CN208781068U - Self-movement robot - Google Patents
Self-movement robot Download PDFInfo
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- CN208781068U CN208781068U CN201821233915.7U CN201821233915U CN208781068U CN 208781068 U CN208781068 U CN 208781068U CN 201821233915 U CN201821233915 U CN 201821233915U CN 208781068 U CN208781068 U CN 208781068U
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Abstract
On the one hand the utility model discloses a kind of self-movement robot, drive module, Space environment detection sensor and the collision sensing device assembly moved on the ground including robot body, the driving self-movement robot.The collision sensing device assembly includes bracket, connect with the bracket and cover at the protective cover of the top of the Space environment detection sensor and is installed on the crash sensor of the bracket and/or the protective cover.The protective cover collides with barrier, triggers the crash sensor of corresponding position.On the other hand the utility model also discloses a kind of self-movement robot, the self-movement robot further includes controller, and the controller controls the self-movement robot according to the trigger position of the crash sensor and executes avoidance movement.Using the utility model, have and sense the collision situation of the collision sensing device assembly in all directions, to prevent the self-movement robot stuck in the low obstructions the advantages of.
Description
Technical field
The utility model relates to field in intelligent robotics more particularly to a kind of self-movement robots.
Background technique
Self-movement robot, be one collect environment sensing, dynamic decision and planning, behaviour control and execution etc. it is multi-functional in
The integrated system of one.It has concentrated sensor technology, information processing, electronic engineering, computer engineering, automation control engineering
And the multi-disciplinary research achievement such as artificial intelligence, represent electromechanical integration highest achievement, be current scientific technological advance most
One of active field.As robot performance is constantly perfect, the application range of mobile robot greatly extends, and is applied to clothes
The self-movement robot for industry of being engaged in includes clean robot, security robot, guest-meeting robot and meal delivery robot etc..Because moving certainly
Mobile robot can replace the work of people's complete independently, bring great convenience to people's lives, liberate the double of people
Hand increasingly has been favored by people.
In the prior art, self-movement robot during the work time, mainly passes through the obstacle detector of front installation
And the collision sensing device assembly of top installation detects the environmental information of work, the collision sensing at the top of self-movement robot
Device assembly outer cover is fixed on the self-movement robot mostly or crash sensor is arranged in the outer cover, to detect the top
Collision sensing device assembly collision situation, but in the prior art, the structure of top collision sensing device assembly can only but detect
The collision of horizontal direction, or the collision situation at top can only be detected.Detection multiple directions collision situation can not be met simultaneously,
Detection function is single, and self-movement robot is easy to stuck in low obstructions, and structure is complicated.
Utility model content
It is described from mobile machine technical problem to be solved by the utility model is to provide a kind of self-movement robot
The collision sensing device assembly of people can detecte the collision situation of multiple directions and structure is simple.
In order to solve the above-mentioned technical problem, the embodiments of the present invention use following technical scheme:
On the one hand the utility model provides a kind of self-movement robot, comprising:
Robot body；
Drive module is configured as that the self-movement robot is driven to move on the ground；And
Space environment detection sensor is configured as at least partly protruding from the top of the robot body；And
Collision sensing device assembly, comprising:
Bracket is set to the top of the robot body；
Protective cover is configured to that the upper of the Space environment detection sensor is flexibly connected and covered at the bracket
Side, so that direct collision of the Space environment detection sensor from barrier；And
At least one crash sensor is configured to be installed on the bracket and/or the protective cover, in the protective cover
In the case where colliding with barrier, the relatively described bracket of the protective cover generates displacement, to trigger touching for corresponding position
Hit sensor.
On the other hand the utility model also provides a kind of self-movement robot, comprising:
Robot body；
Drive module is configured as that the self-movement robot is driven to move on the ground；And
Space environment detection sensor is configured as at least partly protruding from the top of the robot body；
Controller is configured as controlling all parts work of the self-movement robot；
And
Collision sensing device assembly, comprising:
Bracket is set to the top of the robot body；
Protective cover is configured to that the upper of the Space environment detection sensor is flexibly connected and covered at the bracket
Side, so that direct collision of the Space environment detection sensor from barrier；And
At least one crash sensor is configured to be installed on the bracket and/or the protective cover, in the protective cover
In the case where colliding with barrier, the relatively described bracket of the protective cover generates displacement, to trigger touching for corresponding position
Sensor is hit, the trigger position of crash sensor described in the controller controls the self-movement robot and executes avoidance movement.
