CN214712353U - Floor sweeping robot - Google Patents

Abstract

The application relates to a sweeping robot, which comprises a body, an anti-collision plate, a first collision switch and a second collision switch, wherein the anti-collision plate comprises a main body part and a side body part which longitudinally extend along a first direction, the first collision switch corresponds to the main body part, and the second collision switch corresponds to the side body part; the anti-collision plate defines a first median plane perpendicular to the first direction and a second median plane parallel to the first direction, and the distance value between the center of the first collision switch of the adjacent side body part and the first median plane is a; defining the distance of the first tangent plane of the first median plane from the second tangent plane as b, a and b satisfying the condition: 1/6 a/b 3/10, and the center of the second impact switch of the adjacent main body part is positioned at the side of the second median plane, which faces away from the main body part. The application provides a robot of sweeping floor, crashproof board's collision area is up to seven more than, and the collision position subdivides more and is clear and definite, and when crashproof board optional position received the collision, collision switch's trigger sensitivity was good.

Description

Floor sweeping robot

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a sweeping robot.

Background

When an existing sweeping robot cleans the ground, due to the fact that surrounding environment is complex, when the existing sweeping robot moves around, the existing sweeping robot often collides with surrounding obstacles, and therefore the existing sweeping robot is damaged.

In order to avoid collision between the sweeping robot and surrounding obstacles, an anti-collision plate and a collision switch connected with the anti-collision plate are usually installed around the sweeping robot body, and when the sweeping robot collides with the surrounding obstacles, the anti-collision plate can play a good role in buffering, and transmits information to the main controller through the collision switch so as to control the rotation direction of the sweeping robot.

However, after the collision of the anti-collision plate, the collision switch of the existing sweeping robot cannot be triggered sensitively, so that the collision position is not clear, and obstacle avoidance errors are easily caused.

SUMMERY OF THE UTILITY MODEL

Therefore, the floor sweeping robot has the advantages that the triggering sensitivity of the collision switch can be improved, the collision position is clear, and the obstacle avoidance can be accurately avoided, aiming at the problem that the collision position is not clear and the obstacle avoidance error is easily caused because the collision switch cannot be triggered sensitively after the collision of the collision preventing plate of the existing floor sweeping robot.

An aspect of the application provides a robot of sweeping floor, includes:

a body;

the anti-collision plate is arranged on one side of the body and comprises a main body part extending lengthways along a first direction and side body parts positioned at two lengthways ends of the main body part;

the at least two first collision switches are arranged on one side, facing the main body part, of the body at intervals along a first direction; and

the second collision switch is arranged on one side of the body, which faces to each side body part;

wherein one of the side body portions has a first tangent plane perpendicular to the first direction and tangent to an outer side surface of the side body portion; wherein the other side body part is provided with a second tangent plane which is perpendicular to the first direction and tangent to the outer side surface of the side body part;

the distance value between the center of the first collision switch adjacent to the side body part and the first median plane of the first tangent plane and the second tangent plane is a; the distance between the first tangent plane and the second tangent plane is b, and a and b meet the condition: 1/6 is less than or equal to a/b is less than or equal to 3/10;

the main body part is provided with a third tangent plane which is parallel to the first direction and tangent to the outer side surface of the main body part, and the side body part is provided with a fourth tangent plane which is parallel to the first direction and tangent to the farthest end of the side body part compared with the main body part;

the center of the second collision switch adjacent to the main body part is arranged at an interval with the second median plane of the third tangent plane and the fourth tangent plane and is positioned on one side of the second median plane, which is deviated from the main body part.

In one embodiment, the first collision switch includes two.

In one embodiment, the at least two first crash switches are axisymmetrical with respect to the first median plane;

the second collision switch comprises at least two collision switches, and the at least two collision switches are symmetrical relative to the first median plane.

In one embodiment, the side body portion includes a main side body portion and a corner connecting portion, the main side body portion being integrally connected to the main body portion by the corner connecting portion.

In one embodiment, the second bump switch is provided on a side of the body facing each of the main body portions.

In one embodiment, the corner connecting portion has a fan-shaped cross-sectional shape.

In one embodiment, an end of the side body portion facing away from the main body portion is cantilevered.

In one embodiment, the first impact switch and the second impact switch are both contact impact switches.

In one embodiment, the first bump switch is held in contact with the main body portion, and the second bump switch is held in contact with the corresponding side body portion.

In one embodiment, the first and second bump switches each include:

a photoelectric switch configured to generate a collision signal in response to a trigger;

a moving member located at one side of the photoelectric switch and in contact with the impact prevention plate, the moving member being configured to be movable in a preset direction in response to an acting force of the impact prevention plate; and

the trigger piece is connected with the moving piece, and the moving piece can drive the trigger piece to move between a first position and a second position along the preset direction;

wherein the trigger is configured to have a movement path that continuously triggers the photoelectric switch during movement that does not reach the first position and the second position.

In one embodiment, each of the first and second impact switches further comprises a housing and an elastic reset member;

the photoelectric switch and the trigger piece are arranged in the shell, the moving piece is arranged in the shell, and the elastic reset piece is connected between the moving piece and the shell;

the elastic reset piece is used for providing an elastic restoring force for enabling the moving piece and the anti-collision plate to move along the preset direction and towards the direction far away from the photoelectric switch.

In one embodiment, the side body portion extends in a second direction, and an angle between the first direction and the second direction is greater than 90 degrees.

In one embodiment, the main body portion and the side body portions are integrally formed.

In one embodiment, the anti-collision plate is arranged on one side of the body along the advancing direction of the sweeping robot;

and the crash guard is configured to be able to approach or depart from the body.

According to the sweeping robot, the arrangement position of the first collision switch satisfies 1/6 a/b 3/10, so that the first collision switch can be close to the side body parts on two sides as far as possible, the stress of the main body part in the extension direction is balanced, and the trigger sensitivity is improved.

Secondly, because the second bump switch is arranged at the second median plane β 3 on the side away from the main body portion, that is, the second bump switch is farther from the connection between the main body portion and the side body portion, when the side body portion is subjected to an external impact force, the displacement of the side body portion on the side away from the main body portion on the second median plane β 3 is larger than the displacement of the side body portion on the side close to the main body portion on the second median plane β 3, so that the second bump switch is more easily triggered, and the trigger sensitivity is improved.

Therefore, according to the floor sweeping robot, the collision area of the anti-collision plate is more than seven, the collision position of the anti-collision plate is subdivided and determined, and when the collision is applied to any position of the anti-collision plate, the triggering sensitivity of the collision switch is good, so that the main controller of the floor sweeping robot can determine the collision position of the anti-collision plate, and the main controller can accurately control the body to perform corresponding steering action to avoid obstacles.

Drawings

Fig. 1 is a schematic perspective view of a sweeping robot in an embodiment of the present application;

fig. 2 is a schematic perspective view of a part of the sweeping robot shown in fig. 1;

fig. 3 is a schematic top view of a part of the sweeping robot shown in fig. 2;

fig. 4 is a schematic diagram of the distribution of collision areas of a partial structure of the sweeping robot shown in fig. 3;

fig. 5 is a front view schematically illustrating a partial structure of the sweeping robot shown in fig. 1;

fig. 6 is a schematic perspective view of a first impact switch according to an embodiment of the present application;

FIG. 7 is an exploded view of the first bump switch shown in FIG. 6;

FIG. 8 is a cross-sectional view of the first bump switch shown in FIG. 6 in an initial state;

fig. 9 is a schematic cross-sectional view of the first impact switch shown in fig. 6 in an activated state.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

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 at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

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 intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Furthermore, the drawings are not 1: 1, and the relative dimensions of the various elements in the figures are drawn for illustration only and not necessarily to true scale.

In order to facilitate understanding of the technical solution of the present application, before the detailed description, a sweeping robot in the prior art is first described.

The whole is circular usually for current robot of sweeping the floor, and the robot of sweeping the floor includes body and anticollision board, and the anticollision board is the arc and installs in the place ahead of body, consequently, no matter the anticollision board receives the collision effect of arbitrary direction, and two component forces on its level of receiving and the vertical direction are all great, and the collision board is easily atress and removes to, traditional collision switch is hall element, through the displacement at the anticollision board in order to produce different magnetic induction volume, consequently, collision switch also triggers easily.

However, when a circular sweeping robot is used for sweeping a floor close to a wall or a corner, the cleaning cannot be performed, so that a sweeping robot with a D-shaped overall shape, for short, a D-shaped sweeping robot is provided in the market, and an anti-collision plate of the D-shaped sweeping robot is substantially D-shaped and specifically comprises a main body part and side body parts arranged on two sides of the main body part, so that the bottom surface close to the wall or the corner can be cleaned.

The inventor of this application discovers, current D type robot of sweeping the floor, clean ability promotes, but is subject to D shape crash pad's structure, and collision switch need distribute at main part and side body part to correspond response collision position, and current collision switch's position distributes unreasonablely, leads to sweeping the floor the robot and receives the collision back at the crash pad, and collision switch can't sensitive trigger, thereby leads to the collision position indefinite, and then leads to keeping away the barrier error easily.

Therefore, it is necessary to provide a floor sweeping robot which can make the collision switch trigger sensitively after the D-shaped anti-collision plate is collided, so that the collision position is clear and the obstacle can be avoided accurately.

Fig. 1 shows a schematic perspective view of a sweeping robot in an embodiment of the present application; fig. 2 is a schematic perspective view showing a partial structure of the sweeping robot shown in fig. 1; fig. 3 is a schematic top view of a part of the structure of the sweeping robot shown in fig. 2. For the purpose of illustration, the drawings show only the structures associated with the embodiments of the application.

Referring to the drawings, a sweeping robot 100 according to an embodiment of the present application includes a body 10, an anti-collision plate 20, at least two first collision switches 30, and a second collision switch 40. In the embodiment of the present application, the sweeping robot 100 is a sweeping robot with a D-shaped overall shape, which is referred to as a D-shaped sweeping robot for short.

The impact prevention plate 20 is provided at one side of the body 10. Specifically, the fender panel 20 is located in front of the body 10 in the traveling direction of the sweeping robot 100, and can move in a direction approaching or separating from the body 10. Therefore, when the impact prevention plate 20 collides with a surrounding obstacle, it moves in a direction approaching the body 10 and then activates the impact switch to sense the impact and the collision position.

The fender panel 20 includes a main body portion 21 extending lengthwise in the first direction and side body portions 22 located at both lengthwise ends of the main body portion 21. In some embodiments, the side body portion 22 includes a main side body portion 221 and a corner connecting portion 222, and the main side body portion 221 is integrally connected to the main body portion 21 by the corner connecting portion 222. Specifically, the first direction is the left-right direction shown in fig. 1. Further, the main side body portion 221 extends in a second direction, and an angle between the first direction and the second direction is not less than 90 degrees. Preferably, the angle between the first direction and the second direction is greater than 90 degrees. Thus, the side body part 22 can be expanded, the displacement of the side body part 22 after being impacted is larger, and the corresponding impact switch can be triggered sensitively more easily.

At least two first collision switches 30 are arranged at intervals along the first direction on one side of the body 10 facing the main body portion 21, and a second collision switch 40 is arranged on one side of the body 10 facing each side body portion 22. It is understood that the sweeping robot 100 of the present application includes at least two second collision switches 40.

One of the side body portions 22 has a first tangent plane α 1 perpendicular to the first direction and tangent to the outer side surface of the side body portion 22, and the other side body portion 22 has a second tangent plane α 2 perpendicular to the first direction and tangent to the outer side surface of the side body portion 22. The distance between the center of the first impact switch 30 of the adjacent side body portion 22 and the first median plane α 3 of the first tangential plane α 1 and the second tangential plane α 2 has a value a, the distance between the first tangential plane α 1 and the second tangential plane α 2 has a value b, and a and b satisfy the condition: 1/6 is less than or equal to a/b is less than or equal to 3/10. It should be noted that the first median plane α 3 of the first tangent plane α 1 and the second tangent plane α 2 is, and

the main body portion 21 has a third cut β 1 parallel to the first direction and tangential to the outer side of the main body portion 21, and the side body portion 22 has a fourth cut β 2 parallel to the first direction and tangential to the most distal end of the side body portion 22 compared to the main body portion 21. The center of the second impact switch 40 of the adjacent body portion 21 is spaced apart from the second median plane β 3 of the third tangential plane β 1 and the fourth tangential plane β 2, and is located on a side of the second median plane β 3 facing away from the body portion 21.

As such, as shown in fig. 4, the impact panel 30 may be divided into at least seven impact regions, a front region a corresponding to the main body portion 21, first and second side regions B1 and B2 corresponding to the two side body portions 22, and first and second corner regions C1 and C2 corresponding to the corner connecting portion 222, wherein the front region a includes at least three impact regions. The front area a is triggered by the first crash switch 30, the first side area B1 and the second side area B2 are triggered by the second crash switch 30, and the first corner area C1 and the second corner area C2 are triggered by the first crash switch 30 and the second crash switch 40. In some embodiments, in order to have a well-defined triggering reaction between the first corner region C1 and the first side region B1 and between the second side region B2 and the second corner region C2, a second impact switch 40 is provided at a side of the body 10 facing each main side body portion 221.

By setting the position of the first impact switch 30 to 1/6 a/b 3/10, the first impact switch 30 can be made as close as possible to the side body portions 22 on both sides to equalize the force applied to the main body portion 21 in the direction in which it extends, improving the trigger sensitivity.

Secondly, since the second impact switch 40 is disposed at the second median plane β 3 on the side away from the main body portion 21, i.e. at a position farther than the connection between the main body portion 21 and the side body portion 22, when the side body portion 22 is subjected to an external impact force, the displacement of the side body portion 22 on the side of the second median plane β 3 away from the main body portion 21 is greater than the displacement of the side body portion 22 on the side of the second median plane β 3 close to the main body portion 21, and the second impact switch 40 is more easily triggered, thereby improving the trigger sensitivity.

Therefore, in the sweeping robot 100 of the present application, the collision area of the anti-collision plate 20 is up to seven or more, the collision position of the anti-collision plate 20 is subdivided and determined, and when any position of the anti-collision plate 20 is collided, the trigger sensitivity of the collision switch is good, so that the main controller of the sweeping robot 100 can determine the collision position of the anti-collision plate 20, and the main controller can accurately control the main body 10 to perform a corresponding turning action to avoid an obstacle.

Referring again to fig. 3 and 4, in a preferred embodiment, the first collision switch 30 includes two, such that the front area a corresponding to the main body portion 21 of the crash panel 20 can be divided into three collision areas, namely, a first front area a1 of the main body portion 21 between the two first collision switches 30 and a second front area a2 and a third front area A3 located at both sides of the first front area, specifically, when the first front area a1 is subjected to an external collision force, both the first collision switches 30 are triggered, and when the second front area a2 or the third front area A3 is subjected to the external collision force, the corresponding one of the first collision switches 30 is triggered. Therefore, the collision area of the anti-collision plate 20 is as large as seven, the collision position of the anti-collision plate 20 is more subdivided and definite, and the main controller of the sweeping robot 100 can more accurately make the judgment of turning and avoiding the obstacle after receiving the corresponding trigger signal, thereby further improving the obstacle avoiding effect.

In addition, it should be noted that, limited by the overall size of the sweeping robot 100, the size of the crash pad, and cost control, the sweeping robot 100 preferably includes two first collision switches 30 and two second collision switches 40. In other embodiments, the sweeping robot 100 may also include more than two first collision switches 30 or more than two second collision switches 40, which is not limited herein.

In some embodiments, the first bump switches 30 near the corner connection 222 are symmetrically distributed with respect to the angle bisector of the corner connection 222 of the second bump switch 40 adjacent thereto. Since the first and second bump switches 30 and 40 are symmetrically arranged with respect to the bisector of the corner connecting portion 222, two force components for stably activating the first bump switch 30 and activating the second bump switch 40 can be generated when the corner connecting portion 222 receives an external impact force.

In some embodiments, at least two first bump switches 30 are axisymmetric with respect to the first median plane α 3, and at least two second bump switches 40 are axisymmetric with respect to the first median plane α 3. Therefore, when all the areas are subjected to external collision acting force, the force of the collision switch is balanced, the accuracy of collision triggering is improved, and the follow-up obstacle avoidance accuracy is improved. It is understood that when the number of the second collision switches 40 is odd, the center of the middle second collision switch 40 coincides with the first median plane α 3.

In some embodiments, the corner connecting portion 222 has a fan-shaped cross-sectional shape. Thus, the two force components for triggering the first bump switch 30 and the second bump switch 40 can be generated more accurately when the corner connecting portion 222 is touched, so that the triggering is more sensitive.

In some embodiments, an end of the side body portion 22 facing away from the main body portion 21 is cantilevered. In this way, when the second impact switch 40 is disposed at the second median plane β 3 on the side away from the main body portion 21, that is, disposed near the suspension end, the resistance of the suspension end is small, the displacement amount of the side body portion 22 after the impact is larger, the second impact switch 40 is more easily triggered, and the trigger sensitivity is further improved.

In some embodiments, the main body portion 21 and the side body portion 22 are integrally formed. The integrally formed main body portion 21 and side body portion 22 are more stable in structure and higher in structural strength, and can give more reliable trigger conditions to the first and second impact switches 30 and 40 after receiving an external impact force, so as to improve trigger stability.

As shown in fig. 6 and 7, in the embodiment of the present application, both the first and second impact switches 30 and 40 are contact type impact switches. Compared with the traditional Hall element, the contact type collision switch has lower cost and higher stability.

Further, the first bump switch 30 is held in contact with the main body portion 21, and the second bump switch 40 is held in contact with the corresponding side body portion 22. The contact maintaining means that the first collision switch 30 and the second collision switch 40 are kept in contact in the initial state of the anti-collision plate 20 and in the moving process after collision stress, so that the collision response of the collision switches to the anti-collision plate 20 is improved, and the triggering after collision is more timely and sensitive.

In one embodiment, each of the first and second impact switches 30 and 40 includes a photoelectric switch 31, a moving member 32, and a trigger 33. The photoelectric switch 31 is configured to generate a collision signal in response to triggering, the moving member 32 is located on one side of the photoelectric switch 31 and is in contact with the crash board 20, the moving member 32 is configured to move in a preset direction in response to the acting force of the crash board 20, the triggering member 33 is connected with the moving member 32, the moving member 32 can drive the triggering member 33 to move between a first position and a second position in the preset direction, wherein the triggering member 33 is configured to have a moving path for continuously triggering the photoelectric switch 31 in the moving process of not reaching the first position and the second position. Specifically, the preset direction of the moving member 32 of the first collision switch 30 is the up-down direction shown in fig. 3, and the preset direction of the moving member 32 of the second collision switch 30 is the left-right direction shown in fig. 3.

So, through setting up photoelectric switch 31, trigger 33 need not mechanical collision and triggers collision switch to after crashproof board 20 is strikeed, trigger 33 moves backward along predetermineeing the direction, trigger 33 is behind triggering photoelectric switch 31, trigger 33 still can continue to retreat in order to continuously trigger, makes to trigger more accurate and stable, has improved the sensitivity of triggering.

Specifically, the photoelectric switch 31 includes a light emitting unit and a light receiving unit for receiving the light beam emitted by the light emitting unit, and the trigger 33 can be located at least partially on the propagation path of the light beam emitted by the light emitting unit to change the light beam amount of the light receiving unit. It should be noted that the intensity or presence of the light beam should be the representation of the light beam quantity.

As shown in fig. 8 and 9, in some embodiments, each of the first and second impact switches 30 and 40 further includes a housing 34 and an elastic reset element 35, the photoelectric switch 31 and the trigger element 33 are disposed in the housing 34, the moving element 32 is disposed in the housing 34, the elastic reset element 35 is connected between the moving element 32 and the housing 34, and the elastic reset element 35 is configured to provide an elastic restoring force for moving the moving element 32 and the crash board 20 in a predetermined direction and in a direction away from the photoelectric switch 31. In particular, the elastic return member 35 comprises an elastically compressible return member or torsion spring. More specifically, the resilient compression return member comprises a compression spring.

So, photoelectric switch 31, moving member 32, trigger 33, elasticity reset 35 and concentrate and install in casing 34, receive outside collision effort after crashproof board 20, the collision switch that corresponds is triggered, and then master controller control body 10 makes and turns to and keeps away the barrier, and crashproof board 20's collision effort disappears, can reset along with moving member 32 under the restoring force effect of elasticity reset 35, resets fast and reliably, and then has improved the sensitivity of next collision. In addition, due to the setting of the arrangement positions of the first and second impact switches 30 and 40 with respect to the impact plate 20, the position of the elastic restoring member 35 with respect to the impact plate 20 is also set, so that the restoring force of the impact plate 20 is equalized.

Further, the housing 34 has a housing chamber 341, and the photoelectric switch 31 and the trigger 33 are provided in the housing chamber 341. In some embodiments, the housing 34 includes a first housing 342 and a second housing 343, and the first housing 342 and the second housing 343 are configured to be able to mate in a predetermined direction to form the receiving cavity 341 of the housing 34. Thus, the photoelectric switch 31, the moving member 32, the triggering member 33 and the elastic resetting member 35 can be more conveniently mounted relative to the shell 34.

The sweeping robot 100 provided by the embodiment of the application has the following beneficial effects:

by setting the position of the first impact switch 30 to 1/6 a/b 3/10, the first impact switch 30 can be made as close as possible to the side body portions 22 on both sides to equalize the force applied to the main body portion 21 in the direction in which it extends, improving the trigger sensitivity.

Secondly, since the second impact switch 40 is disposed at the second median plane β 3 on the side away from the main body portion 21, i.e. the distance between the second median plane β 3 and the connection point of the main body portion 21 and the side body portion 22 is relatively long, when the side body portion 22 is subjected to an external impact force, the second impact switch 40 is subjected to a relatively large force, and the trigger sensitivity is improved.

Therefore, in the sweeping robot 100 of the present application, the collision area of the anti-collision plate 20 is up to seven or more, the collision position of the anti-collision plate 20 is subdivided and determined, and when any position of the anti-collision plate 20 is collided, the trigger sensitivity of the collision switch is good, so that the main controller of the sweeping robot 100 can determine the collision position of the anti-collision plate 20, and the main controller can accurately control the main body 10 to perform a corresponding turning action to avoid an obstacle.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (14)

1. A sweeping robot (100), comprising:

a body (10);

the anti-collision device comprises an anti-collision plate (20) arranged on one side of a body (10), wherein the anti-collision plate (20) comprises a main body part (21) extending lengthwise along a first direction and side body parts (22) positioned at two lengthwise ends of the main body part (21);

at least two first collision switches (30) arranged on one side of the body (10) facing the main body part (21) at intervals along a first direction; and

a second bump switch (40) provided on a side of the body (10) facing each of the side body portions (22);

wherein one of said side body portions (22) has a first tangent plane (α 1) perpendicular to said first direction and tangential to an outer lateral surface of said side body portion (22); wherein the other of said side body portions (22) has a second tangent plane (α 2) perpendicular to said first direction and tangent to the outer lateral surface of said side body portion (22);

the distance between the center of the first impact switch (30) adjacent to the lateral body portion (22) and the first median plane (α 3) of the first tangent plane (α 1) and the second tangent plane (α 2) has a value a; the first tangent plane (alpha 1) is at a distance b from the second tangent plane (alpha 2), and a and b satisfy the condition: 1/6 is less than or equal to a/b is less than or equal to 3/10;

-the main portion (21) has a third cut plane (β 1) parallel to the first direction and tangent to an outer lateral surface of the main portion (21), -the lateral portion (22) has a fourth cut plane (β 2) parallel to the first direction and tangent to a farthest end of the lateral portion (22) with respect to the main portion (21);

the center of the second impact switch (40) adjacent to the main body part (21) is arranged at a distance from a second median plane (beta 3) of the third tangential plane (beta 1) and the fourth tangential plane (beta 2), and is located on the side of the second median plane (beta 3) facing away from the main body part (21).

2. The sweeping robot (100) of claim 1, characterized in that the first collision switch (30) comprises two.

3. The sweeping robot (100) according to claim 1, characterized in that said at least two first collision switches are axisymmetric with respect to said first median plane (α 3);

the second bump switches (40) include at least two, and at least the second bump switches (40) are symmetrical with respect to the first neutral plane (α 3).

4. The sweeping robot (100) of claim 1, wherein the side body portion (22) comprises a main side body portion (221) and a corner connecting portion (222), the main side body portion (221) being integrally connected with the main body portion (21) by the corner connecting portion (222).

5. The sweeping robot (100) of claim 4, characterized in that the second bump switch (40) is provided on a side of the body (10) facing each of the main side body portions (221).

6. The sweeping robot (100) of claim 4, wherein the corner connection portion (222) is fan-shaped in cross-section.

7. The sweeping robot (100) of claim 1, wherein an end of the side body portion (22) facing away from the main body portion (21) is cantilevered.

8. The sweeping robot (100) of claim 1, wherein the first and second bump switches (30, 40) are contact bump switches.

9. The sweeping robot (100) according to claim 8, characterized in that said first bump switch (30) is kept in contact with said main body portion (21) and said second bump switch (40) is kept in contact with said corresponding side body portion (22).

10. The sweeping robot (100) of claim 9, characterized in that the first and second bump switches (30, 40) each comprise:

a photoelectric switch (31) configured to generate a collision signal in response to a trigger;

a moving member (32) located at one side of the photoelectric switch (31) and kept in contact with the impact prevention plate (20), the moving member (32) being configured to be movable in a preset direction in response to an acting force of the impact prevention plate (20); and

the trigger piece (33) is connected with the moving piece (32), and the moving piece (32) can drive the trigger piece (33) to move between a first position and a second position along the preset direction;

wherein the trigger (33) is configured to be able to have a movement path that continuously triggers the opto-electronic switch (31) during movement that does not reach the first position and the second position.

11. The sweeping robot (100) of claim 10, wherein each of the first and second bump switches (30, 40) further comprises a housing (34) and a resilient return (35);

the photoelectric switch (31) and the trigger piece (33) are arranged in the shell (34), the moving piece (32) is arranged in the shell (34), and the elastic reset piece (35) is connected between the moving piece (32) and the shell (34);

the elastic reset piece (35) is used for providing elastic restoring force for enabling the moving piece (32) and the anti-collision plate (20) to move along the preset direction and towards the direction far away from the photoelectric switch (31).

12. The sweeping robot (100) of any one of claims 1-11, wherein the side body portion (22) extends in a second direction, and an angle between the first direction and the second direction is greater than 90 degrees.

13. A sweeping robot (100) according to any of claims 1-11, characterized in that the main body part (21) and the side body parts (22) are integrally formed.

14. The sweeping robot (100) according to any one of claims 1-11, wherein the bumper plate (20) is disposed on one side of the body (10) along the advancing direction of the sweeping robot (100);

and the fender panel (20) is configured to be able to approach or depart from the body (10).

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