CN203861128U - Robot dust cleaner - Google Patents
Robot dust cleaner Download PDFInfo
- Publication number
- CN203861128U CN203861128U CN201420223771.2U CN201420223771U CN203861128U CN 203861128 U CN203861128 U CN 203861128U CN 201420223771 U CN201420223771 U CN 201420223771U CN 203861128 U CN203861128 U CN 203861128U
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- bumper
- impingement
- power impact
- impact sensor
- robot cleaner
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Abstract
The utility model discloses a robot dust cleaner. The robot dust cleaner comprises a base, a bumper at the front end of the base, a plurality of the power collision sensors mounted between the front end of the base and the bumper, and a controller mounted on the base. The controller receives signals from the power collision sensors and determine the direction in which the bumper is collided according to the signals; the bumper is formed by laying at least two bumping plates, every bumping plate corresponds to at least one of the power collision sensors. The bumper is divided into at least two bumping plates, and every bumping plate corresponds to at least one of the power collision sensors, so that when a bumping plate is collided, only the power collision sensors corresponding to the bumping plate can generate signals and other power collision sensors cannot generate signals, and further the controller can receive accurate collision signals to accurately determine the collided direction and avoid errorneous determination.
Description
Technical field
The utility model relates to dust catcher, relates in particular to robot cleaner.
Background technology
Robot cleaner is a kind ofly in the situation that not having user to operate, in region to be cleaned, to advance, to clean the dust catcher on floor.Specifically, robot cleaner is used in the clean floor of family or removes dust.Here, dust can comprise earth, hair, powder, chip and other dust particles.
Application number discloses so a kind of robot cleaner for the Chinese patent application that " 201180068875.X " and name are called " cover robot navigation ", and this dust catcher comprises base, is installed on the controller of base, drive system, battery, bumper and power impact sensor.Bumper is bearing on the front portion of base movably, and to make in the time contacting with barrier, at least part of bumper moves short distance towards base.The motion of bumper can allow bumper to contact one or more power impact sensor to produce the signal that represents to clash into object.
In above-mentioned robot cleaner, because described bumper is an overall structure, produce deformation in the time that this bumper somewhere bumps time, not only the power impact sensor at this place can produce signal, this deformation meeting causes that the signal of other power impact sensor changes, so controller cannot be judged the particular location of shock and erroneous judgement may occur.
Summary of the invention
The problem that the utility model solves is that existing robot cleaner cannot be judged the particular location of shock and the problem of erroneous judgement may occur.
For addressing the above problem, the utility model provides a kind of robot cleaner, this dust catcher comprises base, be installed on the bumper of base front end, be installed on the multiple power impact sensors between base front end and bumper and be installed on the controller of base, controller receives the signal of power impact sensor and judges according to this signal the orientation that bumper is knocked, described bumper is laid and is formed by least two impingement plates, every corresponding at least one power impact sensor of impingement plate.
In further scheme, every impingement plate is distributed with an impingement region, the corresponding power impact sensor of each impingement region.
In further scheme, every impingement plate is distributed with multiple impingement regions, be positioned at the corresponding power impact sensor of each impingement region of both sides, an impingement region in the impingement region of every two adjacent power impact sensor correspondences between described both sides.
In further scheme, described impingement plate has two, and every impingement plate is divided into three impingement regions, the respectively corresponding power impact sensor of the impingement region of both sides, the impingement region in the middle of these two power impact sensor correspondences.
In further scheme, described power impact sensor comprises transmitter and receiver, described robot cleaner comprises tumbler, the baffle plate being connected with this tumbler and the grating resetting means being connected with tumbler, and this tumbler is arranged on and between base and bumper and in the time that impingement plate bears pressure, rotates and drive described baffle plate to remove between transmitter and receiver; Described grating resetting means limits described baffle plate between transmitter and receiver in the time that impingement plate is not collided.
In further scheme, described grating resetting means is back-moving spring, and one end of this spring is connected in described tumbler, and the other end is fixed on described base.
In further scheme, described tumbler comprises the butting section and the connecting portion that have the rotation section of shaft hole, be connected with rotation section, wherein, connecting portion and butting section are perpendicular, described baffle plate stands on connecting portion, rotation section is connected in base by rotating shaft, and described impingement plate collides described butting section and rotation section is rotated around the axis when by collision, and rotation section is rotated and driven described baffle plate to rotate and remove between described transmitter and receiver.