In one embodiment of the utility model, the protective cover includes top cover and bottom cover, the bottom cover and the top
Lid connection cooperation, by the part on the bracket far from the robot body be located in the top cover and the bottom cover it
Between.
In one embodiment of the utility model, the bracket includes:
Several support rods are configured to arrange around the Space environment detection sensor distance, and the one of the support rod
End is fixedly installed on the top of the robot body；And
Mounting portion, is configured as a fixedly connected with the other end in the support rod, and the mounting portion is located in the top cover
Between the bottom cover.
In one embodiment of the utility model, one of both described top cover and the bracket are provided with protrusion,
The other of both described top cover and the bracket correspond to the protrusion and are provided with the first groove, the protrusion and described the
The cooperation of one groove, prevents the top cover from rotating relative to the bracket.
In one embodiment of the utility model, the bottom cover is connected with the top cover cooperation, is fixed by fastener,
To prevent the top cover to be detached from the bracket.
In one embodiment of the utility model, the crash sensor includes the first crash sensor, described anti-
In the case that the top of protecting cover and barrier collide, first crash sensor is triggered.
In one embodiment of the utility model, the crash sensor includes the second crash sensor, described anti-
In the case that the outer rim and barrier of protecting cover collide, second crash sensor is triggered.
In one embodiment of the utility model, the crash sensor is microswitch or proximity sensor or photoelectricity
One of switch is a variety of.
In one embodiment of the utility model, the Space environment detection sensor is laser radar, described from shifting
Mobile robot further includes pedestal and the motor for being fixedly installed on the pedestal, and the Space environment detection sensor is by the motor
Driving rotates on the pedestal.
Compared with prior art, the technical solution of the utility model embodiment at least has the advantages that
In the embodiments of the present invention, by the way that protective cover and bracket, the branch is arranged in the collision sensing device assembly
On the one hand frame is fixedly connected with robot body, the crash sensor is on the other hand installed on the bracket, the protection
Lid can generate displacement relative to the bracket, and after the protective cover and barrier collide, the collision for triggering corresponding position is passed
Sensor, to sense the collision situation of the collision sensing device assembly in all directions, to prevent the self-movement robot card
Die of low obstructions.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other variants.
Fig. 1 is the perspective view of self-movement robot in the utility model embodiment；
Fig. 2 is the bottom view of self-movement robot in the utility model embodiment；
Fig. 3 is the explosive view of self-movement robot in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of protective cover in an embodiment of the present invention；
Fig. 5 is the fractionation schematic diagram of protective cover in an embodiment of the present invention；
Fig. 6 is in Fig. 4 along the cross-sectional view in the direction A-A.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It is explicitly described, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, fall within the protection scope of the utility model.
Noun of locality "front", "rear" described herein, "left", "right" are with self-movement robot direction of advance for reference side
To when "top" described herein, "bottom", "upper", "lower", " cross ", " perpendicular " are with self-movement robot normal work
State be reference.
The utility model patent is illustrated by clean robot of self-movement robot, in other embodiments
In, the self-movement robot can be security robot or other intelligent robots etc..
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is the perspective view of self-movement robot in the utility model embodiment, and Fig. 2 is this reality
With the bottom view of self-movement robot in new embodiment.Self-movement robot described in the utility model includes robot master
Body 10, is installed on inside robot body 10 drive module 30 for driving the robot body 10 to move on the ground
And the controller (not shown) of the walking of self-movement robot described in real-time control, it is set to 10 top of the robot body
Collision sensing device assembly 20 and be set to the obstacle detector 60 of 10 front of the robot body.It is envisioned that,
Self-movement robot described in the utility model is to illustrate by taking clean robot as an example to all parts and function,
The self-movement robot further includes the cleaning assemblies for cleaning face to be cleaned and the storage dress for collecting cleaning object
Set 50.
