CN210228022U - Collision steering structure of sweeping robot - Google Patents
Collision steering structure of sweeping robot Download PDFInfo
- Publication number
- CN210228022U CN210228022U CN201920787886.7U CN201920787886U CN210228022U CN 210228022 U CN210228022 U CN 210228022U CN 201920787886 U CN201920787886 U CN 201920787886U CN 210228022 U CN210228022 U CN 210228022U
- Authority
- CN
- China
- Prior art keywords
- collision
- cover
- radar
- steering
- lid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model relates to the technical field of intelligent cleaning robots, in particular to a collision steering structure of a sweeping robot, which comprises a body and a control system for controlling the movement of the body, wherein the body is provided with a collision sensing part which is electrically connected with the control system, the body is in sliding fit with a radar cover for installing a laser radar, the radar cover is provided with a collision triggering part, when the body collides, the collision triggering part moves towards the collision sensing part and triggers the collision sensing part, the collision sensing part outputs a steering signal, and the control system is used for receiving the steering signal and controlling the steering of the body; still be provided with reset assembly between radar lid and the body, when reset assembly is in natural state, collision trigger spare breaks away from collision response piece. The utility model discloses simple structure, with low costs can improve the sensitivity that the robot collision of sweeping the floor turned to, and then improves the efficiency of sweeping the floor of robot.
Description
Technical Field
The utility model relates to an intelligence cleaning machines people technical field especially relates to a collision of robot of sweeping floor turns to structure.
Background
Along with the continuous improvement of the living standard of people, the intelligent household appliances are more and more widely applied and have very wide market prospect. The floor sweeping robot is also called an automatic sweeper, an intelligent dust collector, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved. The sweeping robot is firstly sold in the markets of Europe and America, and gradually enters the Chinese market along with the improvement of the domestic living standard.
The working mode of the existing sweeping robot comprises: positioning engine and random collision:
the positioning engine can be divided into: offset detection positioning engine and boundary scan positioning engine:
1) offset detection positioning engine: NorthStar North Star indoor positioning System, Inc. of Evolution, USA;
2) boundary scan positioning engine: high definition cameras and RPS laser drawing of NeatoXV-11, as typified by Samsung, LG corporation, Korea.
However, the product technology threshold of the existing positioning engine is higher, the hardware detection accuracy of the positioning system is strictly required, the cost is higher, and meanwhile, the collision sensitivity is low, so that the cleaning efficiency of the sweeping robot is reduced.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the not enough of above-mentioned prior art, the utility model aims at providing a collision of robot of sweeping floor turns to structure has simple structure, with low costs, the collision turns to sensitivity height, can improve the characteristics of the robot of sweeping floor cleaning's the efficiency of cleaning.
The above technical purpose of the present invention can be achieved by the following technical solutions: the utility model provides a collision of robot that sweeps floor turns to structure, includes the control system of body and control body motion, characterized by: the body is provided with a collision sensing part used for being electrically connected with a control system, the body is in sliding fit with a radar cover used for mounting a laser radar, the radar cover is provided with a collision triggering part, when the body collides, the collision triggering part moves towards the collision sensing part and triggers the collision sensing part, the collision sensing part outputs a steering signal, and the control system is used for receiving the steering signal and controlling the steering of the body; still be provided with reset assembly between radar lid and the body, when reset assembly is in natural state, collision trigger spare breaks away from collision response piece.
Further, the inboard activity of body is provided with the mounting disc that supplies radar cover sliding fit, the body just is close to mounting disc department and sets up the mounting hole, the radar cover is including outstanding in the lid top that the mounting hole set up and the lid bottom that is located this internal and width is greater than the mounting hole diameter, the lid bottom is located between body and the mounting disc.
Further, the mounting disc is provided with a plurality of bar-shaped limiting holes, and the bottom of the cover is provided with a plurality of limiting columns which are in one-to-one sliding fit with the limiting holes respectively.
Further, collision trigger including be fixed in the fixed part of lid bottom and the trigger part that is used for contacting the collision response piece, be equipped with on the body with fixed part butt complex stopper, work as during the fixed part butt stopper, trigger part breaks away from the collision response piece.
Furthermore, a plurality of emission holes are formed in the side wall of the top of the cover.
Further, the body is equipped with the holding tank that is used for holding the subassembly that resets, the subassembly that resets is including locating the fixed column and the cover of lid bottom are located the spring of fixed column, the lateral wall of the one end butt holding tank of lid bottom is kept away from to the spring, and when the spring was in natural state, the collision trigger piece breaks away from the collision response piece.
The utility model has the advantages that: when the body runs and collides with an obstacle, the radar cover moves forwards under the action of inertia so as to drive the collision trigger part to move towards the collision sensing part, the collision trigger part contacts the collision sensing part, the collision sensing part outputs a steering signal to the control system, and the control system receives the steering signal and then controls the body to steer; after the steering, the resetting component can push the radar cover to move backwards, so that the collision triggering part is separated from the collision sensing part; the utility model discloses simple structure, with low costs can improve the sensitivity that the robot collision of sweeping the floor turned to, and the body can in time turn to when striking the barrier, has reduced the damage of the inside spare part of the robot of sweeping the floor, has improved the life-span of the robot of sweeping the floor, and the robot of sweeping the floor simultaneously turns to fastly, and then improves the efficiency of sweeping the floor of robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention;
fig. 2 is a schematic view of another structure of the embodiment of the present invention;
FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;
fig. 4 is a partial cross-sectional view of an embodiment of the invention;
fig. 5 is a schematic flow chart of the collision triggering part, the collision sensing part and the control system according to the embodiment of the present invention.
Reference numerals: 10. a body; 11. a control system; 12. mounting holes; 13. a limiting block; 14. accommodating grooves; 20. a radar cover; 21. the top of the cover; 22. the bottom of the cover; 23. a limiting column; 24. an emission aperture; 30. a collision sensing member; 40. a crash trigger; 41. a fixed part; 42. a trigger section; 50. a reset assembly; 51. fixing a column; 52. a spring; 60. mounting a disc; 61. a limiting hole;
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
A collision steering structure of a sweeping robot, referring to fig. 1 to 5, including a body 10 and a control system 11 for controlling the movement of the body 10, wherein the body 10 is provided with a collision sensing member 30 for electrically connecting with the control system 11, the collision sensing member 30 can adopt an infrared sensor or a pressure sensor, the body 10 is slidably fitted with a radar cover 20 for mounting a laser radar, the radar cover 20 can slide along the front-back direction of the body 10, the radar cover 20 is provided with a collision triggering member 40, when the body 10 collides, the collision triggering member 40 moves towards the collision sensing member 30 and triggers the collision sensing member 30, the collision sensing member 30 outputs a steering signal, and the control system 11 is used for receiving the steering signal and controlling the steering of the body 10; a reset assembly 50 is further disposed between the radar cover 20 and the body 10, and when the reset assembly 50 is in a natural state, the collision trigger 40 is disengaged from the collision sensor 30.
During specific work, when the body 10 runs and collides with an obstacle, the radar cover 20 moves forwards under the action of inertia, so as to drive the collision trigger part 40 to move towards the collision sensing part 30, the collision trigger part 40 contacts with the collision sensing part 30, the collision sensing part 30 outputs a steering signal to the control system 11, and the control system 11 receives the steering signal and then controls the body 10 to steer; after steering, the reset assembly 50 can push the radar cover 20 to move backward, so that the collision triggering part 40 is separated from the collision sensing part 30. The utility model discloses simple structure, with low costs can improve the sensitivity that the robot collision of sweeping the floor turned to, and body 10 can in time turn to when striking the barrier, has reduced the damage of the inside spare part of the robot of sweeping the floor, has improved the life-span of the robot of sweeping the floor, and the robot of sweeping the floor simultaneously turns to fastly, and then improves the efficiency of sweeping the floor of robot.
The radar cover comprises a body 10, a mounting disc 60 for the radar cover 20 to be in sliding fit is movably arranged on the inner side of the body 10, the mounting disc 60 is connected with the body 10 through screws, a mounting hole 12 is formed in the position, close to the mounting disc 60, of the body 10, the radar cover 20 comprises a cover top portion 21 protruding out of the mounting hole 12 and a cover bottom portion 22 located in the body 10 and having a width larger than the diameter of the mounting hole 12, and the cover bottom portion 22 is located between the body 10 and the mounting disc 60. Specifically, the cover top 21 protrudes out of the mounting hole 12, so that radar can transmit signals conveniently, and the navigation of the sweeping robot is facilitated. The diameter of the mounting hole 12 is larger than the diameter of the cover top 21 and smaller than the outer diameter of the cover bottom 22, so that the cover top 21 can move back and forth in the mounting hole 12 conveniently, and the radar cover 20 can be prevented from falling off from the mounting hole 12. The mounting disc 60 is the ring form, can conveniently install the radar in radar lid 20, is connected through the screw between mounting disc 60 and the body 10, can conveniently install bottom of the cover portion 22 between body 10 and mounting disc 60, and the bottom and the mounting disc 60 contact of bottom of the cover portion 22, and there is the clearance top of bottom of the cover portion 22 and body 10 inboard, has reduced the frictional force when radar lid 20 slides, and then improves the sensitivity that robot collision turned to of sweeping the floor.
Preferably, the mounting disc 60 is provided with a plurality of strip-shaped limiting holes 61, and the cover bottom 22 is provided with a plurality of limiting columns 23 which are respectively in one-to-one sliding fit with the plurality of limiting holes 61. Specifically, spacing hole 61 sets up along the fore-and-aft direction of body 10, and spacing hole 61 can guarantee that body 10 can slide along body 10 fore-and-aft direction when striking the barrier that body 20 is covered, and then makes collision trigger 40 move towards collision response piece 30, conveniently triggers collision response piece 30.
Preferably, in order to enable the collision triggering member 40 to precisely trigger the collision sensing member 30, the collision triggering member 40 includes a fixing portion 41 fixed to the cover bottom 22 and a triggering portion 42 for contacting the collision sensing member 30, the body 10 is provided with a limit block 13 in abutting fit with the fixing portion 41, and when the fixing portion 41 abuts against the limit block 13, the triggering portion 42 is separated from the collision sensing member 30. Specifically, the limit block 13 can limit the distance between the trigger portion 42 and the touch collision sensing member 30, so as to determine the response time of the steering of the control system 11, and further improve the sensitivity of the sweeping robot in collision steering.
Preferably, the side wall of the cap top 21 is opened with a plurality of emission holes 24. Specifically, three transmitting hole 24 has been seted up to the lateral wall circumference of caping portion 21, and transmitting hole 24 can make things convenient for radar transmission signal on the one hand, and on the other hand can alleviate radar cover 20's quality, and radar cover 20 takes place the sensitivity of removal when improving body 10 striking barrier, and then improves the sensitivity that robot collision of sweeping the floor turned to.
As shown in fig. 4, the body 10 is provided with a receiving groove 14 for receiving a reset assembly 50, the reset assembly 50 includes a fixing post 51 provided on the cover bottom 22 and a spring 52 sleeved on the fixing post 51, one end of the spring 52 far from the cover bottom 22 abuts against a side wall of the receiving groove 14, and when the spring 52 is in a natural state, the collision trigger 40 is disengaged from the collision sensor 30. Specifically, when the body 10 collides, the collision triggering member 40 moves toward the collision sensing member 30, the spring 52 is compressed, the control system 11 controls the body 10 to turn, and after the body 10 turns, the spring 52 is expanded, so that the collision triggering member 40 is separated from the collision sensing member 30.
The working principle is as follows:
when the body 10 runs and collides with an obstacle, the radar cover 20 moves forwards under the action of inertia, so as to drive the collision trigger piece 40 to move towards the collision sensing piece 30, the collision trigger piece 40 contacts with the collision sensing piece 30, the collision sensing piece 30 outputs a steering signal to the control system 11, and the control system 11 receives the steering signal and then controls the body 10 to steer; after steering, the spring 52 may push the radar cover 20 to move backward, so that the collision trigger 40 is disengaged from the collision sensing member 30.
The above embodiments are merely illustrative of the present invention, and are not intended to limit the present invention, and those skilled in the art can make modifications of the present embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent law within the scope of the present invention.
Claims (6)
1. The utility model provides a collision of robot that sweeps floor turns to structure, includes the control system of body and control body motion, characterized by: the body is provided with a collision sensing part used for being electrically connected with a control system, the body is in sliding fit with a radar cover used for mounting a laser radar, the radar cover is provided with a collision triggering part, when the body collides, the collision triggering part moves towards the collision sensing part and triggers the collision sensing part, the collision sensing part outputs a steering signal, and the control system is used for receiving the steering signal and controlling the steering of the body; still be provided with reset assembly between radar lid and the body, when reset assembly is in natural state, collision trigger spare breaks away from collision response piece.
2. The collision steering structure of the sweeping robot of claim 1, wherein: the utility model discloses a radar cover, including the body, the inboard activity of body is provided with the mounting disc that supplies radar cover sliding fit, the body just is close to mounting disc department and sets up the mounting hole, the radar cover is including outstanding top of the lid that sets up in the mounting hole and the bottom of the lid that is located this internal and width is greater than the mounting hole diameter, the bottom of the lid is located between body and the mounting disc.
3. The collision steering structure of the sweeping robot as claimed in claim 2, wherein: the mounting disc is provided with a plurality of bar-shaped limiting holes, and the bottom of the cover is provided with a plurality of limiting columns which are in one-to-one sliding fit with the limiting holes respectively.
4. The collision steering structure of the sweeping robot as claimed in claim 2, wherein: the collision triggers the piece including being fixed in the fixed part of lid bottom and the trigger part that is used for contacting the collision response piece, be equipped with on the body with fixed part butt complex stopper, work as during the fixed part butt stopper, the trigger part breaks away from the collision response piece.
5. The collision steering structure of the sweeping robot as claimed in claim 2, wherein: the side wall of the top of the cover is provided with a plurality of emission holes.
6. The collision steering structure of the sweeping robot according to any one of claims 2 to 5, wherein: the body is equipped with the holding tank that is used for holding the subassembly that resets, the subassembly that resets is including locating the fixed column of lid bottom is located with the cover the spring of fixed column, the lateral wall of the one end butt holding tank of lid bottom is kept away from to the spring, and when the spring was in natural state, the collision triggers the piece and breaks away from the collision response piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920787886.7U CN210228022U (en) | 2019-05-28 | 2019-05-28 | Collision steering structure of sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920787886.7U CN210228022U (en) | 2019-05-28 | 2019-05-28 | Collision steering structure of sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210228022U true CN210228022U (en) | 2020-04-03 |
Family
ID=69971603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920787886.7U Active CN210228022U (en) | 2019-05-28 | 2019-05-28 | Collision steering structure of sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210228022U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074732A (en) * | 2019-05-28 | 2019-08-02 | 东莞市智科智能科技有限公司 | A kind of collision steering structure of sweeping robot |
-
2019
- 2019-05-28 CN CN201920787886.7U patent/CN210228022U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110074732A (en) * | 2019-05-28 | 2019-08-02 | 东莞市智科智能科技有限公司 | A kind of collision steering structure of sweeping robot |
| CN110074732B (en) * | 2019-05-28 | 2024-05-14 | 东莞市智科智能科技有限公司 | Collision steering structure of sweeping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111067439B (en) | Obstacle processing method and cleaning robot | |
| RU2501678C2 (en) | Mobile robotic device with collision sensor | |
| CN111067440A (en) | Cleaning robot control method and cleaning robot | |
| US20140163733A1 (en) | System for controlling a robot's collision with an obstacle, a robot equipped with such a system and a method of controlling a robot's collision with an obstacle | |
| AU2019418084A1 (en) | Mobile robot | |
| KR20220042410A (en) | Robot vacuum cleaner and its control method | |
| CN110074732B (en) | Collision steering structure of sweeping robot | |
| CN210228022U (en) | Collision steering structure of sweeping robot | |
| CN108594806B (en) | Method and device for getting rid of difficulties of sweeper | |
| CN110123213A (en) | A kind of sweeper | |
| CN211559939U (en) | Floor sweeping robot | |
| CN112515557A (en) | Cleaning robot | |
| CN111358378A (en) | Floor sweeping robot | |
| CN205625794U (en) | Novel cleaning machines people | |
| CN109388143B (en) | Robot and walking control method thereof | |
| EP4280010A1 (en) | Obstacle detection apparatus of cleaning robot and cleaning robot | |
| CN114019951B (en) | Robot control method and device, robot and readable storage medium | |
| CN111481121B (en) | Floor sweeping robot | |
| CN211796219U (en) | Laser radar SLAM navigation intelligence robot of sweeping floor | |
| CN219289347U (en) | Mobile robot | |
| CN216256935U (en) | Cleaning piece subassembly and self-moving cleaning equipment | |
| CN211961933U (en) | Floor sweeping robot | |
| CN211243196U (en) | Navigation device and cleaning equipment with same | |
| CN112141553B (en) | Material storage device, material conveying equipment and control method of material conveying equipment | |
| CN212186377U (en) | Floor sweeping robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |