CN111839366B - Mobile robot with autonomous following and obstacle avoidance functions - Google Patents
Mobile robot with autonomous following and obstacle avoidance functions Download PDFInfo
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- CN111839366B CN111839366B CN202010741747.8A CN202010741747A CN111839366B CN 111839366 B CN111839366 B CN 111839366B CN 202010741747 A CN202010741747 A CN 202010741747A CN 111839366 B CN111839366 B CN 111839366B
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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
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
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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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/4077—Skirts or splash guards
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
- 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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Abstract
The invention discloses a mobile robot with an autonomous following obstacle avoidance function, which comprises a shell, wherein two driving rear wheels are arranged at the bottom of the shell, the same driving front wheel is arranged at the bottom of the shell at the front side of the two driving rear wheels, and rotary brushes are arranged on two sides of the driving front wheel; according to the invention, the plurality of fan-shaped plates block an external object, the arc-shaped elastic sheet is pressed to be bent and deformed, the impact force of the external object is consumed, after the shell is overturned, the liquid storage film is deformed to be convex in the direction far away from the inner cylinder under the action of the gravity of the liquid storage film, meanwhile, the fan-shaped plates can drive the arc-shaped elastic sheet to move out of the outer cylinder, the free ends of the fan-shaped plates can be firstly contacted with the ground at a falling position, the arc-shaped elastic sheet can be contacted with the liquid storage film to compress and deform the liquid storage film, a part of impact force is consumed, the arc-shaped elastic sheet crosses the liquid storage film to reenter the outer cylinder, the end part of the arc-shaped elastic sheet can be contacted with the surface of the shell, the impact force is further consumed, and the overall safety is protected.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a mobile robot with an autonomous following and obstacle avoiding function.
Background
The mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot applied to the service industry comprises a cleaning robot, a security robot, a welcome robot, a food delivery robot and the like. Because of the mobile robot can replace people to independently complete work, great convenience is brought to the life of people, both hands of people are liberated, and people are more and more favored.
When the existing mobile robot is used, the top of the existing mobile robot is damaged when being hit by an external object, and when the existing mobile robot falls off to a stair, a part of the existing mobile robot is suspended and brakes too late, and when the existing mobile robot continues to move, the whole mobile robot deflects and falls off.
Therefore, it is necessary to provide a mobile robot with an autonomous following and obstacle avoiding function to solve the above problems, and the mobile robot can reduce the damage caused by overturning and falling and reduce the work failure caused by the collision of a sensor on an obstacle during the work process.
Disclosure of Invention
In view of the above problems, the present invention provides a mobile robot with an autonomous following and obstacle avoidance function, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a mobile robot with an autonomous following obstacle avoidance function comprises a shell, wherein two driving rear wheels are arranged at the bottom of the shell, the same driving front wheel is arranged at the bottom of the shell at the front side of the two driving rear wheels, rotary brushes are arranged on two sides of the driving front wheel, and a suction inlet is arranged on the rear side of the driving front wheel; the top of the shell is provided with a protection mechanism; the front side of the shell is provided with a height detection mechanism, wherein,
the protection mechanism comprises an outer barrel, the outer barrel is positioned at the center of the top of the shell, a plurality of arc-shaped elastic sheets are arranged on the inner side of the outer barrel, the centers of the arc-shaped elastic sheets in the vertical direction are close to each other, the tops of the arc-shaped elastic sheets are connected with sector plates, outer arcs of the sector plates form a circle, the size of the circle is the same as that of the top surface of the shell, and the positions, close to the outer arcs, of the bottoms of the sector plates are hinged to the top of the shell; the same inner cylinder is arranged among the arc-shaped elastic pieces, a liquid storage film is arranged at the top of the inner cylinder, and the liquid storage film is extruded at the position of the top of the center of the arc-shaped elastic pieces in the vertical direction;
visit high mechanism including rotating the motor, it is provided with the rolling disc to rotate the motor tip, and the edge of rolling disc leading flank is provided with a plurality of spacing grooves along the circumference equipartition, the spacing inslot portion is provided with T type pole, and T type pole one end is located the rolling disc front side, and T type pole front end is connected with visual sensor, be connected with two coupling springs on the T type pole, the one end that T type pole was kept away from to two coupling springs is connected respectively at the spacing groove both ends on the rolling disc.
Preferably, the outer arcs of the fan-shaped plates are connected with cushion pads; the upper surfaces of the buffer cushion and the fan-shaped plates are continuous concave surfaces, and the heights of the concave surfaces are gradually increased towards the direction close to the outer cylinder.
Preferably, a plurality of anti-falling sensors are uniformly distributed at the bottom edge of the shell along the circumferential direction and used for detecting the condition of the support surface of the reached position.
Preferably, a supporting spring is arranged at the bottom of the inner side of the inner cylinder, the top of the supporting spring is connected with a moving rod, and the top end of the moving rod is connected with the bottom of the liquid storage film.
Preferably, the bottom of the arc-shaped elastic sheet is provided with an elastic strip, one end of the elastic strip is connected with the inner wall of the outer barrel, and the other end of the elastic strip is connected with the outer surface of the inner barrel.
Preferably, the inner wall of the sector plate is provided with an empty groove, one end of the empty groove is close to the outer cylinder, the outer arc of the sector plate at the other end of the empty groove is gradually enlarged towards the outer cylinder, and a rubber ball is arranged in the empty groove.
Preferably, a plurality of through grooves are formed in the surface of the rotating disc and used for air to pass through when the rotating disc moves.
Preferably, an annular ring is arranged between the through groove and the limiting groove, the annular ring is made of rubber materials, the rotating disc is divided into two parts by the annular ring, and the annular ring is used for connecting the rotating disc on the outer side and the inner side of the annular ring.
The invention has the technical effects and advantages that:
1. according to the invention, the protection mechanism is arranged at the top of the shell, the fan-shaped plates can block an external object, the arc-shaped elastic sheet is pressed to bend and deform, the impact force of the external object is consumed, after the shell is overturned, the liquid storage film is deformed to be convex in the direction away from the inner cylinder under the action of self gravity, meanwhile, the fan-shaped plates can drive the arc-shaped elastic sheet to move out of the outer cylinder, the free ends of the fan-shaped plates can be firstly contacted with the ground at the falling position, the arc-shaped elastic sheet can be contacted with the liquid storage film, the liquid storage film is compressed and deformed, a part of impact force is consumed, the arc-shaped elastic sheet crosses the liquid storage film to reenter the outer cylinder, the end parts of the arc-shaped elastic sheet can be contacted with the surface of the shell, the arc-shaped elastic sheet is deformed under pressure, the impact force is further consumed, and the overall safety is protected;
2. the rotary disc is driven to rotate by the rotating motor, so that the plurality of vision sensors are driven to work, a front object is detected, when an obstacle suddenly appears in the front, the rotary disc drives the vision sensors to rotate, the end parts of the vision sensors can rub against the obstacle, the T-shaped rod is driven to deflect, the contact part of the vision sensors and the obstacle is changed, then the T-shaped rod can move in the limiting groove, the vision sensors are prevented from rubbing against the obstacle, the vision sensors are protected, and meanwhile when one of the vision sensors fails, the rotary disc drives the other vision sensors to work in a rotating mode, the detection of the front obstacle cannot be influenced, and the normal operation of the work is guaranteed;
3. according to the invention, the buffer pads are connected to the outer arcs of the fan-shaped plates, when the shell impacts an obstacle in the forward moving process, the tail of the shell can swing due to the inertia force of the shell, and finally when the side surface of the shell impacts the obstacle, the shell is buffered due to the protection of the buffer pads, and meanwhile, as the buffer pads and the upper surfaces of the fan-shaped plates are continuous concave surfaces, and the heights of the concave surfaces are gradually increased towards the direction close to the outer cylinder, objects falling onto the fan-shaped plates can slide down from the edge of the shell along the fan-shaped plates, and when the shell moves, the moving wind can blow dust at the concave surfaces towards the direction close to the outer cylinder, so that the dust can be blown down into the outer cylinder, and the dust is prevented from falling onto the ground.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1 according to the present invention;
FIG. 3 is a schematic view of the present invention in one of the orientations of FIG. 1;
FIG. 4 is a bottom view of the protection mechanism of the present invention;
FIG. 5 is an enlarged view of portion B of FIG. 4 according to the present invention;
FIG. 6 is a schematic view of the inner barrel of the present invention;
figure 7 is a cross-sectional view of a sector plate of the present invention.
In the figure: the device comprises a shell 1, a driving rear wheel 2, a driving front wheel 3, a rotary brush 4, a suction opening 5, a protection mechanism 6, an outer cylinder 61, an arc-shaped elastic sheet 62, a sector plate 63, an inner cylinder 64, a liquid storage film 65, a height detection mechanism 7, a rotating motor 71, a rotating disc 72, a limiting groove 721, a T-shaped rod 73, a visual sensor 74, a connecting spring 75, a buffer cushion 8, a drop-proof sensor 9, a supporting spring 10, a moving rod 11, an elastic strip 12, an empty groove 13, a rubber ball 14, a through groove 15 and an annular ring 16.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a mobile robot with an autonomous following obstacle avoidance function, which comprises a shell 1, wherein two driving rear wheels 2 are arranged at the bottom of the shell 1, the same driving front wheel 3 is arranged at the bottom of the shell 1 at the front sides of the two driving rear wheels 2, rotary brushes 4 are arranged at two sides of the driving front wheel 3, and a suction inlet 5 is arranged at the rear side of the driving front wheel 3; the top of the shell 1 is provided with a protection mechanism 6; the front side of the shell 1 is provided with a height detection mechanism 7, wherein,
the protection mechanism 6 comprises an outer cylinder 61, the outer cylinder 61 is positioned at the center of the top of the shell 1, a plurality of arc-shaped elastic sheets 62 are arranged on the inner side of the outer cylinder 61, the centers of the arc-shaped elastic sheets 62 in the vertical direction are close to each other, the tops of the arc-shaped elastic sheets 62 are connected with sector plates 63, the outer arcs of the sector plates 63 form a circle, the size of the circle is the same as that of the top surface of the shell 1, and the positions, close to the outer arcs, of the bottoms of the sector plates 63 are hinged to the top of the shell 1; the same inner cylinder 64 is arranged among the arc-shaped elastic sheets 62, the liquid storage film 65 is arranged at the top of the inner cylinder 64, and the liquid storage film 65 is extruded at the position of the top of the center of the arc-shaped elastic sheets 62 in the vertical direction;
visit high mechanism 7 including rotating motor 71, it is provided with rolling disc 72 to rotate motor 71 tip, and the edge of rolling disc 72 leading flank is provided with a plurality of spacing grooves 721 along circumference equipartition, the inside T type pole 73 that is provided with of spacing groove 721, T type pole 73 one end are located rolling disc 72 front side, and T type pole 73 front end is connected with vision sensor 74, be connected with two coupling spring 75 on the T type pole 73, the one end that two coupling spring 75 kept away from T type pole 73 is connected respectively at spacing groove 721 both ends on the rolling disc 72.
As a specific embodiment of the present invention, a plurality of buffer pads 8 are connected to the outer arcs of the sector plates 63; the upper surfaces of the buffer pads 8 and the sector plates 63 are continuous concave surfaces, and the heights of the concave surfaces are gradually increased towards the direction close to the outer cylinder 61; outer arc department of sector plate 63 is connected with blotter 8, when striking the barrier when casing 1 is marchd forward, the inertia force of casing 1 can make its afterbody take place the emergence of the tail condition of swaying, when finally making casing 1 side strike the barrier, owing to there is blotter 8's protection, play the cushioning effect to casing 1, simultaneously because blotter 8 and sector plate 63's upper surface is a continuous depressed surface, and the height of depressed surface is gradually to the direction grow that is close to urceolus 61, the object that drops on sector plate 63 can follow the landing of casing 1 edge along sector plate 63, and when casing 1 removed, the dust of depressed surface department can be blown to the direction that is close to urceolus 61 to the wind of removal, and then can blow off the dust inside urceolus 61, prevent that the dust from dropping subaerial.
