CN214231211U - Obstacle detection device and have its from mobile device - Google Patents
Obstacle detection device and have its from mobile device Download PDFInfo
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- CN214231211U CN214231211U CN202022435699.8U CN202022435699U CN214231211U CN 214231211 U CN214231211 U CN 214231211U CN 202022435699 U CN202022435699 U CN 202022435699U CN 214231211 U CN214231211 U CN 214231211U
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Abstract
The application discloses obstacle detection device and have its from mobile device includes: the side brush assembly comprises a side brush arranged at the bottom of the machine body of the self-moving equipment and a motor which is in transmission connection with the side brush and is used for driving the side brush to rotate, and at least part of the side brush extends out of the range of the cover surface of the machine body in the rotating process; the detection circuit is electrically connected with the control circuit and is used for acquiring the load-related operating parameters of the side brush assembly; the control circuit is electrically connected with a traveling mechanism of the self-moving equipment, when the operation parameters are in an overload state, the control circuit sends control signals to the traveling mechanism, and the traveling mechanism receives the control signals and controls the traveling direction of the self-moving equipment based on the control signals. The application provides an obstacle detection device can detect the barrier that highly is less than the fuselage, and the obstacle detection scope is wider.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to the technical field of robot, especially, relate to an obstacle detection device and have its from mobile device based on limit brush subassembly.
[ background of the invention ]
The self-moving equipment is a robot capable of moving and executing work tasks automatically. Such as a cleaning robot, which is currently increasingly popular with people, for autonomously moving and performing a cleaning work indoors or in a specific area.
The cleaning robot needs to autonomously identify obstacles and control the walking direction according to the identification result, thereby realizing autonomous cleaning task execution. In a conventional cleaning robot, a line laser sensor is generally used as an obstacle detection sensor, and the line laser sensor is generally mounted on the top of the robot and cannot detect obstacles below a machine body. In a scene needing to walk along the wall, if a part of skirting lines of the wall is lower than the detection range of the sensor, when the robot walks along the wall, multiple times of collision can occur, and the coverage efficiency of the cleaning robot is reduced. Another type of cleaning robot has a parallel line laser ranging sensor mounted in front of the fuselage, typically in the middle of the fuselage height, below which obstacles are also undetectable.
Accordingly, there is a need for improvement in the related art to overcome the above-mentioned deficiencies in the prior art.
[ Utility model ] content
An object of the utility model is to provide a can detect the obstacle detection device and the self-moving equipment of the obstacle that highly is less than the fuselage.
The utility model aims at realizing through the following technical scheme:
an obstruction detection apparatus for a self-moving device, comprising:
the side brush assembly comprises a side brush and a motor, the side brush is arranged at the bottom of the machine body of the self-moving equipment, the motor is in transmission connection with the side brush to drive the side brush to rotate, and at least part of the side brush extends out of the coverage surface range of the machine body in the rotating process;
the detection circuit is electrically connected with the control circuit and is used for acquiring relevant operating parameters of the load of the side brush assembly; the control circuit is electrically connected with a traveling mechanism of the self-moving equipment, when the operation parameters are in an overload state, the control circuit sends control signals to the traveling mechanism, and the traveling mechanism receives the control signals and controls the traveling direction of the self-moving equipment based on the control signals.
In one embodiment, the side brush comprises a body and one or more side brush strips arranged on the circumference of the body and distributed at intervals and extending outwards from the body in the radial direction, wherein the side brush strips are used for intermittently contacting with an obstacle in the rotating process.
In one embodiment, the operating parameter includes an operating current flowing through the motor, and the control circuit includes a comparator for comparing the operating current with a preset current value.
In one embodiment, the side brush strip is provided with a stress edge strip, and the stress edge strip is used for enhancing the rotation resistance of the side brush strip when the side brush strip touches an obstacle.
In one embodiment, the control circuit further includes a timing circuit, and the timing circuit is configured to record a duration that the working current is continuously higher than the preset current value.
In one embodiment, the control circuit is further configured to record a start and/or end time at which the operating parameter is in an overload state and a rotation angle of the side brush corresponding to the time.
In one embodiment, at least one of the side brush bars has a non-uniform length extending radially outward.
In one embodiment, the side brush bar further comprises a sensor electrically connected with the detection circuit, and the sensor is arranged on the side brush bar and used for detecting the operation parameter related to the deformation or stress of the side brush bar.
In one embodiment, the walking mechanism controls the walking direction of the self-moving device according to the control signal so as to avoid obstacles or walk along the outer edge of the obstacles.
