 5313 is triggered, sensor 53 generates the second inductive signal and transmits
To processing unit 17；When third trigger point 5315 is triggered, sensor 53 generates third inductive signal and is sent to processing list
Member 17.First inductive signal, second inductive signal and the third inductive signal be not identical, the first induction letter
It number is used to indicate machine body 10 and executes first and get rid of poverty movement, second inductive signal is used to indicate the execution of machine body 10 the
Two get rid of poverty movement, and the third inductive signal, which is used to indicate machine body 10 and executes third, gets rid of poverty movement.
Further, the first trigger point 5311 is arranged towards the left of autonomous mobile apparatus 100,5313 court of the second trigger point
It is arranged to the right of autonomous mobile apparatus 100.Described first movement of getting rid of poverty is machine body 10 to the right back of machine body 10
Mobile, the described second movement of getting rid of poverty is that machine body 10 is mobile to the left back of machine body 10, and third movement of getting rid of poverty is
Machine body 10 is mobile to the rear of machine body 10.
When the first trigger point 5311 is triggered, illustrate that there is barrier in the left of protective cover 30, sensor 53 generates first
Inductive signal, processing unit 17 execute described first according to the first traffic actuated controller device main body 10 and get rid of poverty movement, from
And make the barrier of the disengaging of protective cover 30 left.
When the second trigger point 5313 is triggered, illustrate that there is barrier in the right of protective cover 30, sensor 53 generates second
Inductive signal, processing unit 17 executes second according to the second traffic actuated controller device main body 10 and gets rid of poverty movement, to make
The barrier of the disengaging of protective cover 30 right.
When third trigger point 5315 is triggered, illustrate that there are barrier, sensor 53 in the front of protective cover 30 or top
Third inductive signal is generated, processing unit 17 is got rid of poverty dynamic according to the third traffic actuated controller device main body 10 execution third
Make, to be detached from the front of protective cover 30 or the barrier at top.
It is appreciated that described first get rid of poverty movement be not limited to machine body 10 to the right back of machine body 10 move
Dynamic, it may be that machine body 10 is mobile to the right of machine body 10 or other directions are mobile that described first, which gets rid of poverty, which acts,；
Described second gets rid of poverty, and to be not limited to machine body 10 mobile to the left back of machine body 10 for movement, and described second gets rid of poverty movement
Or machine body 10 is mobile to the left of machine body 10 or other directions are mobile；The third gets rid of poverty movement not
It is mobile to the rear of machine body 10 to be limited to machine body 10, the third gets rid of poverty movement or machine body 10 to machine
The left of device main body 10 or right are mobile, and in other words, the corresponding movement of getting rid of poverty of each inductive signal can be such that autonomous sets
Standby 100 get rid of poverty.
In one embodiment, sensor module 50 can also be fixed on protective cover 30, when protective cover 30 is with respect to machine
When main body 10 moves, the trigger sensor component 50 due to movement of the protective cover 30 with respect to machine body 10 of machine body 10 passes
Sensor component 50 is fixed on one of protective cover 30 and machine body 10.
It is appreciated that with no restriction to the type of sensor 53, being not construed as limiting to the quantity of sensor 53, sensor 53 can
Think multiple same or different sensors, provides multiple inductions when the power in protective cover 30 by different directions to reach
The purpose of signal, for example, can include with three common microswitch combination replacement multistage microswitches or sensor 53
Hall sensor, at least one of infrared inductor and microswitch.
Figure 11 is please referred to, Figure 11 is another diagrammatic cross-section of autonomous mobile apparatus shown in FIG. 1.Autonomous mobile apparatus 100
It further include elastic component 60, elastic component 60 is connected between machine body 10 and the installing department 311 of protective cover 30, is used to help protect
Cover 30 replys initial position.When protective cover 30, which is not affected by barrier, to be squeezed, sensor 53 is in non-triggering state；Work as protective cover
30 contradict sensors 53 on trigger point 531 when, sensor 53 is in triggering state；When autonomous mobile apparatus 100 is got rid of poverty, protect
Shield 30 is because the active force of elastic component 60 replys the initial position, at this point, passing since protective cover 30 is not contradicted with sensor 53
The stopping of sensor 53 generates inductive signal, and processing unit 17 accordingly stops control machine body 10 and executes movement of getting rid of poverty.
