CN118066982A - Obstacle monitoring mechanism, water cleaning robot and control method thereof - Google Patents

Abstract

The invention provides an obstacle monitoring mechanism, a water cleaning robot and a control method thereof. The obstacle monitoring mechanism can realize real-time monitoring of the rotation state of the travelling wheel, thereby being beneficial to the cleaning robot to identify obstacles or other abnormal motion states, and make corresponding control and adjustment, so that the cleaning robot can sense the surrounding environment in all directions, the accuracy and the reliability of obstacle detection are improved, and safer and more efficient cleaning operation is realized.

Description

Obstacle monitoring mechanism, water cleaning robot and control method thereof

Technical Field

The invention relates to the technical field of cleaning robots, in particular to an obstacle monitoring mechanism, a water cleaning robot and a control method thereof.

Background

The existing cleaning robots often touch obstacles or side walls in the walking process, the prior art generally adopts touch sensors, ultrasonic sensors or infrared sensors to detect, external force, position, distance and other signals are sensed through the sensors, and signals are sent to a control system, so that the robots change directions to avoid collision, however, in some cases, the touch sensors may not accurately detect walls, particularly soft or irregular walls, while the ultrasonic or infrared sensors can detect distances and obstacles, but under extreme illumination or acoustic reflection conditions, the sensors may give inaccurate measurement results, so that the navigation of the robots is unstable, and in addition, whether the touch sensors or the ultrasonic or infrared sensors are influenced by environmental conditions, such as dust, humidity and other factors may influence the accuracy of the sensors. For another example, for an underwater robot, it is also a common detection mode to set an indication sail on the top of the robot to determine whether the boundary is touched or not, that is, during normal walking, the indication sail is driven by water flow to face backward, and when the pool dirt sucking machine touches the obstacle or boundary, the direction of the indication sail stops rotating, but the determination structure is unstable, and when the pool dirt sucking machine passes through the concave-convex position of the pool bottom or the larger position of the pool bottom slope or the water flow direction changes, the indication sail is easily turned or stopped, so that the pool dirt sucking machine generates erroneous determination.

Disclosure of Invention

The invention provides a barrier monitoring mechanism, a water cleaning robot and a control method thereof, and aims to solve the technical problems that in the prior art, the cleaning efficiency of the cleaning robot is affected due to insufficient stability and sensitivity of barrier monitoring.

The technical scheme includes that the obstacle monitoring mechanism comprises a main body, a travelling wheel arranged at the bottom of the main body, a spring assembly for keeping the travelling wheel pressed downwards and a sensor for detecting the movement state of the travelling wheel.

Further, at least two wheels are further arranged at the bottom of the main body to drive the main body, and the travelling wheels are arranged between the two wheels.

Further, at least two wheels are further arranged at the bottom of the main body to drive the main body, wherein at least one wheel is the travelling wheel.

Further, the spring assembly comprises a rocker arm and an elastic device, the rocker arm is fixedly hinged to the main body, the travelling wheels are rotatably arranged on the rocker arm, the elastic device is used for providing acting force for keeping the travelling wheels pressed downwards, and two ends of the elastic device are respectively abutted to the rocker arm and the main body.

Further, the sensor is a Hall sensor, a magnetic component is arranged on the travelling wheel, and the Hall sensor senses whether the travelling wheel rotates or not through the magnetic component.

Further, the main body is also provided with an avoidance space for avoiding the travelling wheels, and the avoidance space is arranged above the travelling wheels.

A water cleaning robot comprising said obstacle monitoring mechanism.

Further, a control module for controlling the main body to change the advancing direction is arranged in the main body, and the control module is in signal connection with the sensor.

Further, the body is provided with pumping means which vary the flow and/or direction of the discharge outlet fluid in response to the obstruction monitoring mechanism.

A control method of a water cleaning robot is characterized in that a sensor always monitors the motion state of a travelling wheel, and when the sensor monitors that the travelling wheel stops rotating, the water cleaning robot at least responds to one of the following steps of I) changing the travelling direction, II) changing the flow rate of fluid flowing out of a discharge port, and III) changing the outflow direction of the fluid at the discharge port.

Compared with the prior art, the invention has the following beneficial effects: the obstacle monitoring mechanism can realize real-time monitoring of the rotation state of the travelling wheel, thereby being beneficial to the cleaning robot to identify obstacles or other abnormal motion states, and make corresponding control and adjustment, the obstacle monitoring mechanism senses whether the obstacle is encountered or the obstacle touches a wall, and the intelligent path planning of the cleaning robot is realized by combining the detection result of the obstacle monitoring mechanism sensor, so that the cleaning robot can sense the surrounding environment in an omnibearing manner, the accuracy and the reliability of obstacle detection are improved, and safer and more efficient cleaning operation is realized.

Drawings

The invention is described in detail below with reference to examples and figures, wherein:

FIG. 1 is a schematic perspective view of a water cleaning robot in a bottom view;

FIG. 2 is a schematic view of an exploded construction of the bottom shell and road wheels in a bottom view;

FIG. 3 is a schematic view of the relative positions of the driving device and the road wheels in one view;

FIG. 4 is a schematic view of the relative positions of the driving device and the road wheels from another perspective;

FIG. 5 is a schematic view of a partial exploded construction of the bottom shell and road wheels in a top view;

Fig. 6 is a schematic top view of the bottom case;

FIG. 7 is a schematic view of a cross-sectional structure in the direction A-A in FIG. 6;

FIG. 8 is a schematic view of an embodiment of a road wheel as a driven wheel;

FIG. 9 is a schematic view of the exploded view of the drive mechanism on one side of the running wheel;

FIG. 10 is a schematic view of an exploded construction of the roller brush in one direction;

FIG. 11 is a schematic view of a cross-sectional structure of a water cleaning robot in a front view direction;

FIG. 12 is a schematic cross-sectional structure of a water cleaning robot in a side view direction;

FIG. 13 is a schematic view of the transmission of the roller brush and drive on one side of the gear set;

FIG. 14 is an exploded schematic view of the drive, capstan and roller brush drive relationship;

Fig. 15 is a schematic view of an exploded structure of the roll brush in another direction.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings. Examples of such embodiments are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functionality throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

The invention provides an obstacle monitoring mechanism which is suitable for various self-adaptive cleaning equipment including a cleaning robot, and is used for sensing whether an obstacle is encountered or a wall is touched through the obstacle monitoring mechanism, and the intelligent path planning of the cleaning robot is realized by combining the detection result of a sensor of the obstacle monitoring mechanism, so that the cleaning robot can sense the surrounding environment in an omnibearing manner, the accuracy and the reliability of obstacle detection are improved, and safer and more efficient cleaning operation is realized.

In the present invention, referring to fig. 1 and 2, the obstacle monitoring mechanism includes a main body 1, a travelling wheel 8, a spring assembly 81 and a sensor, wherein the main body 1 includes a bottom shell 1.1, the travelling wheel 8 is disposed at the bottom of the bottom shell 1.1 of the main body 1, a receiving space 84 is required to be provided at the bottom of the bottom shell 1.1 for mounting the travelling wheel 8, the travelling wheel 8 is rotatably mounted in the receiving space 84, the travelling wheel 8 is in rolling contact with the ground as the cleaning robot walks on the ground, and the travelling wheel 8 always maintains contact with the ground under the action of the spring assembly 81, the spring assembly 81 may be composed of a spring, a pneumatic buffer device or other similar structures, so as to ensure that the travelling wheel 8 can flexibly adapt to the situations of height difference and unevenness of the ground, and the type of the sensor may include a contact sensor, a photoelectric sensor, an ultrasonic sensor and the like, for monitoring the movement state of the travelling wheel 8, including information such as rotation speed, direction and whether the obstacle is blocked, the sensor transmits real-time movement state data to the control system of the cleaning robot, so as to recognize and respond to the obstacle in time.

Specifically, as shown in fig. 2 to 5, the latch assembly 81 includes a rocker 811 and an elastic device 812, the rocker 811 is also installed in the accommodating space 84, the accommodating space 84 has a certain depth, and the rocker 811 is hinged to the main body 1 through a pin 82, so that the rocker 811 can rotate around a hinge point; the road wheel 8 is rotatably mounted on the rocker 811 by a shaft, and the axial direction of the pin 82 is substantially parallel to the axial direction of the road wheel 8, the rocker 811 rotates around the pin 82 while driving the road wheel 8 to move up and down, the elastic device 812 is connected between the rocker 811 and the main body 1 so that the elastic device 812 can generate an elastic force on the rocker 811, the elastic force abuts against the rocker 811 to provide a pressing action on the rocker 811, and at this time, the rocker 811 rotates around the pin 82, so that the portion of the rocker 811 where the road wheel 8 is mounted rotates downward, and the road wheel 8 keeps continuous contact with the ground.

In one embodiment, one end of the rocker 811 is hinged and fixed to the main body 1 through a pin 82, the other end of the rocker 811 is provided with the travelling wheel 8, a mounting portion for mounting an elastic device 812 is provided in the middle of the rocker 811, the mounting portion is provided on the upper side of the rocker 811, one end of the elastic device 812 is mounted on the mounting portion, the other end is connected with the main body 1, and the elastic device 812 provides an elastic acting force to the rocker 811 to ensure a continuous pressing acting force to the travelling wheel 8.