In further scheme, described dust catcher also comprises bumper resetting means, and this bumper resetting means is compressed in the time that bumper is collided, and applies elastic force and drive the opposing base of bumper to move to bumper in the time that bumper is not collided.
In further scheme, described bumper resetting means is reseting shrapnel, this reseting shrapnel comprises elastic sheet body, the first shell fragment and the second shell fragment, elastic sheet body comprises relative first end and the second end, one end of the first shell fragment is connected in described first end, the other end is resisted against described bumper, and one end of the second shell fragment is connected in described the second end, and the other end is resisted against described bumper.
In further scheme, in obtuse angle, the second shell fragment and elastic sheet body are in obtuse angle for described the first shell fragment and elastic sheet body.
Compared with prior art, the utlity model has following advantage:
Because the utility model robot cleaner lays bumper to form and every corresponding at least one power impact sensor of impingement plate by least two impingement plates, like this, one monoblock bumper is divided into at least two impingement plates, in the time that an impingement plate is knocked, only have the power impact sensor corresponding with this piece impingement plate just can produce signal and other power impact sensor can not produce signal, so, controller can receive the signal clashing into accurately and produce, can accurately judge the orientation being knocked, accuracy of judgement, can not judge by accident.
Brief description of the drawings
Fig. 1 is the explosive view of the utility model robot cleaner;
Fig. 2 is the collision area of the utility model robot cleaner and the structural representation that power crash sensor distributes;
Fig. 3 is the structural representation of the tumbler of the utility model robot cleaner;
Fig. 4 is the structural representation of the bumper resetting means of the utility model robot cleaner.
Wherein: 1, base; 2, bumper; 21, impingement plate; 3, power impact sensor; 4, tumbler; 41, rotation section; 42, butting section; 43, connecting portion; 5, baffle plate; 6, grating resetting means; 7, bumper resetting means; 71, elastic sheet body; 711, first end; 712, the second end.
Detailed description of the invention
By describing technology contents of the present utility model, structural feature in detail, being reached object and effect, below in conjunction with embodiment and coordinate accompanying drawing to be described in detail.
Refer to Fig. 1 to Fig. 4, the utility model robot cleaner comprises base 1, be installed on the bumper 2 of base 1 front end, be installed on the multiple power impact sensors 3 between base 1 front end and bumper 2 and be installed on the controller of base 1.In prior art, bumper 2 is an entirety, the corresponding multiple power impact sensors 3 of one monoblock, produce deformation in the time that this bumper somewhere bumps time, not only the power impact sensor at this place can produce signal, this deformation meeting causes that the signal of other power impact sensor changes, so, controller cannot be judged the particular location of shock and erroneous judgement may occur, in order to address this problem, the utility model bumper 2 is laid and is formed (Fig. 1 illustrates two impingement plates) by least two impingement plates 21, every corresponding at least one power impact sensor 3 of impingement plate 21.Because a monoblock bumper 2 is divided into at least two impingement plates 21 and every corresponding at least one power impact sensor 3 of impingement plate 21, like this, when an impingement plate 21 is knocked, only have the power impact sensor 3 corresponding with this piece impingement plate 21 just can produce signal and other power impact sensor 3 can not produce signal, so, controller can receive the signal clashing into accurately and produce, and can accurately judge the orientation being knocked, and can not judge by accident.