Also referring to Figure 12, Figure 12 is the stereoscopic schematic diagram of elastic component provided in an embodiment of the present invention.Elastic component 60 wraps
Include fixed part 61, bending part 63 and clamping portion 65.Bending part 63 is connected between fixed part 61 and clamping portion 65.Machine body 10
On also set up fixation hole 20.Fixed part 61 is fixed on the fixation hole 20 of machine body 10 by fastener 70.It is set on installing department 311
Blocked hole 3113, clamping portion 65 and the blocked hole 3113 of protective cover 30 are connected in together, so that elastic component 60 be made to be connected to machine
Between main body 10 and protective cover 30.Elastic component 60 is connect by way of clamping with protective cover 30, and the installation of elastic component 60 is facilitated
With replacement.It is appreciated that elastic component 60 can also be directly fixed on protective cover 30.In present embodiment, elastic component 60 is bullet
Piece.It is appreciated that be not construed as limiting to the type of elastic component 60, for example, elastic component 60 or column spring, pressure spring, torsional spring,
Tension spring etc., elastic component 60 can also select sponge can save the assembled inside space of autonomous mobile apparatus 100 and can keep away
Exempt from a possibility that electronic component arround it is short-circuit.
When autonomous mobile apparatus 100 works, Figure 13 is please referred to, when barrier (not shown) is encountered in 30 left front of protective cover,
When protective cover 30 can be by arrow direction external force shown in Figure 13 " F ", protective cover 30 can rotate counterclockwise simultaneously around first axle 101
First trigger point 5311 of trigger sensor 53, the first inductive signal of sensor 53 are triggered and are sent to processing unit
17.Machine body 10 executes first according to first inductive signal and gets rid of poverty movement (mobile to right back).Protective cover 30 is separate
Barrier.Protective cover 30 is resetted by elastic component 60.Sensor 53 resets and stops sending the first induction letter to processing unit 17
Number, reach autonomous mobile apparatus 100 and gets rid of poverty.
Figure 14 is please referred to, when barrier (not shown) is encountered in 30 right front of protective cover, protective cover 30 can be by arrow shown in Figure 14
When head direction external force " F ", protective cover 30 can be rotated clockwise around first axle 101 and the second triggering of trigger sensor 53
Point 5313, the second inductive signal of sensor 53 is triggered and is sent to processing unit 17.Processing unit 17 is according to the second sense
Induction signal control machine body 10 executes second and gets rid of poverty movement (mobile to left back).Protective cover 30 is far from barrier.Protective cover
30 are resetted by elastic component 60.Sensor 53 resets and stops sending the second inductive signal to processing unit 17, reaches autonomous shifting
Dynamic equipment 100 is got rid of poverty.
Figure 15 is please referred to, when barrier (not shown) is encountered in the front of protective cover 30 or top, protective cover 30 can be schemed
When arrow direction external force shown in 15 " F ".Protective cover 30 can move down around the rotation of second axis 103 and trigger sensor
53.The third inductive signal of sensor 53 is triggered and is sent to processing unit 17.The machine body of autonomous mobile apparatus 100
10, which execute third according to the third inductive signal, gets rid of poverty movement (moving backward), and protective cover 30 is far from barrier.Protective cover 30
It is resetted by elastic component 60.Sensor 53 resets and stops sending third inductive signal to processing unit 17, reaches autonomous
Equipment 100 is got rid of poverty.