In other embodiments, the hinged position between the rocker 811 and the body 1 may be near the middle of the rocker 811, the road wheel 8 is also disposed at the end of the rocker 811, the mounting portion is disposed at the other end of the rocker 811 with respect to the road wheel 8, the mounting portion is disposed at the lower side of the rocker 811, and the elastic device 812 is also connected between the mounting portion and the body 1 for providing a pressing action to the road wheel 8 end of the rocker 811.

After the rocker 811 is mounted on the housing space 84 with the road wheel 8 in communication therewith, a part of the housing space 84 is covered by the cover 85 at the mounting opening of the housing space 84 so that a part of the road wheel 8 can still protrude below the housing space 84.

Referring to fig. 5, 6 and 7, a certain space is provided for the travelling wheel 8 to move upwards, so that the travelling wheel 8 is prevented from interfering with other structures in the main body 1 when encountering the fluctuation of the terrain, an avoidance space 83 is further provided on the main body 1, the avoidance space 83 is arranged in the upward direction of the travelling wheel 8, the avoidance effect is achieved, and the problem that the travelling wheel may be blocked when the robot passes over the obstacle is solved. The setting position of the avoidance space 83 can be adjusted based on the internal structure of the main body 1, when the accommodating space 84 is set to be in an internal closed form, the avoidance space 83 is set in the accommodating space 84, and the accommodating space 84 in the embodiment is opened to the main body 1, that is, the travelling wheel 8 can move to the inside of the main body 1, the driving device 6 corresponding to the travelling wheel 8 is arranged in the main body 1, so as to provide enough avoidance for the travelling wheel 8, and the avoidance space 83 is set on the driving device 6.

The elastic device 812 includes, but is not limited to, springs, torsion springs, pneumatic buffer devices, hydraulic buffer devices, and the like, so that the cost is saved as much as possible, the elastic device 812 in this embodiment selects springs, the corresponding mounting seat 813 is a cross boss, the springs are directly sleeved on the mounting seat 813, a circular through slot 86 is provided on the main body 1, the circular through slot 86 is communicated with the accommodating space 84, and the springs are installed in the circular through slot 86 to ensure the stable operation of the elastic device 812.

The bottom of main part 1 still is equipped with the wheel, the wheel is used for driving main part 1 walking, be provided with negative pressure generating device and blowdown runner in the inside of main part 1, negative pressure generating device sets up in the blowdown runner, the bottom of main part 1 is provided with dirt absorbing port 12, the one end of blowdown runner is located to dirt absorbing port 12, the other end of blowdown runner is the discharge port, the discharge port sets up at main part 1 surface, be provided with at least a set of filter equipment in the blowdown passageway, thereby when cleaning robot operation in-process, can be with clean surface's filth through dirt absorbing port 12 suction to blowdown runner inside, intercept filth inside main part 1 through filter equipment, and clean fluid then discharges from the discharge port.

The wheels specifically comprise a driving wheel 61 and a driven wheel 65, the driving wheel 61 is arranged at the rear half part of the main body 1, the driven wheel 65 is arranged at the front half part of the main body 1, a driving device 6 is arranged at the rear half part of the main body 1, a driving motor is arranged in the driving device 6, the driving wheel 61 is driven to rotate by the driving device 6, the wheels specifically comprise two driving wheels 61 and two driven wheels 65, the driving wheels 61 are driven to walk in the walking process of the main body 1, the walking wheels 8 do not bear the walking driving work of the cleaning robot, the walking wheels 8 are arranged between the two driving wheels 61, the driving wheels 61 are arranged at the rear half part of the main body 1, the corresponding driving device 6 is also arranged at the rear half part of the main body 1, the driving device 6 is arranged opposite to the driving wheels 61, the rear half part of the main body 1 is relatively heavy and is not easy to be influenced by buoyancy, the part of the main body 1 is always kept in contact with the ground, and the walking wheels 8 are correspondingly kept in constant contact with the ground, so that the detection effect of an obstacle or a touch wall is ensured.

The number of wheels may be set as required, and is not limited to having a driving wheel or a driven wheel at the same time, and the wheels may be only one of the driving wheel or the driven wheel in actual use. The road wheels 8 are provided near either wheel.

In other embodiments, as shown in connection with fig. 8, where the wheels include a primary wheel 61 and a secondary wheel 65, one of the secondary wheels 65 is used as the road wheel 8, the rocker arm 811 may be used not only as part of the spring assembly 81 of the secondary wheel 65, but also as a support structure for supporting the road wheel 8, and the resilient means 812 may maintain the depression of the road wheel 8 and provide a certain shock absorbing effect.

In an embodiment, the obstacle monitoring mechanism in the invention uses a design scheme that a hall sensor and a magnetic component is arranged on the travelling wheel 8, the hall sensor is allowed to judge whether the travelling wheel 8 rotates by sensing the magnetic component on the travelling wheel 8, the hall sensor is a sensor capable of detecting magnetic field change and is generally composed of a hall element and a signal processing circuit, when the magnetic component moves along with the rotation of the travelling wheel 8, the hall sensor can sense the magnetic field change and generate corresponding electric signals according to the magnetic field change, and through monitoring and analyzing the electric signals, the system can judge whether the travelling wheel 8 rotates, and the design can realize real-time monitoring on the rotation state of the travelling wheel 8, thereby being beneficial to identifying obstacles or other abnormal motion states of the cleaning robot, and making corresponding control and adjustment so as to ensure the safety and normal operation of the cleaning robot.

According to the invention, the walking wheel 8 always contacts the ground and rotates along with the ground when the obstacle monitoring task is executed, even when the ground fluctuates greatly, the main body 1 can continuously move, the walking wheel 8 can not stop rotating, the running state of the walking wheel 8 is continuously monitored by the sensor until the obstacle is met or the walking wheel 8 is contacted with the wall, the main body 1 does not move any more, the walking wheel 8 can not continuously rotate, at the moment, the obstacle is met or the walking wheel 8 is contacted with the wall, thus inaccurate measurement results are prevented from being given by using the touch sensor, the ultrasonic sensor or the infrared sensor and the like under extreme illumination or sound wave reflection conditions, the situation of unstable navigation of the robot is caused, the influence of environmental conditions is small, and the obstacle monitoring is more stable and efficient. Meanwhile, the obstacle monitoring mechanism has the advantages of simple structure, convenience in installation and the like, and is not easy to trigger or damage by mistake.

Furthermore, the invention also provides a water cleaning robot which comprises the obstacle monitoring mechanism, wherein the obstacle monitoring mechanism is used for providing a stable obstacle signal transmission function for the water cleaning robot so as to acquire more comprehensive and accurate ground condition information and assist the cleaning robot to make a correct control instruction.

Wherein, cleaning robot's main part 1 is inside still to be equipped with control module, and control module sets up inside drive arrangement 6, and drive arrangement 6 outside is sealed to guarantee to provide good leakproofness to control arrangement, avoid meeting the water failure, control module can realize the rotation control to action wheel 61, specifically can be the switch of advancing direction. Meanwhile, the control module is connected with the sensor signal to realize the monitoring of the sensor signal and the feedback of the control module, and is responsible for receiving the sensor signal, and then makes corresponding decisions and controls according to the feedback information of the sensor to control the rotation of the driving wheel 61 so as to realize the travel direction switching of the cleaning robot. Meanwhile, the control module is also connected with the driving device 6 in a signal manner, and sends an instruction to the driving device 6 to drive the rotation of the driving wheel 61, so that the movement and the travelling direction of the cleaning robot are controlled.

In an embodiment, the obstacle signal output by the obstacle monitoring mechanism may control the driving of the cleaning robot, and one or more of the water spray amounts.

The design structure enables the cleaning robot to sense the surrounding environment in real time according to the sensor signals, and the rotation of the driving wheel 61 is intelligently controlled through the control module so as to adapt to various different working scenes and task requirements. Meanwhile, through the signal connection of the control module and the driving device 6, the cleaning robot can realize accurate traveling direction control and flexible moving operation, and the motion performance and the operation intelligent level of the cleaning robot are improved.

In order to better clean the cleaning surface, as shown in fig. 1, 11 and 12, a containing groove 11 with a length is further arranged at the bottom of the main body 1, the containing groove 11 is recessed towards the inside of the main body 1 by a certain depth, the containing groove 11 is adjacent to the dirt absorbing port 12 in space layout, the dirt absorbing port 12 and the containing groove 11 are separated by a certain distance, a rolling brush 2 is arranged in the containing groove 11, two end parts of the rolling brush 2 are required to rotatably pass through two end parts of the containing groove 11 in the length direction, the rolling brush 2 is driven by a driving device 6, the rolling brush 2 continuously rotates during working so as to lift dirt on the cleaning surface, after the dirt is lifted, the containing groove 11 is arranged, the dirt temporarily enters the containing groove 11, the containing groove 11 provides a certain dirt containing space, the problem that the dirt is not timely removed by the dirt absorbing port 12 and remains in situ or overflows is avoided, a first guide surface 13 is arranged between a notch of the containing groove 11 and the dirt absorbing port 12, the first guide surface 13 is driven by the driving device, the first guide surface 13 is enabled to flow from the notch to be in a linear shape, and the dirt absorbing surface is enabled to flow from the dirt absorbing port 12 to flow from the linear shape to the dirt absorbing port 12, and the best flow resistance is enabled to flow from the suction port 12 to flow guide the surface to flow surface.

Further, in combination with the above structure, in some alternative embodiments, an optimized scheme is further designed at the bottom of the main body 1, in order to facilitate cleaning of the cleaning robot walking in the front-back direction, a first flow-receiving side 14 and a second flow-receiving side 15 are provided at the bottom of the main body 1, the first flow-receiving side 14 and the second flow-receiving side 15 are respectively provided at one side and the other side in the travelling direction of the main body 1, the first flow-receiving side 14 and the second flow-receiving side 15 are opposite, wherein the first flow-receiving side 14 is close to the accommodating groove 11, the second flow-receiving side 15 is close to the dirt sucking port 12, a second flow-guiding surface 16 is provided between the first flow-receiving side 14 and the accommodating groove 11, and a third flow-guiding surface 17 is provided between the second flow-receiving side 15 and the dirt sucking port 12, and the second flow-guiding surface 16 and the third flow-guiding surface 17 are respectively provided in a streamline shape, so that resistance of the robot in the two-way advancing is reduced and dirt is more easily sucked.

Still further, in combination with the above structure, in some alternative embodiments, a plurality of grating plates 18 may be disposed on each of the first guide surface 13, the second guide surface 16, and the third guide surface 17, where the length direction of the grating plates 18 extends from the first flow facing side 14 to the second flow facing side 15, and the grating plates 18 are disposed so as not to obstruct the travel of the robot, and meanwhile, guide channels are formed between the grating plates 18, so that fluid (such as air) may be guided to the dirt suction port 12, thereby increasing cleaning effect, reducing resistance, and improving the operation efficiency of the robot; meanwhile, for the water cleaning robot, the grid plate 18 can also enable a gap to be reserved between the bottom wall and the pool wall, so that the problem that the machine cannot move due to adsorption by the pool when the machine is positioned at the water outlet of the pool is avoided, the energy consumption and waste of the machine are greatly reduced, and the cleaning efficiency is improved.

The related construction of the roller brush 2 is already common in the prior art, whereas the invention is also uniquely designed for the roller brush 2, as will be explained in more detail below by means of several embodiments of the roller brush 2.

Basic embodiment example of the roll brush: referring to fig. 9, 10 and 15, the rolling brush 2 includes a rotating shaft 21, a brush sleeve 22, a rotating end sleeve 23 and a driving end sleeve 24, the rotating shaft 21 is an elongated shaft for supporting and fixing other components of the rolling brush 2, the brush sleeve 22 is sleeved on the rotating shaft 21, soft silica gel, rubber, polyamide fiber and other materials can be selected as the brush sleeve 22, bristles 25 are arranged on the surface of the brush sleeve 22, the bristles 25 are used for cleaning, the rotating end sleeve 23 is installed in the main body 1, the rotating end sleeve 23 is opposite to the end of the accommodating groove 11, the rotating end sleeve 23 is installed at one end of the rotating shaft 21 and used for supporting the rotating shaft 21 to rotate, the driving end sleeve 24 is also installed in the main body 1, the other end of the rotating shaft 21 is fixedly connected with the driving end sleeve 24, the driving end sleeve 24 is simultaneously connected with the driving device 6 in a driving way, the driving device 6 is used for providing a rotating force to transmit the power to the rolling brush 2 to rotate, and the bristles 25 on the brush sleeve 22 contact with the ground or other surfaces in the rotating process.

The design has the advantages that: the rolling brush 2 can stably rotate due to the design of the rotary end sleeve 23 and the transmission end sleeve 24, shaking or blocking is not easy to occur, the rolling brush 2 can keep a stable cleaning effect in the working process, loopholes and dead angles are avoided, and the transmission end sleeve 24 is in transmission connection with the driving device 6 to effectively transmit power to the rolling brush 2, so that the transmission efficiency is improved; in addition, in this embodiment, the rotating shaft 21 and the brush sleeve 22 are installed in the accommodating groove 11, and the transmission end sleeve 24 and the driving device 6 are both located inside the main body 1, so that the brush sleeve 22 and the transmission structure are effectively isolated, and the problems of entanglement or winding of the bristles 25 are prevented, thereby reducing the risk of damaging the rolling brush 2 or the cleaning robot.

Examples of further optimized embodiments of the roller brush: referring to fig. 10 to 15, in practical application, the rolling brush of the cleaning robot needs to be cleaned and maintained regularly to ensure its normal working meter, and based on the technical scheme of the first embodiment, in this embodiment, the rolling brush 2 structure is quickly disassembled, and the specific embodiment is as follows: the rotary end sleeve 23 comprises a shaft support 231 and a clamping ring 232, the shaft support 231 is a cylinder, the shaft support 231 penetrates through the side wall of the main body 1 and stretches into the end direction in the accommodating groove 11, the clamping ring 232 is clamped inside the main body 1, a circular rotary groove 233 is formed in the shaft support 231 and used for inserting the rotary shaft 21, the rotary shaft 21 is inserted so that the rotary end sleeve can be connected with the rotary shaft 21 quickly, and the circular rotary groove 233 can provide a good supporting rotary function for the rotary shaft 21.

The snap ring 232 is fixed to the inner wall of the main body 1 by an elastic connection manner, and the direction of the elastic connection is consistent with the axial direction of the rotating shaft 21, so that the rotating end sleeve 23 can be compressed towards the inside of the main body 1 by a certain distance, enough space is provided for installation of the rotating shaft 21, and a detachable fixing manner (such as clamping connection, threaded connection, bolt connection and the like) is adopted between the other end of the rotating shaft 21 and the transmission end sleeve 24, so that quick assembly and disassembly of the rotating shaft 21 and the transmission end sleeve 24 can be realized through compression and resetting of the rotating end sleeve 23.

Specifically, the inside elastic expansion piece 3 and the gland 4 of still being equipped with of main part 1, gland 4 and main part 1 inner wall pass through pin fixed connection, ensure the overall structure's of robot stability, and elastic expansion piece 3 then connects between gland 4 and rotation pot head 23, plays elasticity regulation effect. Correspondingly, the gland 4 and/or the rotary end sleeve 23 are provided with positioning structures, such as a protrusion 41 or a groove 26, for limiting the spring, and the purpose of the positioning structures is to ensure that the spring can be limited at a proper position, so that the connection between the rotary end sleeve 23 and the spring is ensured to be stable and reliable, in this embodiment, the gland 4 is provided with the cross-shaped protrusion 41, the rotary end sleeve 23 is provided with the groove 26, it is understood that the gland 4 is provided with the groove 26, and the rotary end sleeve 23 is provided with the cross-shaped protrusion 41 to achieve a similar effect, which is not repeated herein.

In addition, the gland 4 is further provided with an extended plate 41, and the plate 41 is adapted to the pin 82 of the rocker 811, specifically, the plate 42 abuts against the end of the pin 82, so as to avoid dislocation of the pin 82.

It should be noted that, in other embodiments, there are numerous ways to implement the rotatable end cap 23 elastically and telescopically disposed in the accommodating groove 11 along the axial direction of the rotating shaft 21, and all the existing elastic telescopic structures (such as elastic metal sheets, torsion springs, etc.) can be directly used for the elastic connection between the rotatable end cap 23 and the inner wall of the main body 1, and all the existing elastic telescopic structures should be included in the solution of this embodiment.

Example of a still further preferred embodiment of the roller brush: in the practical use process of the cleaning robot, the wheels need to be driven to move, the driving mode of the wheels comprises but is not limited to driving mechanisms such as belts, gears and chains, the driving motor is adopted to directly drive the wheels to rotate through the driving mechanisms, the synchronous driving mode is adopted in the embodiment, the rolling brush 2 is synchronously driven to rotate while the driving motor controls the wheels to rotate, the working efficiency can be greatly improved by means of one driving two driving modes, the cost of the robot is reduced, and the space utilization rate is improved.

Specifically, referring to fig. 10 and 15, the transmission end cover 24 is further provided with a transmission gear 5 at one end opposite to the rotation shaft 21, which means that the transmission end cover 24 not only plays a role of rotation support, but also has a function of transmitting power, the rotation shaft 21, the transmission end cover 24 and the transmission gear 5 are fixedly connected to ensure that they can cooperate, one side of the transmission end cover 24 is provided with a clamping body 241 (non-circular shape) for realizing detachable connection, while the end of the rotation shaft 21 is provided with a shaft end clamping groove 211 adapted to the clamping body 241, so that the transmission end cover 24 can be fixed on the rotation shaft 21 through insertion and clamping, thereby achieving the effect of stable connection and transmission, the transmission end cover 24 at the other side is provided with a cover end clamping groove 242, and the transmission gear 5 is provided with a clamping post 51 (non-circular shape) adapted to the cover end clamping groove 242, so that the connection between the transmission end cover 24 and the transmission gear 5 is tight and reliable.

A driving device 6 is arranged in the main body 1, the driving device 6 provides power to a transmission part of the robot, and the driving device is mainly used for providing rotation of wheels and rotation of the rolling brush 2 in the embodiment, wherein the wheels comprise a driving wheel 61, the driving wheel 61 is responsible for providing traction force and pushing the movement of the robot, a driving gear 62 is arranged at the output end of the driving device 6, a driven gear 63 is arranged on the driving wheel 61, and the two gears are meshed, so that torque transmission and rotating power transmission are realized.

Meanwhile, the driving gear 62 is in transmission connection with the transmission gear 5 through the gear set 64, so that when the driving gear 62 rotates, acting force can be transmitted to the transmission gear 5 through the gear set 64, and then the transmission gear 5 drives the rolling brush 2 to rotate, the transmission mode can further increase transmission efficiency and reliability, so that power transmission is more stable and stable, the gear set 64 is meshed by a plurality of gears with different sizes to form a device similar to a function of a gearbox, and through power transmission of the gear set 64, the rotating speed of the transmission gear 5 can be changed to be more suitable for the rotating speed of the rolling brush 2.In addition, the present embodiment is required to ensure that the driven gear 63 and the transmission gear 5 are turned identically by virtue of the power transmission of the gear set 64, which means that their gear tooth shapes and rotation directions are identical to ensure proper operation of the transmission. Moreover, the same steering of the driven gear 63 and the driving gear 5 can ensure that the traveling directions of the rolling brush 2 and the robot are consistent, when the traveling directions of the rolling brush 2 and the robot are consistent, the rotation of the rolling brush 2 can be tightly coordinated with the traveling direction of the robot, thereby improving the cleaning effect or the movement efficiency of the robot, and when the traveling directions of the rolling brush 2 and the robot are consistent, the robot can be more stable in the cleaning or traveling process, the rolling brush 2 and the robot work cooperatively, and the change or the overturn of the rotating direction of the rolling brush 2 in the moving process is prevented, thereby improving the stability and the controllability of the robot.

In summary, the forward and backward rotation of the driving device 6 is controlled by the control module to control the water cleaning robot to switch the travelling direction, that is, after the cleaning robot encounters an obstacle or touches a wall in the travelling process, the travelling wheel 8 stops rotating, the signal is detected by the sensor, the sensor timely transmits the signal to the control module, the control module sends a control instruction to the driving device 6 according to the signal, the driving device 6 reverses according to the signal, the driven gear 63 correspondingly reverses at the moment, so that the driving wheel 61 reverses, the travelling direction of the robot is timely changed, and cleaning work is continuously performed on other places, so that the condition of inaccurate monitoring or misjudgment is avoided, and the operating efficiency of the cleaning robot is improved.

Meanwhile, in the embodiment of the invention, the rolling brush 2 is driven by the driving device 6, so when the driving device 6 changes the steering direction, the rolling brush 2 also synchronously changes the rotating direction, so that the same steering direction of the driven gear 63 and the transmission gear 5 can ensure that the travelling directions of the rolling brush 2 and the robot are consistent, when the travelling directions of the rolling brush 2 and the robot are consistent, the rotation of the rolling brush 2 can be tightly coordinated with the travelling direction of the robot, thereby improving the cleaning effect or the movement efficiency of the robot, and when the travelling directions of the rolling brush 2 and the robot are consistent, the robot can be more stable in the cleaning or travelling process, the rolling brush 2 and the robot work cooperatively, and the rotating direction of the rolling brush 2 is prevented from changing or turning over in the travelling process, thereby improving the stability and the controllability of the robot.

The application also correspondingly provides a novel control method of the water cleaning robot, which comprises the following core control methods: the sensor is always used for monitoring the motion state of the travelling wheel 8, when the sensor is used for monitoring that the travelling wheel 8 stops rotating, the driving device 6 is controlled to enable the cleaning robot to change the travelling direction, for example, the control module can control the speed between the left driving wheel and the right driving wheel to realize the steering of the robot, for example, the left driving wheel rotates at a low speed, and the right driving wheel rotates at a high speed to realize the left rotation and the right rotation of the robot. The swimming pool robot can be controlled to retreat or turn by controlling the rotation direction of the driving wheel. Therefore, the application relies on the simple and efficient obstacle monitoring mechanism to perform differential control on the wheels of the water cleaning robot so as to efficiently control the advancing direction of the wheels, reduce misjudgment and greatly improve the cleaning efficiency of the robot.

In addition, the control device not only can control the forward and backward rotation of the cleaning robot, but also can change other working states of the cleaning robot, such as: the sewage drainage flow channel in the main body 1 is also provided with a pumping device, negative pressure is generated by the pumping device to enable water flow in the sewage drainage flow channel to flow, and when the obstacle monitoring mechanism monitors that the travelling wheel 8 stops rotating, the control module can also control the pumping device to change the flow rate and/or the discharge direction of the fluid at the discharge port, for example, the power of the pumping device is controlled to change the flow rate of the fluid at the discharge port, so as to inform the angle of the discharge port to change the discharge direction. In summary, the sensor always monitors the movement state of the road wheel 8, and when the sensor monitors that the road wheel 8 stops rotating, the water cleaning robot changes the traveling direction at least in response to one of I) changing the flow rate of the fluid flowing out of the discharge port, II) changing the outflow direction of the fluid flowing out of the discharge port, III) changing the outflow direction of the fluid flowing out of the discharge port.

In the description of the present specification, the terms "embodiment," "present embodiment," "in one embodiment," and the like, if used, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples; furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present specification, the terms "connected," "mounted," "secured," "disposed," "having," and the like are to be construed broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of this specification, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The embodiments have been described so as to facilitate a person of ordinary skill in the art in order to understand and apply the present technology, it will be apparent to those skilled in the art that various modifications may be made to these examples and that the general principles described herein may be applied to other embodiments without undue burden. Therefore, the present application is not limited to the above embodiments, and modifications to the following cases should be within the scope of protection of the present application: ① The technical scheme of the invention is taken as the basis and combined with the new technical scheme implemented by the prior common general knowledge, and the technical effect produced by the new technical scheme is not beyond that of the invention; ② Equivalent replacement of part of the characteristics of the technical scheme of the invention by adopting the known technology produces the technical effect the same as that of the invention; ③ The technical scheme of the invention is taken as a basis for expanding, and the essence of the expanded technical scheme is not beyond the technical scheme of the invention; ④ Equivalent transformation made by the content of the specification and the drawings of the invention is directly or indirectly applied to other related technical fields.

Claims (10)

1. The utility model provides an obstacle monitoring mechanism, includes main part (1), its characterized in that, obstacle monitoring mechanism still includes locates walking wheel (8) of main part (1) bottom is right walking wheel (8) keep pushing down spring assembly (81) and detection walking wheel (8) motion's sensor.

2. Obstacle monitoring mechanism according to claim 1, characterized in that the bottom of the body (1) is further provided with at least two wheels to drive the body (1), the road wheels (8) being arranged between the two wheels.

3. Obstacle-monitoring mechanism according to claim 1, characterized in that the bottom of the body (1) is further provided with at least two wheels to drive the body (1), wherein at least one wheel is the road wheel (8).

4. Obstacle monitoring mechanism according to claim 1, characterized in that the said sprung assembly (81) comprises a rocker (811) and an elastic means (812), said rocker (811) being fixed in hinged relation to the body (1), the said travelling wheel (8) being rotatably arranged on the said rocker (811), the said elastic means (812) being adapted to provide a force with which the travelling wheel (8) remains depressed, the two ends of the said elastic means (812) being respectively in abutment with the said rocker (811) and the said body (1).

5. The obstacle monitoring mechanism as claimed in claim 1, wherein the sensor is a hall sensor, a magnetic member is provided on the travelling wheel (8), and the hall sensor senses whether the travelling wheel (8) rotates or not through the magnetic member.

6. The obstacle monitoring mechanism as claimed in claim 1, wherein the main body (1) is further provided with an avoidance space (83) for avoiding the travelling wheel (8), and the avoidance space (83) is disposed above the travelling wheel (8).

7. A water cleaning robot comprising the obstacle monitoring mechanism as claimed in any one of claims 1 to 6.

8. The water cleaning robot according to claim 7, characterized in that a control module for controlling the main body (1) to change the traveling direction is provided inside the main body (1), the control module being in signal connection with the sensor.

9. A water cleaning robot according to claim 7, characterized in that the body (1) is provided with pumping means which change the flow and/or direction of the discharge outlet fluid in response to the obstacle monitoring mechanism.

10. A control method of a water cleaning robot, characterized in that a sensor always monitors the movement state of a travelling wheel (8), and when the sensor monitors that the travelling wheel (8) stops rotating, the water cleaning robot changes the travelling direction, II) changes the flow rate of fluid flowing out of a discharge port, III) changes the outflow direction of fluid flowing out of the discharge port, at least in response to one of the following.