As a specific embodiment of the present invention, a plurality of anti-drop sensors 9 are uniformly distributed at the bottom edge of the housing 1 along the circumferential direction, and are used for detecting the situation of the support surface of the arriving position, and the anti-drop sensors 9 detect whether the support surface is at the bottom.
As a specific embodiment of the present invention, a support spring 10 is disposed at the bottom of the inner side of the inner cylinder 64, a moving rod 11 is connected to the top of the support spring 10, and the top end of the moving rod 11 is connected to the bottom of the liquid storage membrane 65; because be connected with supporting spring 10 bottom stock solution membrane 65, after shell 1 took place to overturn, stock solution membrane 65 and carriage release lever 11's gravity can stimulate supporting spring 10 and remove, and then can make stock solution membrane 65 break away from arc shell fragment 62 fast, make arc shell fragment 62 remove from urceolus 61 fast, support and fall the department, play the effect fast.
As a specific embodiment of the present invention, the bottom of the arc-shaped elastic sheet 62 is provided with an elastic strip 12, one end of the elastic strip 12 is connected with the inner wall of the outer cylinder 61, and the other end is connected with the outer surface of the inner cylinder 64; when the arc-shaped elastic sheet 62 is pressed to deform, the elastic strip 12 is extruded, and then the elastic strip 12 is pushed to deform, and the deformed elastic strip 12 not only can consume a part of impact force, but also can prevent the arc-shaped elastic sheet 62 from being directly extruded on the surface of the shell 1, so that the abrasion of the shell 1 is reduced.
As a specific embodiment of the present invention, the inner wall of the sector plate 63 is provided with a hollow groove 13, one end of the hollow groove 13 is close to the outer cylinder 61, the outer arc of the sector plate 63 at the other end of the hollow groove 13, and the height of the hollow groove 13 gradually increases towards the outer cylinder 61, and a rubber ball 14 is arranged inside the hollow groove 13; the empty groove 13 is formed to reduce the weight of the sector plate 63, so that the resistance of the shell 1 during movement is reduced, meanwhile, one end of the empty groove 13 is close to the outer cylinder 61, the outer arc of the sector plate 63 at the other end of the empty groove 13 is gradually increased towards the outer cylinder 61, and therefore the rubber ball 14 can be located at the outer edge of the sector plate 63, due to the lever effect, the free end of the sector plate 63 can rise to a part, and the buffering effect on external objects is better.
As a specific embodiment of the present invention, a plurality of through grooves 15 are formed on the surface of the rotating disc 72 for passing air when the rotating disc 72 moves; reducing the resistance to movement of the rotary disk 72.
As a specific embodiment of the present invention, an annular ring 16 is disposed between the through groove 15 and the limiting groove 721, the annular ring 16 is made of a rubber material, the annular ring 16 divides the rotating disc 72 into two parts, and the annular ring 16 is used for connecting the rotating disc 72 outside and inside the annular ring 16; by connecting the two parts of the rotary disc 72 with the annular ring 16 made of rubber material, when the vision sensor 74 abuts on an obstacle, the rotary disc 72 located outside the annular ring 16 is subjected to resistance and moves backwards, the annular ring 16 is pulled and deformed, and the vision sensor 74 is protected.
The working principle is as follows: because the top of the existing mobile robot is damaged when being hit by an external object in the use process, and when the existing mobile robot falls off, a part of the existing mobile robot is suspended and brake too late, the existing mobile robot deflects and falls off when continuously moving, the surface of the existing mobile robot or components in the existing mobile robot can be loosened due to inertia due to large impact force, components of a serious person can fall off, the impact damage of the components in the existing mobile robot is easy to cause, and in the normal moving process, a sensor which detects whether an obstacle exists in front is arranged right in front, and the service life of the sensor can be influenced when the sensor suddenly appears in front of the obstacle, and the normal use is influenced after the operation is out of order, the invention mainly solves the problem of how to reduce the damage caused by falling after overturning in the operation process, and reduce the trouble of the work that the sensor bumps into the obstacle; the specific measures and the using process are as follows: by arranging the protection mechanism 6 on the top of the shell 1, when the shell is hit by an external object, the plurality of fan-shaped plates 63 on the top of the shell can block the external object, and then the fan-shaped plates 63 can extrude the arc-shaped elastic sheet 62, the arc-shaped elastic sheet 62 is pressed to be bent and deformed, and the impact force of the external object is consumed, after the shell 1 is overturned, the liquid storage film 65 is subjected to the self gravity and becomes convex in the direction away from the inner cylinder 64, meanwhile, the fan-shaped plates 63 can drive the arc-shaped elastic sheet 62 to deflect, and further drive the arc-shaped elastic sheet 62 to move out of the outer cylinder 61, at the moment, the free ends of the fan-shaped plates 63 can be in contact with the ground of the falling part first, the free ends of the fan-shaped plates 63 can be extruded towards the outer cylinder 61, the arc-shaped elastic sheet 62 moving out of the outer cylinder 61 can be in contact with the liquid storage film 65 first, the liquid film 65 is compressed and deformed, a part of the impact force is consumed by the arc-shaped elastic sheet 62 to extrude the liquid storage film 65, when the liquid storage film 65 is crossed and enters the outer cylinder 61 again, the end part of the arc-shaped elastic sheet 62 contacts the surface of the shell 1 on the inner side of the outer cylinder 61, the arc-shaped elastic sheet 62 is extruded and deformed, the impact force is further consumed, and the overall safety is protected; when the mobile robot works normally, when the rear wheel 2 is driven to work, the shell 1 is driven to move, the front wheel 3 is driven to roll on the ground, meanwhile, one of the two rotary brushes 4 works anticlockwise, the other rotary brush works clockwise, ground dust and garbage are stirred to the suction port 5 and are sucked into the shell 1 from the suction port 5, the rotary motor 71 drives the rotary disc 72 to rotate, the plurality of visual sensors 74 are driven to work, a front object is detected, when an obstacle suddenly appears in the front, the movement cannot be stopped in time, because the rotary disc 72 drives the visual sensors 74 to rotate, the end parts of the visual sensors 74 rub against the obstacle, the T-shaped rods 73 are driven to deflect, the contact parts of the visual sensors 74 and the obstacle are changed, then the T-shaped rods 73 move in the limiting grooves 721, one of the connecting springs 75 is compressed, the other connecting spring 75 is stretched, the visual sensor 74 is prevented from rubbing on the obstacle, the visual sensor 74 is protected, and meanwhile, when one of the visual sensors 74 fails, the rotary disc 72 can drive the other visual sensors 74 to rotate to work, so that the detection of the obstacle in front is not influenced, and the normal operation of the work is ensured.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a mobile robot with independently follow and keep away barrier function, includes shell (1), its characterized in that: two driving rear wheels (2) are arranged at the bottom of the shell (1), the same driving front wheel (3) is arranged at the bottom of the shell (1) at the front sides of the two driving rear wheels (2), rotating brushes (4) are arranged at two sides of the driving front wheel (3), and a suction inlet (5) is arranged at the rear side of the driving front wheel (3); the top of the shell (1) is provided with a protection mechanism (6); a height detection mechanism (7) is arranged on the front side of the shell (1), wherein,
the protection mechanism (6) comprises an outer cylinder (61), the outer cylinder (61) is located at the center of the top of the shell (1), a plurality of arc-shaped elastic sheets (62) are arranged on the inner side of the outer cylinder (61), the center positions of the arc-shaped elastic sheets (62) in the vertical direction are close to each other, the tops of the arc-shaped elastic sheets (62) are connected with sector plates (63), outer arcs of the sector plates (63) form a circle, the size of the circle is the same as that of the top surface of the shell (1), and the positions, close to the outer arcs, of the bottoms of the sector plates (63) are hinged to the top of the shell (1); the same inner cylinder (64) is arranged among the arc-shaped elastic sheets (62), a liquid storage film (65) is arranged at the top of the inner cylinder (64), and the liquid storage film (65) is extruded at the position of the top of the center of the arc-shaped elastic sheets (62) in the vertical direction;
visit high mechanism (7) including rotating motor (71), it is provided with rolling disc (72) to rotate motor (71) tip, and the edge of rolling disc (72) leading flank is provided with a plurality of spacing grooves (721) along circumference equipartition, spacing groove (721) inside is provided with T type pole (73), and T type pole (73) one end is located rolling disc (72) front side, and T type pole (73) front end is connected with vision sensor (74), be connected with two connecting spring (75) on T type pole (73), the one end that T type pole (73) were kept away from in two connecting spring (75) is connected respectively at spacing groove (721) both ends on rolling disc (72).
2. The mobile robot with the autonomous following obstacle avoidance function according to claim 1, wherein: the outer arcs of the fan-shaped plates (63) are connected with cushion pads (8); the upper surfaces of the buffer pads (8) and the fan-shaped plates (63) are continuous concave surfaces, and the heights of the concave surfaces are gradually increased towards the direction close to the outer cylinder (61).
3. The mobile robot with the autonomous following obstacle avoidance function according to claim 1, wherein: the anti-falling device is characterized in that a plurality of anti-falling sensors (9) are uniformly distributed at the bottom edge of the shell (1) along the circumferential direction and used for detecting the condition of the support surface of the reached position.
4. The mobile robot with the autonomous following obstacle avoidance function according to claim 1, wherein: the bottom of the inner side of the inner cylinder (64) is provided with a supporting spring (10), the top of the supporting spring (10) is connected with a movable rod (11), and the top end of the movable rod (11) is connected with the bottom of the liquid storage film (65).
5. The mobile robot with the autonomous following obstacle avoidance function according to claim 1, wherein: the bottom of the arc-shaped elastic sheet (62) is provided with an elastic strip (12), one end of the elastic strip (12) is connected with the inner wall of the outer cylinder (61), and the other end of the elastic strip is connected with the outer surface of the inner cylinder (64).
6. The mobile robot with the autonomous following obstacle avoidance function according to claim 1, wherein: the inner wall of the fan-shaped plate (63) is provided with an empty groove (13), one end of the empty groove (13) is close to the outer cylinder (61), the outer arc of the fan-shaped plate (63) at the other end of the empty groove (13) is gradually enlarged towards the outer cylinder (61), and a rubber ball (14) is arranged in the empty groove (13).
7. The mobile robot with the autonomous following obstacle avoidance function according to claim 1, wherein: a plurality of through grooves (15) are formed in the surface of the rotating disc (72) and used for air to pass through when the rotating disc (72) moves.
8. The mobile robot with the autonomous following obstacle avoidance function according to claim 7, wherein: an annular ring (16) is arranged between the through groove (15) and the limiting groove (721), the annular ring (16) is made of rubber materials, the annular ring (16) divides the rotating disc (72) into two parts, and the annular ring (16) is used for connecting the rotating disc (72) on the outer side and the inner side of the annular ring (16).
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| CN113208506A (en) * | 2021-04-30 | 2021-08-06 | 深圳市无限动力发展有限公司 | Floor sweeping robot |
| CN114668342B (en) * | 2022-05-06 | 2023-03-10 | 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 |
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| CN106881727B (en) * | 2017-03-29 | 2020-05-19 | 广东工业大学 | Robot joint and elastic mechanism thereof |
| CN107440642A (en) * | 2017-08-31 | 2017-12-08 | 宁波富佳实业有限公司 | A kind of buffer gear of sweeping robot |
| CN110269547A (en) * | 2018-03-16 | 2019-09-24 | 科沃斯机器人股份有限公司 | Self-movement robot and its avoidance processing method |
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