It is appreciated that trigger point 531 may include three or more trigger points, for example, in one embodiment, trigger point
531 include the first trigger point, the second trigger point, third trigger point, the 4th trigger point and the 5th trigger point, first triggering
Point, second trigger point, the third trigger point, the 4th trigger point and the 5th trigger point are set to sensor simultaneously
Respectively correspond five different directions.When first trigger point is triggered, sensor 53 generates the first inductive signal and passes
It send to processing unit 17；When second trigger point is triggered, sensor 53 generates the second inductive signal and is sent to processing
Unit 17；When the third trigger point is triggered, sensor 53 generates third inductive signal and is sent to processing unit 17；When
When 4th trigger point is triggered, sensor 53 generates the 4th inductive signal and is sent to processing unit 17；When the described 5th
When trigger point is triggered, sensor 53 generates the 5th inductive signal and is sent to processing unit 17.First inductive signal, institute
It is not identical to state the second inductive signal, the third inductive signal, the 4th inductive signal and the 5th inductive signal.It is described
First inductive signal, which is used to indicate machine body 10 and executes first, gets rid of poverty movement, and second inductive signal is used to indicate machine master
Body 10 executes second and gets rid of poverty movement, and the third inductive signal is used to indicate the execution of machine body 10 third and gets rid of poverty movement, described
4th inductive signal, which is used to indicate machine body 10 and executes the 4th, gets rid of poverty movement, and the 5th inductive signal is used to indicate machine master
Body 10 executes the 5th and gets rid of poverty movement, and the protective cover 30 of automatic mobile device 10 is avoided to be blocked by barrier.Described first get rid of poverty it is dynamic
Make, described second get rid of poverty movement, the third get rid of poverty movement, the described 4th get rid of poverty movement, the described 5th get rid of poverty movement can not
It is identical, can also part it is identical, for example, the third get rid of poverty movement with the described 5th get rid of poverty movement all can be machine body 10
It is mobile to the rear of machine body 10.
It is appreciated that autonomous mobile apparatus 100 further includes other necessary or inessential elements.Please refer to Figure 16, Tu16Wei
The top view for the autonomous mobile apparatus that one embodiment of the invention provides.Machine body 10 is substantially in the form of annular discs.Machine body 10
Other shapes can be set into, such as rectangular etc..Machine body 10 further includes forward portion 13 and backward part 14.Forward portion
13 refer to part of the autonomous mobile apparatus 100 towards direction of advance.Backward part 14 refers to the part opposite with forward portion 13.
Figure 17 and Figure 18 is please referred to, Figure 17 is the structural block diagram for the autonomous mobile apparatus 100 that one embodiment of the invention provides,
Figure 18 is the bottom view of autonomous mobile apparatus shown in Figure 16.Autonomous mobile apparatus 100 is the clean robot for cleaning.From
Main mobile device 100 further includes image acquisition units 110, battery unit 120, revolver 131, right wheel 132, directive wheel 133, cleans
Unit 140, storage unit 160 and detection of obstacles unit 170.
Image acquisition units 110 are used to capture the image in 100 working environment of autonomous mobile apparatus.Image acquisition units
110 include, one or more camera in two-dimentional camera, three-dimensional camera.For example, two-dimentional camera can be by
It is placed in the upper surface of autonomous mobile apparatus 100, and captures the image of 100 top of autonomous mobile apparatus, that is, to working space
The image of ceiling.
For another example a three-dimensional camera is placed in the forward portion 13 of autonomous mobile apparatus 100, and capture autonomous move
The 3-D image that dynamic equipment 100 is checked.3-D image includes about from object to be captured to the two dimensional image of object to be captured
The information of distance.It can be using stereoscopic camera module or depth transducer module as three-dimensional camera.
Power supply unit 120 includes the electrode of rechargeable battery, the charging circuit and rechargeable battery that connect respectively with rechargeable battery.
The quantity of rechargeable battery is one or more, electric energy needed for rechargeable battery can provide operation for autonomous mobile apparatus 100.Electricity
Pole can be set in the fuselage side of autonomous mobile apparatus 100 or fuselage bottom.Battery unit 120 can also include that battery is joined
Number detection components, battery parameter detection components are for detecting battery parameter, for example, voltage, electric current, battery temperature etc..Autonomous
The operating mode of mobile device 100 is switched to when recharging mode, and autonomous mobile apparatus 100 begins look for charging pile, and using filling
Electric stake is the charging of autonomous mobile apparatus 100.
Driving unit 19 connects cleaning unit 140, revolver 131, right wheel 132 and directive wheel 133.In the control of processing unit 17
Under system, driving unit 19 can drive cleaning unit 140, revolver 131, right wheel 132 and directive wheel 133.