The drive module 30 is installed on side of the robot body 10 towards the ground, the drive module 30
Left and right sidesing driving wheel including being installed on 10 left and right sides of robot body, the drive module 30 can also include being set to
The omni-directional wheel 31 of position before or after the robot body 10.The installation site of the left and right sidesing driving wheel and omni-directional wheel 31 is in triangle
Shape distribution, to improve the stability walked in the self-movement robot course of work.The self-movement robot straight trip process
In, the left and right sidesing driving wheel drives the self-movement robot to walk with identical speed；If the collision sensing device assembly 20
Or the obstacle detector 60 generates signal intensity, the controller controls the driving wheel differential traveling or then with identical
Velocity reversal's traveling, so that the self-movement robot can execute corresponding movement according to operating environment condition.
The cleaning assemblies may include the first cleaning assemblies 40 and the second cleaning assemblies 41, the robot body's 10
Bottom is provided with the bottom cavity for accommodating first cleaning assemblies 40, and the bottom cavity is provided with suction inlet, and the suction inlet is connected to through air duct
The storage device 50.First cleaning assemblies 40 may include being installed on the bottom cavity by the hairbrush of front position and being installed on
The scraping article of bottom cavity position rearward is equipped with motor, the rotation of hairbrush described in the motor driven inside the robot body 10
Turn, the cleaning object on the ground is pushed into the suction inlet.Fan assembly, the fan assembly are additionally provided in the air duct
It generates suction and the cleaning object is sucked into the storage device 50.Second cleaning assemblies 41 is set to the robot master
The marginal position of body 10, with clean first cleaning assemblies can not clean position, and by the cleaning object at the suction inlet
Agitation, so that the cleaning object is easier to suck the storage device 50 by fan assembly.The cleaning assemblies also with it is described
Controller communication adjusts revolving speed or stops working according to the information that the controller issues.
The storage device 50 is installed on the middle position of the robot body 10, the surface of the storage device 50
It is provided with key, pressing the key can pop up the storage device 50 from the robot body 10.In other implementations
In example, the storage device 50 can also be installed on rear portion or the other positions of the robot body 10, the storage device
50 can also include that dust-collecting box and water tank be respectively used to collect cleaning object and carry out wet dragging work.It is corresponding described from moving machine
Device people can also include mopping component, and the mopping component is installed on the rear portion of the robot body 10, the mopping component
Ground can be carried out it is dry drag, can also be dripped by the water tank and ground wet drag after soaking the mopping component.
The controller is set to the inside of the robot body 10, with the cleaning assemblies of the self-movement robot,
The component communications such as drive module 30, collision sensing device assembly 20 and obstacle detector 60, it is described from mobile machine to control
It is artificial to make.Such as: the controller is believed according to the detection of the collision sensing device assembly 20 or the obstacle detector 60
The revolving speed of the speed of number control drive module 30 and direction or the control cleaning assemblies.The controller may include more
It is a to control all parts respectively, it can also only be arranged one, control all components.The controller can for single-chip microcontroller, FPGA,
The micro-control units such as AS IC, DSP.
The collision sensing device assembly 20 is installed on the top of the robot body 10, the collision sensing device assembly 20
It can be used for capturing the environmental information of self-movement robot work, in order to the self-movement robot construction work map or rule
Draw operating path.The collision sensing device assembly 20 can also detect the collision situation of itself, described from mobile machine to detect
The roof environment information of the robot body 10 of people, and the environmental information is fed back into the controller, it effectively prevent described
Self-movement robot is stuck in short object.
The obstacle detector 60 is set to the front of the robot body 10 of the self-movement robot, the barrier
Analyte detection device 60 is hindered to extend from the front of the robot body 10 to the rear portion of the robot body 10, and at least partly
Self-movement robot lateral edge position is coated, to detect the letter of the barrier in the self-movement robot working environment
Breath, the controller control the self-movement robot according to the environmental information that the obstacle detector 60 is fed back and walk.