An autonomous mobile device comprising the obstacle detection apparatus provided in any of the above embodiments.
In one embodiment, the self-moving device is a cleaning robot.
The utility model provides a from mobile device that is used for from mobile device's obstacle detection device and has it, through the detection circuitry who sets up the relevant operational parameter that can acquire the load of limit brush subassembly at limit brush subassembly, can judge whether limit brush subassembly contacts the barrier through relevant operational parameter to control circuit can send control signal to running gear based on the operational parameter state of limit brush subassembly, with this control from the mobile device walking. Because limit brush subassembly sets up in the bottom from mobile device's organism, consequently this obstacle detection device can detect its high barrier of pressing close to the working face, and obstacle detection range is wider.
[ description of the drawings ]
Fig. 1 illustrates a bottom view of a self-moving device that employs an obstacle detection apparatus provided by an embodiment of the present invention.
Fig. 2 is a schematic partial cross-sectional view of the self-moving apparatus shown in fig. 1.
Fig. 3 is a schematic structural view of an edge brush assembly of the self-moving apparatus shown in fig. 1.
[ detailed description ] embodiments
An embodiment of the present application provides an obstacle detection apparatus for a self-moving device. The self-moving apparatus may be the cleaning robot 100. Fig. 1 to 3 show schematic views of the obstacle detecting device applied to a cleaning robot 100.
In this application scenario, the cleaning robot 100 may be a sweeping robot, a mopping robot or a sweeping and mopping integrated robot. Of course, in other embodiment scenarios, the obstacle detection apparatus may also be used for other self-moving devices that autonomously detect obstacles, such as an automatic delivery robot.
Referring to fig. 1 and 2, the cleaning robot 100 includes a body 10, and a traveling mechanism 12 provided on the body 10. The machine body 10 is supported above the traveling mechanism 12 and can move on a working surface by being driven by the traveling mechanism 12. Specifically, the traveling mechanism includes traveling wheels 121 and a traveling motor (not shown) that drives the traveling wheels 121. The cleaning robot further includes a cleaning mechanism for cleaning the ground which has traveled, and a dust box for storing dust is further provided in the body 10, and the cleaned and collected dust is first stored in the dust box.
The cleaning robot 100 is provided with an obstacle detecting device. The cleaning robot 100 autonomously travels in a set work area, and the obstacle detecting device senses whether an obstacle exists around the machine body 10. In this embodiment, the obstacle detection device includes a side brush assembly, a control circuit, and a detection circuit electrically connected to the control circuit.
Wherein, the side brush assembly comprises a side brush 30 and a motor 40 which is connected with the side brush 30 in a transmission way and is used for driving the side brush 30 to rotate. The side brush 30 is disposed at the bottom of the body 10. The side brush 30 at least partially extends out of the coverage area of the machine body 10 in the rotating process, the lower end of the side brush 30 is in contact with the ground, and dust, debris and other garbage on the working surface can be swept to the dust collection range of the cleaning robot in the rotating process, so that the cleaning range of the cleaning robot is expanded. The covering surface of the machine body 10 is understood as the covering area of the projection of the machine body on the working surface, and the cleaning surface formed by the rotation of the side brush is at least partially positioned outside the covering surface of the machine body 10, that is, the side brush 30 at least partially extends out of the covering surface of the machine body 10 during the rotation process, so that the garbage positioned outside the covering surface of the machine body 10 is cleaned into the covering surface area, and the dust box of the machine body 10 is convenient to collect.
Further, limit brush subassembly still includes reduction gears 50, and reduction gears 50 sets up between motor 40 and limit brush 30 for carry out the speed reduction back transmission to limit brush 30 with the rotational speed of motor 40, thereby limit brush 30 rotational speed reduces, and the moment of torsion improves, has stronger ability of cleaning.
Since the cleaning robot in the related art cannot recognize an obstacle before colliding against the obstacle if the obstacle lower than the lower limit of the detection height of the obstacle detecting device exists on the floor during the automatic cleaning process, the cleaning robot can know the obstacle ahead only after colliding with the obstacle. However, since a collision has occurred, the cleaning robot needs to perform complicated collision reaction control, generally performing backward walking to get away from an obstacle, and then performing steering control to change the walking direction of the cleaning robot to avoid the obstacle. The collision reactions not only take time and waste energy, but also interrupt the traveling plan of the cleaning robot covering the working area and reduce the time efficiency of covering the working area, but also affect the cleaning of the working surface around the obstacle, so that the cleaning around the obstacle cannot be completed, and a cleaning dead angle is formed.