Revolver 131 and right wheel 132 (wherein revolver, right wheel are referred to as travel wheel, driving wheel) are respectively with symmetrical side
Formula is arranged in the opposite side of the bottom of the machine body 10 of autonomous mobile apparatus 100.Execute during execution task includes forward
Movement, the motor performance for moving and rotating backward.Directive wheel 133 may be provided at 10 front of machine body or rear portion.
Cleaning unit 140 includes: main brush 141 and one or more side brush 142.Main brush 141 is mounted on autonomous and sets
The bottom of standby 100 machine body 10.Optionally, main brush 141 is that the cydariform rotated with roller type relative to contact surface turns brush.Side
Brush 142 is mounted on the left and right edges part of the front end of the bottom surface of autonomous mobile apparatus 100.That is, side brush 142 be installed substantially at it is more
The front of a travel wheel.The purging zone that side brush 142 cannot be cleaned for cleaning main brush 141.Side brush 142 can not only be revolved with original place
Turn, and can be installed to be to the external prominent of autonomous mobile apparatus 100, so that autonomous mobile apparatus 100 can be expanded
The region of cleaning.
For storing instruction and data, the data include but is not limited to storage unit 160: map datum, control are autonomous
The ephemeral data generated when mobile device operation, such as position data, the speed data of autonomous mobile apparatus 100.Processing is single
Member 17 can read the corresponding function of the instruction execution stored in storage unit 160.Storage unit 160 may include arbitrary access
Memory (Random Access Memory, RAM) and nonvolatile memory (Non-Volatile Memory, NVM).It is non-
Volatile memory may include hard disk drive (Hard Disk Drive, HDD), solid state hard disk (Solid State
Drives, SSD), silicon disk driver (Silicon disk drive, SDD), read-only memory (Read-Only Memory,
ROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM), tape, floppy disk, optical data storage devices
Deng.
Detection of obstacles unit 170 is for detecting the side environment of autonomous mobile apparatus 100, to find obstacle
The environmental objects such as object, metope, step and the charging pile for charging to autonomous mobile apparatus 100.Detection of obstacles unit
170 include position determining means 11.Detection of obstacles unit 170 is also used to provide autonomous mobile apparatus 100 to processing unit 17
Various positions information and movement state information.Detection of obstacles unit 170 may include steep cliff sensor, ultrasonic sensor, red
Outer sensor, magnetometer, three axis accelerometer, gyroscope, odometer, LDS, ultrasonic sensor, camera, Hall sensor
Deng.The present embodiment is not construed as limiting the number of detection of obstacles unit 170 and position.
It is understood that autonomous mobile apparatus 100 can also include input and output in one or more embodiment
Unit, location measurement unit, wireless communication unit, display unit etc..
It should be noted that the connection relationship between each unit or component in autonomous mobile apparatus 100 is not limited to Fig. 1 institute
The connection relationship shown.For example, can be connected by bus between processing unit 17 and other unit or assemblies.
It should be noted that autonomous mobile apparatus 100 can also include other unit or assemblies, alternatively, only including above-mentioned
Unit or component, or lack above-mentioned unit or component (for example, in other embodiments, autonomous mobile apparatus 100
Can not also include image acquisition units 110), the present embodiment is not construed as limiting this, only by taking above-mentioned autonomous mobile apparatus 100 as an example
It is illustrated.
Autonomous mobile apparatus 100 provided by the invention, since protective cover 30 can be around first axle 101 and second axis
At least one of 103 rotate relative to machine body 10, thus allow for multiple-directional rotating, protective cover 30 collides barrier
When, it can trigger sensor module 50 and issue inductive signal, and machine body 10 is made to can determine the obstacle in multiple directions around
Object, and movement of getting rid of poverty is executed, greatly improve the probability got rid of poverty.Further, sensor module 50 is also used to according to protection
It covers the power for the different directions that 30 are subject to and sends different inductive signals to machine body 10, so that machine body 10 is according to difference
Inductive signal execute corresponding movement of getting rid of poverty, the working efficiency of raising autonomous mobile apparatus 100.