Refer to Fig. 1 and Fig. 2, every impingement plate is distributed with multiple impingement regions, be positioned at the corresponding power impact sensor of each impingement region of both sides, an impingement region in the impingement region of every two adjacent power impact sensor correspondences between described both sides.In a kind of concrete embodiment, described impingement plate 21 has two, every impingement plate 21 is divided into three impingement regions, as shown in Figure 2, the impingement plate 21 in left side is divided into three impingement region 21A, 21B and 21C, the impingement plate 21 on right side is divided into three impingement region 21D, 21E and 21F, corresponding first power impact sensor 3 of impingement region 21A, impingement region 21B(is an impingement region between impingement region 21A and the 21C of two both sides namely) the i.e. grating 1 in figure of corresponding first power impact sensor 3() and the i.e. grating 2 in figure of second power impact sensor 3(), corresponding second the power impact sensor 3 of impingement region 21C, corresponding the 3rd the power impact sensor 3 of impingement region 21D, the namely impingement region between impingement region 21D and the 21F of both sides of impingement region 21E() the i.e. grating 3 in figure of corresponding the 3rd power impact sensor 3() and the i.e. grating 4 in figure of the 4th power impact sensor 3(), the 4th power impact sensor 3 of impingement region 21F correspondence.Only be divided into three impingement regions as example is as explanation using an impingement plate although above-mentioned, but, technical staff appoints so can derive and is divided into four impingement regions when impingement plate, the situation of five even more impingement regions of impingement region, in such cases, few one than the number of impingement region of the number of power impact sensor, such as, in the time that impingement plate is divided into five impingement regions, according to clockwise direction, the first impingement region and the 5th impingement region correspond respectively to first power impact sensor and the 4th power impact sensor, corresponding the first power impact sensor of the second impingement region and second power impact sensor, corresponding the second power impact sensor of the 3rd impingement region and the 3rd power impact sensor, corresponding the 3rd power impact sensor of the 4th impingement region and the 4th power impact sensor.As the conversion of above-mentioned embodiment, every impingement plate 21 is distributed with an impingement region, the corresponding power impact sensor of each impingement region, in such cases, the mode one to one that adopts the corresponding impingement region of a power impact sensor, judges also comparatively accurate.
Refer to Fig. 1 and Fig. 3, described power impact sensor 3 comprises transmitter 3A and receiver 3B, such power impact sensor 3 such as be the grating (as Fig. 2 describes as an example of grating example) being made up of transmitter and receiver.Described robot cleaner comprises tumbler 4, the baffle plate 5 being connected with this tumbler 4 and the grating resetting means 6 being connected with tumbler, and this tumbler 4 is arranged on and between base 1 and bumper 2 and in the time that impingement plate 2 bears pressure, rotates and drive described baffle plate 5 to remove between transmitter 3A and receiver 3B; Described grating resetting means 6 limits described baffle plate between transmitter 3A and receiver 3B in the time that impingement plate is not collided.Grating resetting means 6 can adopt any device that can reset, and in the present embodiment, grating resetting means is back-moving spring, and one end of this spring is connected in described tumbler 4, and the other end is fixed on described base 1.In a kind of detailed description of the invention, described tumbler 4 comprises the butting section 42 and the connecting portion 43 that have the rotation section 41 of shaft hole, be connected with rotation section 41, wherein, connecting portion 43 and butting section 42 are perpendicular, rotation section 41 and shaft hole are all vertical, described baffle plate 5 stands on connecting portion 43, rotation section 41 is passed shaft hole by rotating shaft and is connected in base 1, described impingement plate 2 collides described butting section 42 and rotation section 41 is rotated around the axis when by collision, and rotation section 41 is rotated and driven described baffle plate 5 to rotate and remove between described transmitter 3A and receiver 3B.
Refer to Fig. 4 and in conjunction with Fig. 1, for bumper 2 can be set back after being knocked, in the utility model, described dust catcher also comprises bumper resetting means 7, this resetting means 7 is compressed during by collision at bumper 2, does not apply elastic force to bumper 2 during by collision and drive the opposing base 1 of bumper 2 move and return to original position at bumper 2.In the present embodiment, described bumper resetting means 7 is reseting shrapnels, this reseting shrapnel comprises elastic sheet body 71, the first shell fragment 72A and the second shell fragment 72B, elastic sheet body 71 comprises relative first end 711 and the second end 712, one end of the first shell fragment 72A is connected in described first end 711, one end that the other end is resisted against described bumper 2, the second shell fragment 72B is connected in described the second end 712, and the other end is resisted against described bumper 2.In further technical scheme, in obtuse angle, the second shell fragment 72B and elastic sheet body 71 are the structure of isosceles trapezoid in obtuse angle for described the first shell fragment 72A and elastic sheet body 71, and like this, elastic force makes reset effect best the most by force.
In sum, the utility model robot cleaner lays bumper to form and every corresponding at least one power impact sensor of impingement plate by least two impingement plate, like this, one monoblock bumper is divided into at least two impingement plates, in the time that an impingement plate is knocked, only have the power impact sensor corresponding with this piece impingement plate just can produce signal and other power impact sensor can not produce signal, so, controller can receive the signal clashing into accurately and produce, and can accurately judge the orientation being knocked and can not judge by accident.