To solve the problems of the related art, the embodiment of the application provides an obstacle detection device using a side brush assembly, which improves the range of a cleaning robot for recognizing an obstacle, and further reduces the problems of reduced working efficiency and dead angle cleaning caused by collision with the obstacle.
When there is an obstacle around the machine body 10, especially in the case where the height of the obstacle is lower than the height of the machine body 10, the obstacle sensor provided at the top of the machine body 10 cannot detect the obstacle, but since the side brush assembly rotates in close contact with the working surface, it can contact an obstacle protruding from the working surface by any height, when the side brush 30 contacts the obstacle, its rotational resistance increases, resulting in an increase in the load of the side brush assembly, that is, an increase in the load of the motor 40. At this time, the operation parameter of the side brush assembly related to the load is correspondingly increased, the operation parameter is defined to be in an overload state when the side brush assembly meets an obstacle, and the operation parameter is acquired through the detection circuit, so that whether the side brush assembly meets the obstacle or not can be determined, namely whether the obstacle exists around the machine body 10 or not can be determined.
The control circuit is electrically connected with the detection circuit, receives the load-related operation parameters of the side brush assembly acquired by the detection circuit, and generates a control signal accordingly. The control circuit is electrically connected with the traveling mechanism 12, and when the operation parameter is in an overload state, the control circuit sends a control signal to the traveling mechanism 12, and the traveling mechanism 12 receives the control signal and controls the traveling direction of the cleaning robot 100 based on the control signal. Specifically, when the cleaning robot is in the edgewise walking mode, the walking mechanism controls the cleaning robot to walk along the outer edge of the obstacle according to the control signal, such as walking along the wall. When the cleaning robot is in the obstacle avoidance mode, the walking mechanism adjusts the walking direction to avoid the obstacle.
In an actual working scene, due to different properties of the working surface, the resistance of the side brush assembly in the rotating process is different. For example, when the working surface is carpeted, the side brush 30 experiences greater resistance to rotation than a smooth floor, i.e., the working surface properties are different and the load on the side brush assembly can vary.
In order to be able to distinguish between increased loads due to different ground surfaces, the risk of erroneous judgment of obstacles is reduced. In one embodiment, referring to fig. 3, the edge brush 30 includes a body 31 and edge brush strips 32 disposed on the body 31 and extending radially outward in the circumferential direction. The side brush strips 32 are distributed at intervals and intermittently contact with the obstacle in the rotating process, so that if the operation parameters are intermittently in an overload state, the side brush 30 is judged to touch the obstacle, and if the operation parameters are continuously in the overload state, the working surface resistance is considered to be large, and the side brush 30 is not considered to touch the obstacle. The circumferential direction of the body 31 is understood to be the outer edge of the body 31, specifically, the outer edge of the body 31 extending radially outward. In the present embodiment, the number of the side brush strips 32 is 3, and the side brush strips are uniformly distributed in the circumferential direction, and the included angle between the adjacent side brush strips is approximately 120 °. In other embodiments, the number of the side brush strips 32 may also be 1, or 2, or certainly may be greater than 3, and the included angle between adjacent side brush strips may also be different, as long as the side brush strips 32 can intermittently contact with the obstacle during the rotation of the side brush.
In order to more accurately judge the relative position of the body 10 and the obstacle. In one embodiment, the side brush strips 32 have a plurality of side brush strips, at least two of the side brush strips 32 having different lengths extending radially outward. In this embodiment, the lengths of the 3-side brush strips extending radially outwards are different in pairs. Specifically, the lengths are sequentially increased according to a clockwise or counterclockwise sequence. Thus, during the rotation process, the distance between the side brush strips 32 with different lengths and the obstacle is different, that is, the distance between the machine body 10 and the obstacle is different when the side brush strips 32 with different lengths touch the obstacle. In this embodiment, the rotation angle of the side brush is determined, and the side brush bar in contact with the obstacle is further determined, and the distance between the body and the obstacle can be determined according to the length of the side brush bar. The distance between the machine body 10 and the obstacle is determined, the cleaning robot can accurately walk along the edge of the obstacle, the small distance between the cleaning robot and the obstacle is kept, the cleaning robot can accurately close to the obstacle to clean, and the cleaning dead angle area of the ground around the obstacle is reduced. Specifically, the rotation angle of the side brush 30 is determined as a rotation angle of the side brush strip 32 with respect to the machine body, and the length of the side brush strip that contacts an obstacle and extends out of the machine body 10 and corresponds to the rotation angle of the side brush strip 32 can be determined. The rotation angle of the side brush bar 32 can be detected by a sensor, for example, an induction magnetic stripe is arranged on one side brush bar, a magnetic induction sensor is arranged at a predetermined position on the machine body 10, when the side brush bar 32 rotates to pass through the vicinity of the magnetic induction sensor, the magnetic induction sensor generates an induction signal, and the control circuit can determine the rotation angle of the side brush bar according to the induction signal. Of course, the rotation angle of the side brush bar may also be determined by the rotation phase of the motor shaft, and will not be described in detail herein. Here, the rotation angle of the side brush bar is understood to be a rotation angle relative to the body 10, which is in a range of 0 ° to 360 ° with reference to a preset initial position, starting from a preset initial position of the side brush 30, and during the rotation of the side brush 30.
The operating parameters include the operating current flowing through the motor 40. The detection circuit is used for obtaining the current flowing through the motor 40, and the detection circuit further comprises a comparator for comparing the working current with a preset current value. When the side brush 30 touches the obstacle, the working current is increased, the comparator compares the working current with a preset current value, if the working current is greater than the preset current value, the operation parameter is in an overload state, the comparator outputs a first level, and if the working current is not greater than the preset current value, the operation parameter is in a normal state, and the comparator outputs a second level. Wherein the first level is different from the second level, and in one embodiment, the first level is higher than the second level. The control circuit receives the first level signal and the second level signal which are intermittently generated, generates corresponding control signals, and the traveling mechanism controls the traveling direction based on the control signals, such as steering control.
In order to further ensure the accuracy of obstacle detection, the risk of misjudgment of the obstacle is reduced. Preferably, the control circuit further includes a counting circuit for recording the number of times that the working current rises above a preset current value and then falls below the preset current value in a rotation period, and if the number of times is equal to the preset number of times, it is determined that the side brush assembly meets an obstacle. The preset times can be the number of the side brush strips, and the rotation period can be the time required by the side brush assembly to rotate for one circle. It should be noted that the number of times and the rotation period are not limited in this embodiment.
Furthermore, the control circuit also comprises a timing circuit for recording the duration that the working current is continuously higher than the preset current value. When the obstacle is closer to the body 10, the arc length of the side brush strip 32 sliding on the obstacle is correspondingly increased, the time of continuous contact with the obstacle is also prolonged, and if the obstacle is farther, the arc length of the side brush strip 32 contacting with the obstacle is shorter, and the contact time is also correspondingly shorter. In this embodiment, by setting the timing circuit, the duration that the working current is continuously higher than the preset current value can be calculated, and thus the distance between the body 10 and the obstacle can be determined according to the duration.
In one embodiment, the control circuit is further configured to record the start and/or end time of the overload state of the operating parameter and the rotation angle of the side brush at the corresponding time. According to the starting time of the overload state, the first time when the side brush touches the obstacle can be determined, the starting point of the outer contour touching the obstacle can be determined by combining the side brush rotating angle of the first time, the second time when the side brush leaves the obstacle can be determined according to the ending time of the overload state, the end point of the outer contour of the obstacle can be determined by combining the side brush rotating angle of the second time, and the angle of the obstacle relative to the machine body can be determined according to the starting point position and the end point position of the outer contour. In the above embodiment, when the cleaning robot walks along the edge of the obstacle (in a specific scene, for example, walks along a wall), the angle of the obstacle relative to the machine body is detected in real time through the edge brush assembly, and the extending direction of the outer contour of the obstacle is obtained according to the obtained angle values of the outer contours of a group of obstacles, so that the walking direction of the cleaning robot is adjusted in real time, and the walking direction is kept parallel to the outer contour of the obstacle. Therefore, in the edgewise walking mode, the cleaning robot always keeps the contact between the edge brush assembly and the obstacle, the machine body keeps a certain distance from the obstacle, the cleaning robot can adjust the walking direction according to the obstacle, and the cleaning robot accurately walks around the obstacle to avoid collision.
In an embodiment, the side brush strip 32 may further include a force receiving edge strip, and the force receiving edge strip is used to enhance the rotation resistance of the side brush strip when the side brush strip touches an obstacle, so as to facilitate increasing the working current. Of course, in other embodiments, the rotational resistance of the side brush bar when encountering an obstacle may be enhanced by using a stiffer side brush bar.
In another embodiment, the obstacle detection device further includes a sensor electrically connected to the detection circuit, the sensor is disposed on the side brush bar and configured to detect an operation parameter related to a deformation amount or a force applied to the side brush bar, the detection circuit obtains the operation parameter and transfers the operation parameter to the control circuit, the control circuit compares the operation parameter with a preset parameter, if the operation parameter exceeds the preset parameter, it is determined that the side brush assembly encounters an obstacle, and if the operation parameter does not exceed the preset parameter, it is determined that the side brush assembly does not encounter an obstacle.