Fig. 3, Fig. 4, Fig. 5 and Fig. 6 are please referred to, Fig. 3 is the explosion view of self-movement robot in an embodiment of the present invention
Figure, Fig. 4 is the structural schematic diagram of protective cover in an embodiment of the present invention, and Fig. 5 is protected in an embodiment of the present invention
The fractionation schematic diagram of lid, Fig. 6 are cross-sectional view of the Fig. 4 along the direction A-A.The top of robot body 10 is provided with cavity 13, space
Environment detection sensor 240 is set to cavity 13, and Space environment detection sensor 240 at least partly protrudes from the robot master
The top of body, in order to detect the working environment of self-movement robot.Collision sensing device assembly 20 is installed on cavity 13, and collision passes
Sensor component 20 includes bracket 230, protective cover 220 and at least one crash sensor 233.Bracket 230 is set to robot master
The top of body 10, protective cover 220 are configured to that Space environment detection sensor 240 is flexibly connected and covered at bracket 230
Top, so that direct collision of the Space environment detection sensor 240 from barrier.Crash sensor 233 is configured to install
In bracket 230 and/or the protective cover 220, in the case where protective cover 220 and barrier collide, 220 phase of protective cover
Displacement is generated to bracket 230, to trigger the crash sensor 233 of corresponding position, the controller is according to the collision sensing
The trigger position of device 233 controls the self-movement robot and executes avoidance movement.
Protective cover 200 includes bottom cover 210 and top cover 220, and bottom cover 210 and the connection of top cover 220 cooperate, will be on bracket 230
Part far from the robot body 10 is located between the top cover 220 and bottom cover 210.Bracket 230 includes several supports
Bar 232 and the mounting portion 231 being located between top cover 220 and bottom cover 210, several support rods 232 are configured to around the sky
Between environment detection sensor 240 be intervally arranged, one end of support rod 232 is fixedly installed on the top of the robot body 10,
The other end of support rod 232 is fixedly connected with mounting portion 231.Have between mounting portion 231 and top cover 220 and bottom cover 210 certain
Free gap trigger the crash sensor 233 of corresponding position after protective cover 200 and barrier collide.
In one embodiment of the invention, the edge of top cover 220 extends towards bottom cover 210, with covered stent 230, top cover 220
Inside be provided with protrusion 221, bracket 230 corresponds to the protrusion fluted 231a of 221 setting, raised 221 cylindrical, grooves
231a is arc-shaped, when bracket 230 is located between top cover 220 and bottom cover 210, described raised 221 with 231a pairs of the groove
It should install, when protective cover 200 and barrier collide, protective cover 200 generates displacement, the groove relative to bracket 230
231a limits the raised 221 moveable range, when preventing the protective cover 200 from colliding with barrier relative to
The bracket 230 rotates, and causes to judge by accident.In other embodiments, it described raised 221 can be set in the bracket 230, phase
Answer the groove 231a to correspond to described raised 221 and be set to top cover 220, described raised 221 can be it is rectangular-shaped or other
Multilateral shape, the groove 231a can be the conduit of other shapes.
In the embodiment of the present invention, bracket 230 is circular ring shape, and bracket 230 is installed on the marginal position of top cover 220, top cover
220 and the connection cooperation of bottom cover 210, it is fixed by fastener 213, bracket 230 is located between top cover 220 and bottom cover 210,
Top cover 220 in the self-movement robot course of work is prevented to be detached from the protective cover 200.Top cover 220 and bottom cover 210 can be with
It is fastened by other or snap-in structure is installed, the fastener, which can be screw or other, has zero of the effect that is connected and fixed
Part.
Bracket 230 includes several support rods 232 and the mounting portion 231 being located between the top cover 220 and bottom cover 210,
Several support rods 232 are configured to be intervally arranged around the Space environment detection sensor 240, and one end of support rod 232 is solid
Surely it is set to the top of the robot body 10, the other end of support rod 232 is fixedly connected with mounting portion 231.Support rod 232
Bracket 230 is set to towards the side of bottom cover 210, the marginal position of the cavity 100 of robot body 10 corresponds to the support
Bar 232 is provided with mounting portion 14.The support rod 232 is cooperatively connected with mounting portion 14, fixed by fixing piece 214, by bracket
230 are fixedly installed in robot body 10.Internal screw thread has can be set in support rod 232, and support rod 232 and the cooperation of mounting portion 14 connect
After connecing, it can be fixed using gasket and screw.Or external screw thread, support rod 232 and mounting portion 14 has can be set in support rod 232
After mating connection, one end coupling nut of the mounting portion 14 can be stretched out to fix bracket 230 in support rod 232.At other
In embodiment, the outside that light transparent member covers at the Space environment detection sensor 240 can be set, to prevent space environment
Detection sensor 240 is damaged by dust stratification or collision.In other embodiments, support rod 232 can be clamped or set with mounting portion 14
It sets buckle structure and is fastened on robot body 10.In other embodiments, the support rod 232 be can be set in 210 direction of bottom cover
The one side of robot body 10.
In the present embodiment, crash sensor 233 is installed on bracket 230, and protective cover 200 is opposite when colliding with barrier
Displacement is generated in the bracket 230, to trigger the crash sensor 233 of corresponding position.In other embodiments, the collision
Sensor 233 can be installed on the protective cover 200, when protective cover 200 and barrier collide, 200 phase of protective cover
Displacement is generated for bracket 230, the crash sensor 233 on protective cover 200 is collided with bracket and is triggered.It is envisioned that,
The crash sensor 233 can also be installed on bracket 230 and protective cover 200, and the crash sensor 233 is close to biography at this time
Sensor generates the appearance of the eddy current or caused electric signal that generate when displacement by detection protective cover 200 relative to bracket 230
The mode of variation is measured to judge the collision situation of the protective cover 200.The proximity sensor can be capacitive proximity sensing
Device, inductive proximity sensor or photo-electric proximity sensor.
Crash sensor 233 includes the first crash sensor 233a and sensing of sensing 200 top collision situation of protective cover
Second crash sensor 233b of 200 surrounding collision information of protective cover.First crash sensor 233a is at least arranged one and is propping up
The front of frame 230, the installation site of the first crash sensor 233a make the contact of the first crash sensor 233a towards top cover
220, when the first crash sensor 233a is installed on bracket 230,
The contact of first crash sensor 233a protrudes from bracket 230, and top and the barrier of protective cover 200 collide
When, top cover 220 and bottom cover 210 are moved down relative to bracket 230, the touching of top cover 220 and the first crash sensor 233a
Point contact triggers the first crash sensor 233a.In other embodiments, the first crash sensor 233a can be set multiple,
It is respectively arranged in bracket 230, more accurately to sense the collision situation of the 200 each position in top of protective cover.Such as: in bracket
230 front and rear is respectively arranged with the first crash sensor 233a, can sense the top of the front side or rear side of protective cover 200
The collision situation in portion and barrier.
Second crash sensor 233b is at least arranged two, is respectively arranged in that bracket 230 is forward or left and right of position rearward
Two sides, the second crash sensor 233b can be set multiple, one week of bracket circular ring type surface are distributed in, for sensing protective cover
Collision situation around 200.Second crash sensor 233b can be set it is multiple, for sensing each position around protective cover 200
The collision situation set.The installation site of second crash sensor 233b makes the contact of the second crash sensor 233b towards bracket
230 outer rim, and the outer rim is at least partly stretched out, bottom cover 210 corresponds to the second crash sensor 233b and is additionally provided with convex block
211, convex block 211 is arranged towards top cover 220, and when top cover 220 and bottom cover 210 are coupled, convex block 211 is in top cover 220
Between side and the outside of bracket 230.When the surrounding and barrier of protective cover 200 collide, top cover 220 and bottom cover 210 are opposite
Mobile to horizontal direction in bracket 230, the convex block 211 of bottom cover 210 is contacted with the contact of the second crash sensor 233b, triggers the
Two crash sensor 233b.In other embodiments, the installation site of the second crash sensor 233b can make the second collision
The contact of sensor 233b is correspondingly arranged in top cover 220 and bottom cover 210 towards the inner edge of bracket 230, the convex block 211 of bottom cover 210
When being coupled, convex block 211 is in the inside of bracket 230, when the surrounding and barrier of protective cover 200 collide, convex block 211
Trigger the second crash sensor 233b of corresponding position.In other embodiments, the protective cover 200 can only include top cover
220, the protective cover 220 is directly fixedly connected by fastener 213 with bracket 230.
In other embodiments, collision sensing device assembly 20 can only include protective cover 200, and protective cover 200 includes bottom cover
210 and the top cover 220 that is cooperatively connected with bottom cover 210, support rod 232 is fixedly installed in bottom cover 210.Top cover 220 and bottom cover 210
When being coupled, the edge of top cover 220 extends towards 210 side of bottom cover, and coats the edge of bottom cover 210, top cover 220 and bottom cover
There is certain free gap between 210, such as: hook can be set in top cover 220 and bottom cover 210 opposite side, pass through
Elastic component connects bottom cover 210 and top cover 220, so that having certain free gap between top cover 220 and bottom cover 210.First touches
It hits sensor 233a and is set to bottom cover 210 towards the side of top cover 220, and installation site makes the first crash sensor 233a
Contact towards top cover 220, the second obstacle sensor 233b is set to the marginal position of bottom cover 210, and the second collision sensing
The installation site of device 233b makes its contact towards the outside of bottom cover 210.Convex block 211 corresponds to second sensor 233b and is set to
Top cover 220 is towards the side of bottom cover 210.When the surrounding and barrier of protective cover 200 collide, top cover 220 is relative to bottom cover
210 is mobile to horizontal direction, and the convex block 211 of top cover 220 is contacted with the contact of the second crash sensor 233b, the second collision of triggering
Sensor 233b.When the top of protective cover 200 and barrier collide, top cover 220 is moved down relative to bottom cover 210, top
Lid 220 is contacted with the contact of the first crash sensor 233b, triggers the first crash sensor 233b.
It is envisioned that, in other embodiments, the first crash sensor 233a can be proximity sensor or photoelectric transfer
Sensor.If collision sensing device assembly 20 does not collide with barrier, the first crash sensor 233a or the second collision sensing
Device 233b may be at triggering state, when collision sensing device assembly 20 collides with barrier, first collision sensing
The signal of second crash sensor of device 233a or described 233b disconnects.Such as: the collision of the first crash sensor 233a or second passes
It is described under normal condition (i.e. collision sensing device assembly 20 does not collide with barrier) when sensor 233b is photoelectric sensor
The signal of first crash sensor 233a or the second crash sensor 233b are in normal output state, when crash sensor group
When part 20 and barrier collide, the signal of corresponding first crash sensor 233a or the second crash sensor 233b are hindered
Disconnected, controller detects that the first crash sensor 233a or the signal of the second crash sensor 233b change, to judge
Collision sensing device assembly 20 and the barrier of the self-movement robot collide, and the controller is according to specific collision situation
Control the self-movement robot walking.
In one embodiment of the utility model, when the self-movement robot is entered under short object, crash sensor group
The peripheral collision of the front of part 20 and the short object, top cover 220 is by downward pressure.Top cover 220 and the first barrier pass
The contact of sensor 233a contacts, to trigger the first obstacle sensor 233a.The controller detects the first crash sensor
233a is triggered, then judges that the self-movement robot enters short object, the controller controls the self-movement robot and holds
Professional etiquette keeps away behavior, it is described evade behavior and can be the control drive module 30 make to opposite direction operating or left and right wheels differential traveling
It obtains the self-movement robot and changes traffic direction, sail out of current environment.After the self-movement robot sails out of current environment, top
Lid 220 moves up reinstatement, so that protective cover 200 restores reset condition.Threshold can also be arranged in the self-movement robot
Value is to detect the time that the first crash sensor 233a is triggered, if the controller detects that the execution of drive module 30 is sailed
After the movement of current environment, when the triggered time of the first crash sensor 233a reaches threshold value, then issues the user with and mention
Show signal, the standby signal can be voice, light or send information etc. to mobile terminal, so that the user receives prompt
The self-movement robot is helped to sail out of current location after signal.