Claims (10)
1. robot cleaner, comprise base, be installed on base front end bumper, be installed on the multiple power impact sensors between base front end and bumper and be installed on the controller of base, controller receives the signal of power impact sensor and judges according to this signal the orientation that bumper is knocked, it is characterized in that: described bumper is laid and formed by least two impingement plates every corresponding at least one power impact sensor of impingement plate.
2. robot cleaner according to claim 1, is characterized in that: every impingement plate is distributed with an impingement region, the corresponding power impact sensor of each impingement region.
3. robot cleaner according to claim 1, it is characterized in that: every impingement plate is distributed with multiple impingement regions, be positioned at the corresponding power impact sensor of each impingement region of both sides, an impingement region in the impingement region of every two adjacent power impact sensor correspondences between described both sides.
4. robot cleaner according to claim 3, it is characterized in that: described impingement plate has two, every impingement plate is divided into an impingement region corresponding power impact sensor, the middle impingement region of these two power impact sensor correspondences respectively of three impingement regions, both sides.
5. according to robot cleaner described in any one in claim 1 to 4, it is characterized in that: described power impact sensor comprises transmitter and receiver, described robot cleaner comprises tumbler, the baffle plate being connected with this tumbler and the grating resetting means being connected with tumbler, and this tumbler is arranged on and between base and bumper and in the time that impingement plate bears pressure, rotates and drive described baffle plate to remove between transmitter and receiver; Described grating resetting means limits described baffle plate between transmitter and receiver in the time that impingement plate is not collided.
6. robot cleaner according to claim 5, is characterized in that: described grating resetting means is back-moving spring, and one end of this spring is connected in described tumbler, and the other end is fixed on described base.
7. robot cleaner according to claim 5, it is characterized in that: described tumbler comprises the butting section and the connecting portion that have the rotation section of shaft hole, be connected with rotation section, wherein, connecting portion and butting section are perpendicular, described baffle plate stands on connecting portion, rotation section is connected in base by rotating shaft, and described impingement plate collides described butting section and rotation section is rotated around the axis when by collision, and rotation section is rotated and driven described baffle plate to rotate and remove between described transmitter and receiver.
8. according to robot cleaner described in any one in claim 1 to 4, it is characterized in that: described dust catcher also comprises bumper resetting means, this bumper resetting means is compressed in the time that bumper is collided, and applies elastic force and drive the opposing base of bumper to move to bumper in the time that bumper is not collided.
9. robot cleaner according to claim 8, it is characterized in that: described bumper resetting means is reseting shrapnel, this reseting shrapnel comprises elastic sheet body, the first shell fragment and the second shell fragment, elastic sheet body comprises relative first end and the second end, one end of the first shell fragment is connected in described first end, the other end is resisted against described bumper, and one end of the second shell fragment is connected in described the second end, and the other end is resisted against described bumper.
10. robot cleaner according to claim 9, is characterized in that: in obtuse angle, the second shell fragment and elastic sheet body are in obtuse angle for described the first shell fragment and elastic sheet body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420223771.2U CN203861128U (en) | 2014-05-04 | 2014-05-04 | Robot dust cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420223771.2U CN203861128U (en) | 2014-05-04 | 2014-05-04 | Robot dust cleaner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203861128U true CN203861128U (en) | 2014-10-08 |
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ID=51642121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420223771.2U Active CN203861128U (en) | 2014-05-04 | 2014-05-04 | Robot dust cleaner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203861128U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476552A (en) * | 2015-11-18 | 2016-04-13 | 江苏美的清洁电器股份有限公司 | Smart vacuum cleaner and collision detecting system |
| CN107336267A (en) * | 2017-08-24 | 2017-11-10 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN109414143A (en) * | 2016-05-20 | 2019-03-01 | Lg电子株式会社 | Robot cleaner |
-
2014
- 2014-05-04 CN CN201420223771.2U patent/CN203861128U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476552A (en) * | 2015-11-18 | 2016-04-13 | 江苏美的清洁电器股份有限公司 | Smart vacuum cleaner and collision detecting system |
| CN109414143A (en) * | 2016-05-20 | 2019-03-01 | Lg电子株式会社 | Robot cleaner |
| CN107336267A (en) * | 2017-08-24 | 2017-11-10 | 深圳市银星智能科技股份有限公司 | Mobile robot |
| CN107336267B (en) * | 2017-08-24 | 2023-11-17 | 深圳银星智能集团股份有限公司 | Mobile robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |