CN116115119A

CN116115119A - Touch sensor structure and robot sweeps floor

Info

Publication number: CN116115119A
Application number: CN202310183302.6A
Authority: CN
Inventors: 梁伟培; 王森宇; 翟镜皓; 吴海林; 冯永沛
Original assignee: Audiowell Electronics Guangdong Co ltd
Current assignee: Audiowell Electronics Guangdong Co ltd
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-05-16

Abstract

The invention relates to the technical field of intelligent household appliances, and discloses a touch sensor structure and a sweeping robot, wherein the touch sensor structure comprises: a support and a piezoelectric ceramic sheet; the support piece includes filter unit and fixed part, touch sensor structure passes through the fixed part to be installed on the inside wall of the shell of robot of sweeping the floor, the filter unit of the device passes through the cantilever beam structure that first section and second section are connected and are formed for the robot of sweeping the floor passes through the cantilever beam structure buffering earlier after receiving the energy that the collision produced and transmits to piezoceramics piece, when having avoided the piezoceramics piece to damage because of striking, also make the piezoceramics piece firmly install the inside wall at the shell, and then avoid the piezoceramics piece to drop the touching location inefficacy that leads to, in addition, filter unit is the cantilever beam structure, can also play the effect of filtering, can filter the vibration signal that the robot self operation produced of sweeping the floor, further improve the effect of touching location.

Description

Touch sensor structure and robot sweeps floor

Technical Field

The invention relates to the technical field of intelligent household appliances, in particular to a touch sensor structure and a sweeping robot.

Background

Along with the increase of furniture types and quantity in the home environment, the requirement on the touch positioning capability of the sweeping robot is continuously improved, and at present, the main touch positioning scheme is to utilize the principle that signals are generated by piezoelectric ceramic stress deformation, and a certain number of touch sensors are arranged on the inner wall of the shell of the sweeping robot so as to solve the problem of positioning resolution.

However, the existing mounting mode of the piezoelectric ceramic plate is to directly mount the piezoelectric ceramic plate on the inner wall of the shell through hard glue, on one hand, the mounting mode is easy to break the piezoelectric ceramic plate due to improper pressing in the processing process, the piezoelectric ceramic plate is easy to break or fall off after being impacted with furniture in the working process, glue adhesion is greatly influenced by environmental factors, particularly in a temperature-changing environment and a humid environment, the risk of glue quality change is high, so that the close fit degree between a sensor and a mounting surface is weakened, and the touch positioning performance is influenced;

on the other hand, in the running process of the sweeping robot, the signals received by the piezoelectric ceramic plates are not only signals generated by collision of the sweeping robot and an object, but also vibration signals generated by running of the sweeping robot, such as vibration signals of wheels, vibration signals of a direct current motor, vibration signals of a fan and the like, the vibration signals generated by the parts are different in characteristics, particularly different in frequency characteristics, and the superimposed reverberation signals are all received by the piezoelectric ceramic plates without being reserved, so that the difficulty of processing of a rear-end circuit is increased, misinformation or false information is caused due to incomplete processing, and touch positioning performance is further influenced.

Disclosure of Invention

The purpose of the invention is that: the utility model provides a touch sensor structure and robot of sweeping floor, it is not only touching the ability of location reliable and stable to can filter the vibration signal that robot self operation produced of sweeping floor, further improve the effect of touching the location.

In order to achieve the above object, the present invention provides a touch sensor structure including: a support and a piezoelectric ceramic sheet;

the support piece comprises a filtering part and a fixing part, wherein the filtering part comprises a first section extending along a first direction and a second section extending along a second direction, one end of the second section is connected with one end of the first section, the other end of the second section is connected to the fixing part, and the fixing part extends along the first direction;

the piezoelectric ceramic piece is arranged on one side of the first section, which faces away from the fixing part.

Optionally, the filtering portion includes two the second section, two the second section connect respectively in the both ends of first section, through setting up two the second section, make the filtering portion is arched bridge form, in order to further improve the filtering effect, and two the second end is adorned on the fixed part, can make the piezoceramics piece is installed more firmly, avoids appearing that first section rocks the condition that leads to piezoceramics piece to drop.

Optionally, the filtering part is made of a rigid material, and the filtering effect is further enhanced by adopting the rigid material

Optionally, the material of filtering portion is copper or iron, adopts copper or iron's rigid material, when guaranteeing the filtering effect, can also guarantee the intensity of filtering portion.

Optionally, the fixing portion and the filtering portion are integrally formed, so as to ensure strength of the supporting member.

Optionally, the first section with the second section radian is connected, the second section with fixed part radian is connected, further improves the buffering to sweeping robot collision energy production.

Optionally, the piezoelectric ceramic piece is installed through glue on the first section, just the piezoelectric ceramic piece laminating with deviate from on the first section one side of fixed part to guarantee the accuracy of touching location.