In another embodiment of the utility model, around the collision sensing device assembly 20 of the self-movement robot with
When short object collides, top cover 220 and top cover 210 move in the horizontal direction, the convex block 211 of bottom cover 210 and second
The contact of crash sensor 233b contacts, to trigger the second crash sensor 233b of corresponding position.Such as: the second collision sensing
The installation site of device 233b makes outer rim of the contact of the second crash sensor 233b towards bracket 230, the convex block of bottom cover 210
211 extend corresponding to the second crash sensor 233b outer rim for being set to bottom cover 210 towards top cover 220.If protective cover 200
When left side and barrier collide, top cover 220 and bottom cover 210 move right, then triggering be installed on bracket 230 right back or
Second crash sensor 233b of left front, the controller are installed on the right back or left front of bracket 230 based on the received
The signal that is triggered of the second crash sensor 233b, issue right turn or retreat instruction, the drive module 30 operates backward
Or so that revolver speed is greater than right wheel speed and the self-movement robot is rotated to the right to sail out of current environment.If protective cover
When 200 right side and barrier collide, top cover 220 and bottom cover 210 are moved to the left, then triggering is installed on a left side for bracket 230
The second crash sensor 233b at rear or right front, the controller be installed on based on the received bracket 230 left back or
The signal that second crash sensor 233b of right front is triggered issues left steering or retreats instruction, the drive module 30
Operating backward or revolver speed is made to be less than right wheel speed rotates to the right the self-movement robot to sail out of current environment.
In the other embodiments of the utility model, the installation site of the second crash sensor 233b makes the second collision sensing
Towards the inner edge of bracket 230, the convex block 211 of bottom cover 210 corresponds to the second crash sensor 233b and is set to for the contact of device 233b
The inner edge of bottom cover 210 extends towards top cover 220.When colliding in order to protective cover 200 and barrier, corresponding position is triggered
Second crash sensor 233b, the second crash sensor 233b that the controller is installed on bracket 230 based on the received are touched
The signal of hair issues right turn or left-hand bend or retreats instruction, so that the self-movement robot is rotated to the right to sail out of currently
Environment.
In one embodiment of the invention, protective cover 200 is set to the outside of Space environment detection sensor 240, protective cover
Between 200 and Space environment detection sensor 240 have certain activity space so that Space environment detection sensor 240 with
The protective cover 200 will not mutual extrusion contacts due to external world's collision.The self-movement robot further includes pedestal 11 and fixes
It is set to the motor 12 of pedestal 11, Space environment detection sensor 240 is rotated on the base 11 by the driving of motor 12, and pedestal 11 is pacified
Loaded on cavity 13.In the present embodiment, Space environment detection sensor 240 is laser radar, and the laser radar rotation is to detect
The working environment information of the self-movement robot.Such as: the self-movement robot starting is started to work, the space environment
Detection sensor rotation, the environmental information of the self-movement robot is obtained according to laser radar received signal, establishes work
Make map or planning path, in the self-movement robot course of work, the laser radar is constantly in rotation status, real
When detect the peripheral information of the self-movement robot local environment, and real-time update working map or update operating path, then
The self-movement robot walking is controlled in conjunction with the signal of the controller.In other embodiments, Space environment detection senses
Device 240 can be fixedly installed on the top of the robot body 10, and Space environment detection sensor 240 can install infrared biography
Sensor or ultrasonic sensor etc. carry out the detection of the working environment of the self-movement robot.The self-movement robot starts
When work, it can be the self-movement robot and rotate at least one week, to detect the environmental information of surrounding, and establish working map
Or planning path.In other embodiments, Space environment detection sensor 240 can be image capture module, structure light
Range finder module etc..
The embodiment described of the invention is illustrated by clean robot of self-movement robot, at other
Embodiment in, the self-movement robot can be security robot, meal delivery robot or guest-meeting robot etc., correspondingly institute
The self-movement robot easily position that is stuck or easily colliding with barrier can be installed on by stating collision sensing device assembly, with
Prevent the self-movement robot stuck in low obstructions.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means particular features, structures, materials, or characteristics described in conjunction with this embodiment or example
It is contained at least one embodiment or example of the utility model.In the present specification, schematic expression of the above terms
It may not refer to the same embodiment or example.Moreover, the particular features, structures, materials, or characteristics of description can be any
One or more embodiment or examples in can be combined in any suitable manner.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (10)
1. a kind of self-movement robot characterized by comprising
Robot body；
Drive module is configured as that the self-movement robot is driven to move on the ground；And
Space environment detection sensor is configured as at least partly protruding from the top of the robot body；And
Collision sensing device assembly, comprising:
Bracket is set to the top of the robot body；
Protective cover is configured to that the top of the Space environment detection sensor is flexibly connected and covered at the bracket, with
Make the Space environment detection sensor from the direct collision of barrier；And
At least one crash sensor is configured to be installed on the bracket and/or the protective cover, in the protective cover and barrier
In the case where hindering object to collide, the relatively described bracket of the protective cover generates displacement, so that the collision for triggering corresponding position passes
Sensor.
2. self-movement robot according to claim 1, which is characterized in that the self-movement robot further includes control
Device, the controller control the self-movement robot according to the trigger position of the crash sensor and execute avoidance movement.
3. self-movement robot according to claim 1 or 2, which is characterized in that the protective cover includes top cover and bottom cover,
The bottom cover is connected with the top cover cooperation, and the part on the bracket far from the robot body is located in the top
Between lid and the bottom cover.
4. self-movement robot according to claim 3, which is characterized in that the bracket includes:
Several support rods are configured to arrange around the Space environment detection sensor distance, and one end of the support rod is solid
Surely it is set to the top of the robot body；And
Mounting portion, is configured as a fixedly connected with the other end in the support rod, and the mounting portion is located in the top cover and institute
It states between bottom cover.
5. self-movement robot according to claim 3, which is characterized in that one in both the top cover and the bracket
Person is provided with protrusion, and the other of both described top cover and the bracket are fluted corresponding to the protrusion setting, described convex
It rises and cooperates with the groove, prevent the protective cover from rotating relative to the bracket.
6. self-movement robot according to claim 3, which is characterized in that the bottom cover and the top cover pass through fastener
It is fixed, to prevent the top cover to be detached from the bracket.
7. self-movement robot according to claim 1 or 2, which is characterized in that the crash sensor is touched including first
Sensor is hit, in the case where the top of the protective cover and barrier collide, first crash sensor is triggered.
8. self-movement robot according to claim 1 or 2, which is characterized in that the crash sensor is touched including second
Sensor is hit, in the case where the outer rim of the protective cover and barrier collide, second crash sensor is triggered.
9. self-movement robot according to claim 1 or 2, which is characterized in that the crash sensor is microswitch
Or one of proximity sensor or optoelectronic switch or a variety of.
10. self-movement robot according to claim 1 or 2, which is characterized in that the Space environment detection sensor is
Laser radar, the self-movement robot further include pedestal and the motor for being fixedly installed on the pedestal, and the space environment is visited
Sensor is surveyed to be rotated on the pedestal by the motor driven.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821233915.7U CN208781068U (en) | 2018-08-01 | 2018-08-01 | Self-movement robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821233915.7U CN208781068U (en) | 2018-08-01 | 2018-08-01 | Self-movement robot |
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| CN208781068U true CN208781068U (en) | 2019-04-23 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840342A (en) * | 2019-12-24 | 2020-02-28 | 江苏美的清洁电器股份有限公司 | Navigation device and cleaning equipment with same |
| CN112587049A (en) * | 2020-12-08 | 2021-04-02 | 深圳市无限动力发展有限公司 | Radome assembly and sweeper |
| CN113331739A (en) * | 2021-05-20 | 2021-09-03 | 科沃斯商用机器人有限公司 | Cleaning robot and autonomous traveling apparatus |
| WO2022127443A1 (en) * | 2020-12-15 | 2022-06-23 | 速感科技（北京）有限公司 | Autonomous mobile device |
-
2018
- 2018-08-01 CN CN201821233915.7U patent/CN208781068U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840342A (en) * | 2019-12-24 | 2020-02-28 | 江苏美的清洁电器股份有限公司 | Navigation device and cleaning equipment with same |
| CN112587049A (en) * | 2020-12-08 | 2021-04-02 | 深圳市无限动力发展有限公司 | Radome assembly and sweeper |
| WO2022127443A1 (en) * | 2020-12-15 | 2022-06-23 | 速感科技（北京）有限公司 | Autonomous mobile device |
| CN113331739A (en) * | 2021-05-20 | 2021-09-03 | 科沃斯商用机器人有限公司 | Cleaning robot and autonomous traveling apparatus |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |