CN215986508U - Collision sensing device and floor cleaning device - Google Patents

Abstract

A collision sensing device and a floor cleaning device are provided, wherein the collision sensing device comprises a cover body, a detector and a movable piece. The cover body is arranged on the top of a shell in a protruding mode. The detector is arranged in the shell and used for detecting the movement of the cover body and outputting a corresponding sensing signal. The movable piece comprises a contact part and an elastic part and is arranged in the shell and connected with the cover body. The cover body and the movable piece can move between an initial position and a collision position relative to the shell, the cover body moves from the initial position to the collision position when being collided by external force, the detector senses the state between the contact part of the movable piece and the detector, and the elastic part is in a force accumulation state. The collision sensing device has fewer components and assembly procedures and better reliability. A floor cleaning device comprising the collision sensing device is also disclosed.

Description

Collision sensing device and floor cleaning device

Technical Field

The present application relates to an anti-collision device, and more particularly, to an anti-collision device for a floor cleaning device.

Background

Robots assist humans to perform various tasks, and thus have been widely used in various fields, such as industrial robots and household robots. The common household robot at present is a sweeping robot, which is used for sweeping the floor of a household. However, the environment of the household floor is complicated, and the sweeping robot can encounter many obstacles during the automatic sweeping process to affect the work of the sweeping robot. In order to overcome this problem, a conventional sweeping robot is provided with a laser radar (LiDAR) to detect obstacles on a path, and the sweeping robot can arrange a proper sweeping path to avoid the obstacles according to a detection result of the LiDAR, so as to improve sweeping efficiency.

Referring to fig. 1, a conventional sweeping robot is provided with a cover 11 protruding from a top end of a housing 10, and a laser radar 12 is disposed in the cover 11. The lidar 12 may detect obstacles on the floor through a window 111 of the housing 11. However, the laser radar 12 has a detection blind area BS, so that the sweeping robot cannot effectively detect an obstacle when approaching the obstacle such as a sofa, and the card cannot be bounced in place.

In view of the above, how to detect the obstacle encountered by the protruding cover body is an extremely demanding goal at present.

SUMMERY OF THE UTILITY MODEL

The invention provides a collision sensing device and a floor cleaning device, which comprise a cover body and a movable piece which are connected with each other, wherein the cover body and the movable piece can move between an initial position and a collision position relative to a shell, so that the cover body is triggered by the movable piece when being collided, and a proper avoidance measure can be generated by the floor cleaning device.

The collision sensing apparatus of an embodiment of the present application includes a cover, a detector, and a movable member. The cover body comprises at least one window and a plurality of connecting pieces, wherein the cover body is arranged on the top of a shell in a protruding mode. The detector is arranged in the shell and used for detecting the movement of the cover body and outputting a corresponding sensing signal. The movable piece comprises a contact part and an elastic part, and is arranged in the shell and connected with the connecting pieces of the cover body so as to define an accommodating space. The accommodating space is used for accommodating an electronic element protruding out of the top of the shell. The cover body and the movable piece can move between an initial position and a collision position relative to the shell, and the cover body moves from the initial position to the collision position when being collided by external force, so that the contact part of the movable piece triggers the detector and the elastic part is in a force accumulation state.

Another embodiment of the present invention provides a floor cleaning device comprising a housing, a cleaning assembly, a lidar, a collision sensing apparatus as described above, and a driving element. The cleaning component is arranged in the shell and used for cleaning a floor. The laser radar detects an obstacle on the floor and outputs a corresponding control signal. The cover body of the collision sensing device is arranged at the top of the shell in a protruding mode, and covers the laser radar. The driving element is arranged in the shell and used for driving the floor cleaning device to move on the floor according to the control signal output by the laser radar and the sensing signal output by the detector.

In one embodiment, the movable member may be an integrally formed element, such as a sheet metal member.

In one embodiment, the movable member includes a substrate, and a portion of the substrate is bent toward two sides to form the contact portion and the elastic portion.

In one embodiment, the movable member includes a substrate, and a portion of the substrate is bent downward to form the contact portion, and another portion of the substrate is bent upward to form the elastic portion.

In one embodiment, the detector comprises a microswitch.

In an embodiment, the collision sensing apparatus further includes a fixing base disposed in the accommodating space and fixed relative to the housing, wherein the electronic component is disposed on the fixing base.

In one embodiment, the fixed seat includes a force-receiving portion, wherein when the movable member is located at the collision position, the force-receiving portion deforms the elastic portion to a force-storing state.

In one embodiment, the housing includes a force-receiving portion, wherein when the movable member is located at the collision position, the force-receiving portion deforms the elastic portion to a force-storing state.

In an embodiment, the housing includes a plurality of limiting holes, and the plurality of connecting members of the cover body pass through the plurality of limiting holes to be connected with the moving member, so as to limit the movement of the cover body and the moving member between the initial position and the collision position.

The purpose, technical content, features and effects of the present application will be more readily understood by the following detailed description of the embodiments taken in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a schematic view illustrating a conventional collision sensing apparatus.

Fig. 2A is an exploded view of a collision sensing apparatus according to an embodiment of the present disclosure.

Fig. 2B is a bottom view illustrating an impact position of the impact sensing device according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram illustrating an initial position of a collision sensing apparatus according to an embodiment of the present disclosure.

Fig. 4 is a schematic diagram illustrating an impact sensing device in an impact position according to an embodiment of the present disclosure.

Fig. 5 is a schematic view showing a floor cleaning device according to an embodiment of the present application.

Fig. 6A is an exploded view showing a collision sensing apparatus according to another embodiment of the present application.

Fig. 6B is a bottom view illustrating an impact position of an impact sensing device according to another embodiment of the present application.

Reference numerals:

10 casing

11 cover body

111 view window

12 lidar

21 cover body

211 connecting piece

212 window

22 moving part

221 lock hole

222 contact part

223 elastic part

224 substrate

23 Detector

231 switch

239 detector base

30 casing

31 position limiting hole

32 opening

33 fixed seat

331 stress receiving part

40 laser radar

50a, 50b cleaning assembly

60 drive element

BS detection blind area

F floor

Detailed Description

The following detailed description of the embodiments of the present application, taken in conjunction with the accompanying drawings, is intended to illustrate. In addition to the detailed description, the present application is capable of general implementation in other embodiments, and other variations and modifications are intended to be included within the scope of the present application. In the description of the specification, numerous specific details are set forth in order to provide a more thorough understanding of the present application; however, the present application may be practiced without some or all of these specific details. In other instances, well-known steps or elements have not been described in detail so as not to unnecessarily obscure the present application. The same or similar elements in the drawings will be denoted by the same or similar symbols. It is noted that the drawings are for illustrative purposes only and do not represent actual sizes or quantities of elements, and some details may not be drawn completely to simplify the drawings.

Referring to fig. 2A, the collision sensing apparatus according to an embodiment of the present application includes a cover 21, a movable member 22, and a detector 23. The cover 21 includes a plurality of connectors 211 and at least one window 212. The cover 21 is disposed on a top of a housing 30 and protrudes from the top of the housing 30. The movable member 22 is disposed inside the housing 30, the plurality of connection members 211 of the cover 21 pass through the limiting holes 31 of the housing 30 and are locked to the locking holes 221 of the movable member 22, and the cover 21 and the movable member 22 can move between an initial position and a collision position relative to the housing 30. The detailed movement of cover 21 with respect to housing 30 will be described later. Between the cover 21 and the movable member 22, an accommodating space is formed through an opening 32 on the housing 30 to accommodate an electronic component (not shown in fig. 2A), such as a LiDAR (LiDAR). It will be appreciated that window 212 of enclosure 21 protrudes through the top of housing 30, allowing the lidar to detect external obstructions through window 212.

As described above, the detector 23 is provided in the housing 30. The detector 23 can detect the movement of the cover 21 and output a corresponding sensing signal, so that an external controller can take appropriate measures according to the sensing signal output by the detector 23. For example, when the cover 21 is displaced by an external impact, such as an obstacle, the moving member 22 is connected to the cover 21, and therefore the moving member 22 is displaced along with the cover 21. When the moving member 22 triggers the detector 23, the detector 23 outputs a sensing signal colliding with an obstacle. For example, the detector 23 may be a microswitch, and the sensor signal of the obstacle can be output by pressing the moving member 22 to the microswitch.

Referring to fig. 2A again, in an embodiment, the movable element 22 includes a contact portion 222 and an elastic portion 223. The contact portion 222 is disposed opposite the detector 23 such that the contact portion 222 triggers the detector 23 when the movable element 22 moves to the collision position due to a collision. The elastic portion 223 is deformed to be in a force accumulation state when the movable element 22 moves to the collision position due to the collision. When the collision is eliminated, for example, retreating away from the obstacle, the restoring force of the elastic portion 223 will return the movable member 22 to the initial position.

In one embodiment, the moveable member 22 may be an integrally formed component, such as an injection molded plastic component. In a preferred embodiment, the movable member 22 may be an integrally formed sheet metal member. For example, referring to fig. 3, the movable member 22 includes a base plate 224, a portion of the base plate 224 is bent downward to form the contact portion 222, and another portion of the base plate 224 is bent upward to form the elastic portion 223. The elastic portion 223 may be an elastic piece protruding or recessing toward the collision position. It will be appreciated that the orientation of the contact portion 222 and the resilient portion 223 may be designed differently in cooperation with different mechanical designs. For example, a portion of the substrate 224 is bent upward to form the contact portion 222, and another portion of the substrate 224 is bent downward to form the elastic portion 223. Alternatively, the contact portion 222 and the elastic portion 223 are on the same side of the substrate 224. It will be appreciated that the integrally formed movable member 22 reduces the number of components, simplifies assembly procedures, and increases production reliability, thereby significantly reducing manufacturing and maintenance costs.

Referring to fig. 2A again, in an embodiment, the collision sensing apparatus further includes a fixing base 33 disposed in the accommodating space between the cover 21 and the movable member 22, and an electronic device (not shown in fig. 2A) is disposed on the fixing base 33. The relative position between the fixing seat 33 and the housing 30 is fixed, i.e. the fixing seat 33 is not moved by the cover 21 being collided. For example, the fixing base 33 can be locked to the housing 30. The fixing base 33 includes a force-receiving portion 331. In the embodiment shown in fig. 2A, the force-receiving portion 331 is disposed opposite to the elastic portion 223 of the movable member 22. When the movable element 22 is located at the collision position, the force-receiving portion 331 can deform the elastic portion 223 to be in a force-storing state. It can be understood that the force-receiving portion 331 can cause the elastic portion 223 to deform and store force when the movable element 22 collides with the elastic portion 223 as long as the force-receiving portion 331 is fixed relative to the elastic portion 223. Therefore, the present application can also be realized by providing a suitable force-bearing structure as the force-bearing portion on the inner side of the housing 30.

Referring to fig. 2B, fig. 3 and fig. 4, how the movable element 22 triggers the detector 23 at the collision position and how the elastic portion 223 restores the movable element 22 to the initial position will be described. Referring to fig. 2A, when the cover 21 does not collide with an external force, the movable member 22 is located at an initial position, as shown in fig. 3. At this time, the contact portion 222 and the switch 231 of the detector 23 are kept at a proper distance D or lightly contact the switch 231 without triggering the switch, i.e., the contact portion 222 of the movable member 22 and the detector 23 are not in a contact sensing state. It will be appreciated that the sensitivity of the detector 23 to detect a collision can be controlled by adjusting the distance D between the contact 222 and the switch 231 to avoid slight vibrations, i.e. to trigger the switch 231. In an embodiment, when the movable element 22 is located at the initial position, the elastic portion 223 can also abut against the force-receiving portion 331, so that the elastic portion 223 generates a slight deformation. The restoring force of the elastic portion 223 can push the connecting member 211 connected to the movable member 22 against the right end of the limiting hole 31 of the housing 30, as shown in fig. 3. According to this structure, the switch 231 can be further prevented from being triggered by a slight vibration.

Since the cover 21 is connected to the movable element 22 through the connecting member 211, when the cover 21 collides with an obstacle, the movable element 22 is located at the collision position as the cover 21 moves to the left (moving direction Df), as shown in fig. 2B and 4. At this time, the contact portion 222 triggers the switch 231 of the detector 23, that is, the contact portion 222 of the movable element 22 and the detector 23 are in a contact sensing state, so that the detector 23 outputs a corresponding sensing signal. Further, the elastic portion 223 is pushed by the force receiving portion 331, and is compressed and deformed to further store force. When the crash condition is removed, the restoring force of the resilient portion 223 will return the moveable member 223 to the initial position, i.e., the position shown in FIG. 3. It is understood that, by proper design, the elastic portion 223 can be deformed in tension to produce the same effect. In one embodiment, the limiting hole 31 can limit the reciprocating distance between the initial position and the collision position of the movable member 22.

Referring to fig. 5, in an embodiment, the floor cleaning apparatus of the present application includes a housing 30, a cleaning assembly 50a, 50b, a laser radar 40, a driving element 60, and an impact sensing device 20. The cleaning assemblies 50a, 50b are disposed within the housing 30 to clean a floor F. For example, the cleaning assembly 50a may include a brush and a dust collecting assembly for cleaning the floor; the cleaning assembly 50b may include a mop cloth and a water tank to perform a mopping operation. It is understood that the floor cleaning device of the present application may include both sweeping and mopping functions, or may have only sweeping or mopping functions. The detailed structure of the collision sensing apparatus 20 is as described above, and will not be described herein.

In the embodiment of fig. 2B, in the initial position, the contact portion 222 of the movable member 22 and the detector 23 are not in a contact sensing state; in the collision position, the contact portion 222 of the movable member 22 and the detector 23 are in the contact sensing state. In the embodiment of fig. 2B, the movable element 22 needs to move a long stroke, and since the contact portion 222 is not triggered when it is slightly contacted, the switch 231 needs to be pressed to a required compression distance for triggering, and thus the stroke of the movable element 22 includes the distance D and the compression distance required when the switch 231 is switched. In this case, the time to sense the touch is somewhat delayed.

In order to reduce the delay time, the relative relationship between the movable member 22 and the detector 23 can be further improved to form a floor cleaning device as shown in the embodiment of fig. 6A and 6B. In the floor cleaning apparatus shown in fig. 6A and 6B, in the initial position, the contact portion 222 of the movable member 22 and the detector 23 are in a contact sensing state; in the collision position (the state of fig. 6B), the contact portion 222 of the movable member 22 and the detector 23 are not in the contact sensing state. More specifically, the following description is given.

The embodiment of fig. 2A and 2B is similar to the embodiment of fig. 6A and 6B, and therefore the same elements are denoted by the same reference numerals and their descriptions are omitted. As shown in fig. 6A and 6B, the detector 23 is located on the detector base 239. In the movable member 22, the contact portion 222 is located on a first side of the substrate 224, and the elastic portion 223 is located on a second side of the substrate 224, the second side being opposite to the first side. A portion of the substrate 224 is bent toward the front and rear sides to form the contact portion 222 and the elastic portion 223. In one embodiment, a portion of the substrate is bent to form the contact portion 222 and the elastic portion 223. When the movable member 22 moves in the moving direction Df, the movable member 22 moves to the collision position (the state of fig. 6B), so that the contact portion 222 is in slight contact with or not in contact with the switch 231 of the detector 23. In the embodiment, the shortest moving distance of the moving element 22 only needs to be moved to a distance that the contact portion 222 slightly contacts the switch 231 of the detector 23 and the switch is not triggered, so that the detector 23 can sense that the moving element is not in the contact sensing state, the stroke is short, the delay time is short, and the sensitivity of the detector 23 for sensing the collision is high. As shown in the state of fig. 6B, when the moving member 22 moves a large distance and the contact portion 222 is not in contact with the switch 231 of the detector 23, the detector 23 already senses that the moving member is not in the contact sensing state, and the stroke from slight contact to non-contact does not affect the sensing of the detector 23.

Continuing from the above description, the laser radar 40 is disposed in the housing 11 of the collision sensing apparatus 20, such that the housing 11 surrounds the laser radar 40, and the laser radar 40 protrudes from the top of the housing 30, so as to detect the obstacle on the floor F and output a corresponding control signal. The driving element 60 is disposed in the housing for driving the floor cleaning device to move on the floor F according to the control signal outputted from the laser radar 40, so as to clean the floor or mop the floor. For example, the lidar 40 may detect an obstacle on the floor F and generate a suitable routing, such that the driving element 60 drives the floor cleaning device to avoid the obstacle on the floor F according to the routing. It will be appreciated that when the crash sensing device 20 outputs a sensing signal indicative of a crash, the drive element 60 can drive the floor cleaning device backward and/or to steer to avoid jamming of the floor cleaning device and failure to continue cleaning the floor.

This application is when colliding with collision induction system's the cover body, conducts the connecting piece of collision induction system's below with collision induction system's top atress volume and does the transmission of strength, transmits the atress volume of collision to the sheet metal component as the moving part of below again, and the moving part transmits strength to for example the detector for limit switch, reaches the function that the collision detected.

In summary, the collision sensing device and the floor cleaning device of the present application are linked with the cover body through the movable member, so that the detector can be triggered by the movable member when the cover body is collided, and the floor cleaning device can generate appropriate avoidance measures. In one embodiment, the contact portion and the elastic portion of the movable member are located on the base plate of the movable member, thereby simplifying the procedure and time for assembling the floor cleaning device. In one embodiment, the moving part is an integrally formed moving part, so that the number of components can be reduced, the assembly process is simplified, and the generation reliability is improved, thereby greatly reducing the production and maintenance cost.

The embodiments described above are merely illustrative of the technical ideas and features of the present application, and the purpose thereof is to enable those skilled in the art to understand the content of the present application and to implement the same, so that the scope of the present application should not be limited thereto, i.e., all equivalent changes and modifications made in the spirit of the present application should be covered by the scope of the present application.

Claims (14)

1. A crash sensing device, comprising:

a cover body, which comprises at least one connecting piece, wherein the cover body is arranged on the top of a shell in a protruding manner;

the detector is arranged in the shell and used for detecting the movement of the cover body and outputting a corresponding sensing signal; and

a movable member including a contact portion and an elastic portion, and disposed in the housing and connected to the at least one connecting member of the cover, wherein the cover and the movable member are movable between an initial position and a collision position with respect to the housing, and the cover is moved from the initial position to the collision position when collided by an external force, the detector senses a state between the contact portion of the movable member and the detector, and the elastic portion is in a force accumulation state.

2. The crash sensing device according to claim 1, wherein said movable member further comprises a base plate, and said contact portion is located on a first side of said base plate, and said resilient portion is located on a second side of said base plate, said second side being opposite to said first side.

3. The crash sensing device according to claim 1, wherein said movable member further comprises a base plate, said contact portion and said resilient portion being located on said base plate, said movable member being an integrally formed element.

4. The apparatus of claim 1, wherein the movable member further comprises a base plate, the contact portion and the resilient portion are located on the base plate, and the movable member is an integrally formed sheet metal member.

5. The apparatus according to any one of claims 2 to 4, wherein a portion of the base plate is bent to front and rear sides to form the contact portion and the elastic portion, respectively.

6. The apparatus according to any one of claims 2 to 4, wherein a portion of the base plate is bent upward and downward to form the contact portion and the elastic portion, respectively.

7. The crash sensing device according to any one of claims 1 to 4 wherein said detector comprises a microswitch.

8. The crash sensing device according to any one of claims 1 to 4 wherein in said initial position said contact portion of said movable member is in a contact sensing state with said detector; and under the collision position, the contact part of the movable piece and the detector are not in the contact induction state.

9. The crash sensing device according to any one of claims 1 to 4 wherein in said initial position said contact portion of said movable member is not in a contact sensing state with said detector; and under the collision position, the contact part of the movable piece and the detector are in the contact induction state.

10. The crash sensing device according to claim 1, further comprising:

and the fixed seat is arranged on the shell, and the fixed seat is fixed with the relative position between the shell, and one electronic element is arranged on the fixed seat.

11. The crash sensing device according to claim 10, wherein said mounting bracket includes a force receiving portion, wherein said force receiving portion deforms said resilient portion into said stored force state when said moveable member is in said crash position.

12. The crash sensing device according to claim 1, wherein said housing includes a force receiving portion, wherein said force receiving portion deforms said resilient portion into said stored force state when said movable member is in said crash position.

13. The device of claim 1, wherein the housing includes a plurality of limiting holes, the at least one connecting member is connected to the plurality of limiting holes, and the connecting member of the cover passes through the plurality of limiting holes to connect to the movable member to limit the movement of the cover and the movable member between the initial position and the collision position.

14. A floor cleaning apparatus, comprising:

a housing;

a cleaning assembly disposed within the housing for cleaning a floor;

the laser radar is used for detecting an obstacle of the floor and outputting a corresponding control signal; and

a crash sensing device according to any one of claims 1 to 13 wherein said cover of said crash sensing device projects from said top of said housing and covers said lidar; and

and the driving element is arranged in the shell and used for driving the floor cleaning device to move on the floor according to the control signal output by the laser radar and the sensing signal output by the detector of the collision sensing device.

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