In order to achieve the same object, the present invention also provides a sweeping robot comprising: the device comprises a shell, a control device and a plurality of touch sensor structures, wherein the touch sensor structures are uniformly distributed on the inner side wall of the shell, the fixing part is arranged on the inner side wall of the shell, and the control device is electrically connected with the piezoelectric ceramic plates through a wire harness.

Optionally, the inside wall evenly distributed of shell has a plurality of draw-in grooves, and is a plurality of draw-in grooves with a plurality of touch sensor structure one-to-one, fixed part joint in the draw-in groove makes support piece installs at the inside wall of shell more firmly.

Compared with the prior art, the touch sensor structure and the sweeping robot have the beneficial effects that: the device passes through support piece and installs the piezoelectric ceramic piece at the inside wall of shell, and the filter part is the cantilever structure that forms through first section and second section connection for sweep the floor the robot and receive the energy that the collision produced earlier through the cantilever structure buffering before transmitting to the piezoelectric ceramic piece again, when having avoided the piezoelectric ceramic piece to damage because of striking, also make the piezoelectric ceramic piece can firmly install the inside wall at the shell, and then avoid the piezoelectric ceramic piece to drop the touching location inefficacy that leads to, in addition, the filter part is the cantilever structure, can also play the effect of filtering, can filter the vibration signal that the robot self operation produced of sweeping the floor, further improve the effect of touching location.

Drawings

Fig. 1 is a schematic main structure of the touch sensor structure according to an embodiment of the invention;

FIG. 2 is a schematic view of the installation of the touch sensor structure according to an embodiment of the invention;

FIG. 3 is a graph showing the signal effect of comparative example one of the present invention;

fig. 4 is a signal effect diagram of the first embodiment of the present invention.

In the figure, 1, a touch sensor structure; 11. a support; 111. a filtering section; 1111. a first section; 1112. a second section; 112. a fixing part; 12. a piezoelectric ceramic sheet; 2. a housing; 21. a clamping groove; 3. and a wire harness.

Detailed Description

The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.

Meanwhile, the relevant comparative examples are listed for comparison.

In the description of the present invention, it should be understood that the terms "first," "second," and the like are used herein for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Example 1

As shown in fig. 1, a touch sensor structure 1 according to a first preferred embodiment of the present invention includes: a support 11 and a piezoelectric ceramic sheet 12;

the support 11 includes a filtering portion 111 and a fixing portion 112, the filtering portion 111 includes a first section 1111 extending along a first direction and a second section 1112 extending along a second direction, one end of the second section 1112 is connected to one end of the first section 1111, the other end is connected to the fixing portion 112, the fixing portion 112 extends along the first direction, and the filtering portion 111 is made of a rigid material;

the piezoceramic sheet 12 is mounted on the first section 1111 on a side facing away from the fixed portion 112.

Based on the above scheme, the device passes through support 11 and installs piezoceramics piece 12 at the inside wall of shell 2, and filter unit 111 is through the cantilever structure that first section 1111 and second section 1112 are connected and are formed for the robot that sweeps away passes through the cantilever structure buffering earlier and then transmits to piezoceramics piece 12 of energy that the collision produced, when having avoided piezoceramics piece 12 because of striking damage, also make piezoceramics piece 12 can firmly install the inside wall at shell 2, and then avoid piezoceramics piece 12 to drop the touching location inefficacy that leads to, in addition, filter unit 111 is the cantilever structure, can also play the effect of filtering, can filter the vibration signal that the robot self operation produced of sweeping away, further improve the effect of touching location.

As shown in fig. 1, in order to make the mounting of the piezoelectric ceramic plate 12 more firm, the filtering portion 111 includes two second sections 1112, and the two second sections 1112 are respectively connected to two ends of the first section 1111, and by setting the two second sections 1112, the filtering portion 111 is in an arch bridge shape, so as to further improve the filtering effect, and the two second ends are mounted on the fixing portion 112, so that the mounting of the piezoelectric ceramic plate 12 is more firm, and the situation that the piezoelectric ceramic plate 12 falls off due to shaking of the first section 1111 is avoided.

Optionally, the material of the filtering portion 111 is a rigid material, and the filtering effect is further enhanced by adopting the rigid material.

Optionally, the material of the filtering portion 111 is copper or iron, and a rigid material of iron is used, so that the filtering effect is ensured, and meanwhile, the strength of the filtering portion 111 is also ensured.

Optionally, to enhance the strength of the supporting member 11, the fixing portion 112 and the filtering portion 111 are integrally formed to ensure the strength of the supporting member 11.

As shown in fig. 1, in order to further improve the buffering capacity of the supporting member 11, the first section 1111 is radianally connected to the second section 1112, and the second section 1112 is radianally connected to the fixing portion 112, so that the buffering of energy generated by collision of the robot for sweeping is further improved.

Optionally, in order to ensure the effect of touch positioning, the piezoelectric ceramic sheet 12 is mounted on the first section 1111 through glue, and the piezoelectric ceramic sheet 12 is attached to a side of the first section 1111 facing away from the fixing portion 112, so as to ensure the accuracy of touch positioning.