The utility model also provides a from the mobile device, the obstacle sensing device that arbitrary embodiment provided in the adoption.
In a specific embodiment, the self-moving device may be a cleaning robot, such as a sweeping robot, a mopping robot, or a sweeping and mopping integrated robot. Because the cleaning robot structure just includes the limit brush subassembly, consequently, adopt the obstacle detection device that the above-mentioned embodiment provided, need not increase other structural component, only need change control circuit and detection circuit can, therefore with low costs. Of course, the obstacle detecting device may also be used for a self-moving apparatus which does not have an edge brush assembly per se.
The above is only a specific embodiment of the present invention, and other improvements made on the premise of the inventive concept are all considered as the protection scope of the present invention.
Claims (10)
1. An obstacle detection apparatus for a self-moving device, comprising:
the side brush assembly comprises a side brush and a motor, the side brush is arranged at the bottom of the machine body of the self-moving equipment, the motor is in transmission connection with the side brush to drive the side brush to rotate, and at least part of the side brush extends out of the coverage surface range of the machine body in the rotating process;
the detection circuit is electrically connected with the control circuit and is used for acquiring relevant operating parameters of the load of the side brush assembly; the control circuit is electrically connected with a traveling mechanism of the self-moving equipment, when the operation parameters are in an overload state, the control circuit sends control signals to the traveling mechanism, and the traveling mechanism receives the control signals and controls the traveling direction of the self-moving equipment based on the control signals.
2. An obstacle detecting apparatus according to claim 1, wherein the edge brush comprises a body and one or more spaced apart edge brush strips arranged circumferentially around the body and extending radially outwardly from the body, the edge brush strips being adapted to be intermittently brought into contact with an obstacle during rotation.
3. An obstacle detecting device as set forth in claim 2, wherein said operating parameter includes an operating current flowing through said motor, and said control circuit includes a comparator for comparing said operating current with a preset current value.
4. An obstacle detecting apparatus according to claim 3, wherein a force receiving edge is provided on the side brush bar for enhancing a rotational resistance of the side brush bar when the side brush bar hits an obstacle.
5. An obstacle detecting device as set forth in claim 3, wherein said control circuit further includes a timing circuit for recording a duration of time that said operating current continues to be higher than said preset current value.
6. An obstacle detecting arrangement according to claim 3, wherein the control circuit is further arranged to record the start and/or end times at which the operating parameter is in an overload condition and the angle of rotation of the side brush corresponding to said times.
7. An obstacle detecting apparatus according to claim 2, wherein at least two of the side brush bars do not extend radially outward by the same length.
8. The obstacle detecting device according to claim 2, further comprising a sensor electrically connected to the detection circuit, the sensor being provided on the side brush bar for detecting the operation parameter related to the amount of deformation or force applied to the side brush bar.
9. The obstacle detection device according to claim 1, wherein the travel mechanism controls a travel direction of the self-moving apparatus to avoid an obstacle or travel along an outer edge of an obstacle according to the control signal.
10. An autonomous mobile device comprising an obstacle detection apparatus as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022435699.8U CN214231211U (en) | 2020-10-28 | 2020-10-28 | Obstacle detection device and have its from mobile device |
| PCT/CN2021/108345 WO2022088787A1 (en) | 2020-10-28 | 2021-07-26 | Obstacle detection method and apparatus for self-moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022435699.8U CN214231211U (en) | 2020-10-28 | 2020-10-28 | Obstacle detection device and have its from mobile device |
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| Publication Number | Publication Date |
|---|---|
| CN214231211U true CN214231211U (en) | 2021-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022435699.8U Active CN214231211U (en) | 2020-10-28 | 2020-10-28 | Obstacle detection device and have its from mobile device |
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| CN (1) | CN214231211U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115104961A (en) * | 2022-06-29 | 2022-09-27 | 麦岩智能科技(北京)有限公司 | Side brush device capable of sensing collision |
-
2020
- 2020-10-28 CN CN202022435699.8U patent/CN214231211U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115104961A (en) * | 2022-06-29 | 2022-09-27 | 麦岩智能科技(北京)有限公司 | Side brush device capable of sensing collision |
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Address after: 215000 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: Pursuit innovation technology (Suzhou) Co.,Ltd. Address before: 215000 E3, building 16, No. 2288, Wuzhong Avenue, Yuexi, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: ZHUICHUANG TECHNOLOGY (SUZHOU) Co.,Ltd. |
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