Technical solution based on the disclosure, autonomous mobile apparatus 100 can be clean robot, walking robot, autonomous
Mobile toy etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (13)
1. a kind of autonomous mobile apparatus, which is characterized in that including machine body, protective cover and sensor module, the protective cover
It is rotatably set on the machine body, the protective cover can be around at least one of first axle and second axis
Rotation, the first axle and the second axis are not parallel, and the sensor module is set to the machine body or the guarantor
On shield, when the protective cover is rotated relative to the machine body, the sensor module can be triggered to the machine body
Inductive signal is issued, the machine body executes movement of getting rid of poverty according to the inductive signal, to make the protective cover far from barrier
Hinder object.
2. autonomous mobile apparatus as described in claim 1, which is characterized in that the sensor module includes circuit board and fixation
Sensor on the circuit board, protective cover sensor quilt when being rotated by external force relative to the machine body
Triggering, so that the sensor responds the rotation of the protective cover and is triggered and generates inductive signal.
3. autonomous mobile apparatus as claimed in claim 2, which is characterized in that the sensor includes being arranged towards different directions
Trigger point, believed with issuing corresponding from different Impact directions induction to the machine body when different trigger points is triggered
Number.
4. autonomous mobile apparatus as claimed in claim 3, which is characterized in that wherein at least one trigger point is set to the sensing
The top of device.
5. autonomous mobile apparatus as claimed in claim 2, which is characterized in that the machine body further includes processing unit and drive
Moving cell, the processing unit are electrically connected with the sensor, the inductive signal generated for receiving the sensor, the place
Managing unit, driving unit described in actuated signal control drives the machine body to execute corresponding movement of getting rid of poverty based on the received.
6. autonomous mobile apparatus as claimed in claim 2, which is characterized in that the circuit board is fixed on the machine body
On, the protective cover contradicts the sensor when being rotated by external force relative to the machine body.
7. autonomous mobile apparatus as described in claim 1, which is characterized in that the sensor module includes microswitch, suddenly
At least one of your inductor, infrared inductor.
8. autonomous mobile apparatus as claimed in claim 7, which is characterized in that the sensor module includes that multistage fine motion is opened
It closes.
9. autonomous mobile apparatus as described in claim 1, which is characterized in that the autonomous mobile apparatus further includes first turn
Axis, the first rotating shaft include shaft ontology and the mounting portion that is fixedly connected with the shaft ontology, the shaft ontology and institute
Machine body rotation connection is stated, the protective cover and the mounting portion are rotatablely connected, and the shaft ontology has the first axle,
The mounting portion has the second axis.
10. autonomous mobile apparatus as claimed in claim 9, which is characterized in that the autonomous mobile apparatus further includes second turn
Axis, second shaft are arranged in the mounting portion and are rotatablely connected with the protective cover.
11. autonomous mobile apparatus as described in claim 1, which is characterized in that the autonomous mobile apparatus further includes elastic component,
The elastic component is connected between the machine body and the protective cover.
12. autonomous mobile apparatus as claimed in claim 11, which is characterized in that the elastic component includes fixed part, bending part
And clamping portion, the bending part are fixedly connected between the fixed part and the clamping portion, the fixed part is fixed on described
On machine body, the clamping portion is arranged on the protective cover.
13. the autonomous mobile apparatus as described in any one of claims 1 to 12, which is characterized in that the autonomous mobile apparatus
For clean robot.
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| CN201811399760.9A CN109452905B (en) | 2018-11-22 | 2018-11-22 | Autonomous mobile device |
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| CN201811399760.9A CN109452905B (en) | 2018-11-22 | 2018-11-22 | Autonomous mobile device |
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| CN109452905B (en) | 2024-08-20 |
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Effective date of registration: 20200115 Address after: 518109 Longhua Street, Longhua District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN FEIKE ROBOT Co.,Ltd. Applicant after: Shenzhen Silver Star Intelligent Technology Co.,Ltd. Address before: 518109 Longhua Street, Longhua District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN FEIKE ROBOT Co.,Ltd. |
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