As shown in fig. 2, in order to achieve the same object, a robot for sweeping floor according to a first preferred embodiment of the present invention includes: the device comprises a shell 2, a control device (not shown in the drawing) and a plurality of touch sensor structures 1, wherein the touch sensor structures 1 are uniformly distributed on the inner side wall of the shell 2, a fixing part 112 is arranged on the inner side wall of the shell 2, and the control device is electrically connected with a piezoelectric ceramic plate 12 through a wire harness 3.

As shown in fig. 2, in order to make the installation of the supporting element 11 more firm, the inner side wall of the housing 2 is uniformly provided with a plurality of clamping grooves 21, a plurality of clamping grooves 21 and a plurality of touch sensor structures 1 are in one-to-one correspondence, and the fixing portion 112 is clamped in the clamping grooves 21, so that the supporting element 11 is more firmly installed on the inner side wall of the housing 2.

Comparative example one

The touch sensor structure of the first comparative example differs from the first embodiment only in that: the support 11 is not provided, and the piezoelectric ceramic plate 12 is adhered to the inner side wall of the housing 2 by glue.

In order to evaluate the signal filtering effects of the touch sensor structures and the sweeping robots of the first embodiment and the second embodiment, the signal effect test was performed on the first embodiment and the second embodiment, respectively, and the specific experiments are as follows:

experimental instrument: RIGOL oscilloscopes are arranged;

experimental environment: a desk is arranged in a sealed space;

the experimental steps are as follows:

1. connecting the meter pen of the oscilloscope with the wire harness 3 of the first comparative example, and placing the meter pen of the oscilloscope at the top position of the sweeping robot so as to avoid the condition that the meter pen of the oscilloscope falls off the ground and is dragged by the sweeping robot, thereby causing additional signal interference;

2. setting the oscilloscope into a single-shot mode, starting the sweeping robot at a position 1m away from the right side of the office desk, enabling the sweeping robot to advance all the time until the sweeping robot collides with the right side of the office desk, recording the waveform and the frequency spectrum at the moment, and repeating the steps for three times;

3. connecting the meter pen of the oscilloscope with the wire harness 3 of the first embodiment, and placing the meter pen of the oscilloscope at the top position of the sweeping robot so as to avoid the condition that the meter pen of the oscilloscope falls off the ground and is dragged by the sweeping robot, thereby causing additional signal interference;

4. and (3) repeating the step (2) and recording the corresponding waveform and frequency spectrum.

Experimental results: the signal effect diagram of the first comparative example is shown in fig. 3, and the signal effect diagram of the first embodiment is shown in fig. 4, and since the vibration signal generated by the sweeping robot is in the frequency range of 300Hz, and the collision signal is a deformation signal with low frequency and a reverberation signal of the vibration signal, and the frequency is in the range of 160Hz, the touch sensor structure of the first embodiment and the sweeping robot can be judged by comparing fig. 3 and fig. 4, so that the vibration signal can be effectively filtered, and the attenuation of useful signals can be avoided.

In summary, the embodiment of the invention provides a touch sensor structure and a sweeping robot, in which a piezoelectric ceramic plate 12 is mounted on the inner side wall of a housing 2 through a supporting piece 11, and a filtering part 111 is connected with a second section 1112 through a first section 1111 to form a cantilever structure, so that energy generated by collision of the sweeping robot is buffered by the cantilever structure and then transferred to the piezoelectric ceramic plate 12, the piezoelectric ceramic plate 12 can be firmly mounted on the inner side wall of the housing 2 while avoiding damage of the piezoelectric ceramic plate 12 caused by collision, and further touch positioning failure caused by falling of the piezoelectric ceramic plate 12 is avoided.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.

Claims

1. A touch sensor structure, comprising: a support and a piezoelectric ceramic sheet;

2. The touch sensor structure of claim 1, wherein the filtering portion comprises two second segments, and the two second segments are respectively connected to two ends of the first segment.

3. The touch sensor structure of claim 1, wherein the filter portion is made of a rigid material.

4. The touch sensor structure of claim 3, wherein the filter is made of copper or iron.

5. The touch sensor structure of claim 1, wherein the fixing portion and the filtering portion are integrally formed.

6. The touch sensor structure of claim 1, wherein the first segment is radianly connected to the second segment, and wherein the second segment is radianly connected to the fixed portion.

7. The touch sensor structure of claim 1, wherein the piezoelectric ceramic piece is mounted on the first section by glue, and the piezoelectric ceramic piece is attached to a side of the first section facing away from the fixing portion.

8. A robot for sweeping floor, comprising: the touch sensor structure of any one of claims 1-7, wherein the touch sensor structures are uniformly distributed on the inner side wall of the shell, the fixing part is arranged on the inner side wall of the shell, and the control device is electrically connected with the piezoelectric ceramic plate through a wire harness.

9. The robot cleaner according to claim 8, wherein a plurality of clamping grooves are uniformly distributed on the inner side wall of the housing, the plurality of clamping grooves correspond to the plurality of touch sensor structures one by one, and the fixing portion is clamped in the clamping grooves.