CN219289347U - Mobile robot - Google Patents

Abstract

The utility model relates to the technical field of robots, and particularly discloses a mobile robot. The mobile robot comprises a robot main body, a film pressure sensing module, a protective shell assembly and an elastic assembly; the robot main body is provided with a side surface, and the film pressure sensing module is at least attached to the side surface; the protective shell component covers the film pressure sensing module and is connected with the robot main body; the elastic component is arranged between the film pressure sensing module and the protective shell component and is connected with the protective shell component. The mobile robot provided by the utility model has the characteristics of large obstacle avoidance sensing area, no sensing blind area, high sensing sensitivity and capability of effectively sensing small sharp object stabs, so that the mobile robot has excellent obstacle avoidance and obstacle sensing characteristics.

Description

Mobile robot

Technical Field

The utility model relates to the technical field of robots, in particular to a mobile robot.

Background

With the improvement of living standard and the continuous progress of technology, more and more sweeping robots enter families and offices. In order to improve the obstacle avoidance performance of the sweeping robot, the side wall of the sweeping robot is generally provided with an anti-collision shell and a micro switch or a photoelectric sensing device in the prior art, so that obstacles can be sensed and effective obstacle avoidance can be performed. However, the existing obstacle avoidance sensing structure has larger sensing blind areas, meanwhile, the sensing sensitivity is not high, and when the sensing sensitivity is more important, the sensing of the thorns of tiny sharp objects such as needles is difficult.

Disclosure of Invention

The embodiment of the utility model aims to provide a mobile robot, which aims to solve the problems that the obstacle avoidance induction of the mobile robot has a large blind area, the induction sensitivity is low, and tiny sharp objects such as needles are difficult to induce to collide.

In order to achieve the above purpose, the technical scheme adopted by the embodiment of the utility model is as follows:

a mobile robot comprises a robot main body, a film pressure sensing module, a protective shell assembly and an elastic assembly;

the robot main body is provided with a side surface, and the film pressure sensing module is at least attached to the side surface;

the protective shell assembly covers the film pressure sensing module and is connected with the robot main body;

the elastic component is arranged between the film pressure sensing module and the protective shell component and is connected with the protective shell component.

In some embodiments, the protective housing assembly includes a first housing having an array of a plurality of spaced apart posts, each of the posts protruding toward the side surface, the resilient assembly includes a plurality of resilient contacts, the number of resilient contacts being the same as the number of posts, and each of the resilient contacts being sleeved on one of the posts.

In some embodiments, the membrane pressure sensing module includes a first membrane pressure sensor attached to the side surface, each of the elastic contacts having a first end face, the first end face being spaced from and facing the first membrane pressure sensor.

In some embodiments, the distance between the first end face of each elastic contact piece and the first film pressure sensor is X, and X is more than or equal to 0 and less than or equal to 10mm.

In some embodiments, the value of X ranges from 3mm to 5mm.

In some embodiments, the side surface is formed with a plurality of first mounting areas, the end surfaces of the first mounting areas are plane, and each first mounting area is corresponding to one of the convex columns; the number of the first mounting areas is the same as that of the convex columns, the first film pressure sensors are mounted on the first mounting areas, the parts, located in the first mounting areas, of the first film pressure sensors are pressure sensing areas, and the distances from each part in each pressure sensing area to the first end face opposite to the pressure sensing areas are the same.

In some embodiments, the side surface is further formed with a first connection area, the first film pressure sensor is further attached to the first connection area, one first connection area is communicated with two adjacent first mounting areas, and the two adjacent first mounting areas are located on the same horizontal level;

or, the side surface is further formed with a first connection area, the first film pressure sensor is further attached to the first connection area, one first connection area is communicated with two adjacent first mounting areas, and the two adjacent first mounting areas are located in the same vertical direction;

or, the side surface is further formed with a first connection area, the first film pressure sensor is further attached to the first connection area, one first connection area is communicated with two adjacent first mounting areas, and the two adjacent first mounting areas are located in different height directions and different vertical directions.

In some embodiments, the first mounting area is a first groove or a first boss;

and/or, the end face of part of the first mounting area is arranged towards the right front of the mobile robot, the end face of part of the first mounting area is arranged towards the left side of the mobile robot, and the end face of the rest of the first mounting area is arranged towards the right side of the mobile robot.

In some embodiments, the robot body further has a top surface, the protective housing assembly further includes a second housing, the membrane pressure sensing module further includes a second membrane pressure sensor, the second membrane pressure sensor is attached to the top surface, and the second housing covers the second membrane pressure sensor and is connected to the robot body.

In some embodiments, the mobile robot comprises any one of a sweeping robot, an automated guided vehicle;

and/or the mobile robot further comprises a radar device and a control system, wherein the radar device is arranged on the robot main body avoiding the film pressure sensing module mounting area; the control system is respectively connected with the film pressure sensing module and the radar device.

The beneficial effects of the utility model are as follows:

according to the mobile robot provided by the embodiment of the utility model, the film pressure sensing module is attached to at least the side surface of the robot main body, the protective shell assembly is arranged to cover the film pressure sensing module, and the elastic assembly is arranged between the film pressure sensing module and the protective shell assembly, so that the mobile robot has the structural design, on one hand, the collision sensing area of the side surface of the mobile robot can be effectively enlarged, and no blind area exists; on the other hand, the structure of the elastic component can effectively transfer the foreign matter collision received by the protective shell component and transfer the foreign matter collision to the film pressure sensing module, so that the pressure sensitivity is effectively improved; on the other hand, through the transmission of elastic component, mobile robot can accurate response tiny sharp object thorn bumps and arouses the tiny deformation of protective housing subassembly to can do benefit to mobile robot and have more excellent obstacle avoidance, response barrier performance.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a mobile robot according to an embodiment of the present utility model;

fig. 2 is a schematic diagram of an explosion structure of a mobile robot according to an embodiment of the present utility model;

FIG. 3 is an enlarged partial schematic view of the portion M in FIG. 2;

fig. 4 is a schematic top view of a mobile robot according to an embodiment of the present utility model;

FIG. 5 is a schematic cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is an enlarged partial schematic view of N in FIG. 5;

FIG. 7 is an enlarged partial schematic view at P in FIG. 5;

fig. 8 is a schematic perspective view of an elastic contact according to an embodiment of the present utility model;

fig. 9 is a simplified schematic diagram of a control relationship of a control system of a mobile robot according to the present utility model.

Reference numerals:

10. a mobile robot;

11. a robot main body; 111. a side surface; 1111. a first mounting area; 1112. a first connection region; 112. a top surface; 1121. a second mounting area;

12. a membrane pressure sensing module; 121. a first membrane pressure sensor; 1211. a pressure sensing area; 122. a second membrane pressure sensor;

13. a protective housing assembly; 131. a first housing; 1311. a convex column; 132. a second housing;

14. an elastic component; 141. an elastic contact; 1410. a first end face; 1411. a socket joint part; 1412. an elastic contact portion;

15. a radar device;

16. and a control system.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Fig. 1 to 9 are schematic structural diagrams of a mobile robot 10 and its components according to the present embodiment.

Referring to fig. 1 and 2, a mobile robot 10 according to the present embodiment includes a robot body 11, a film pressure sensing module 12, a protective housing assembly 13, and an elastic assembly 14. The robot body 11 has a side surface 111, the film pressure sensing module 12 is at least attached to the side surface 111, the protective housing assembly 13 covers the film pressure sensing module 12, the protective housing assembly 13 is connected with the robot body 11, and the elastic assembly 14 is disposed between the film pressure sensing module 12 and the protective housing assembly 13 and connected with the protective housing assembly 13. The design of this embodiment is such that the protective housing assembly 13 transmits the received force to the film pressure sensing module 12 via the elastic assembly 14 when the side of the mobile robot 10 contacts or collides with the foreign object, so that the film pressure sensing module 12 senses the force of the foreign object and the weight of the foreign object, and feeds back the force to the mobile robot 10 main body, thereby adjusting the moving track of the mobile robot 10 according to the sensed force and the direction of the force. Through setting up protective housing subassembly 13, can play good guard action to film pressure sensing module 12, avoid foreign matter direct collision or fish tail film pressure sensing module 12, and elastic component 14's setting can improve pressure sensing's coverage area and response sensitivity, eliminates mobile robot 10 advancing direction's response blind area. In some embodiments, the mobile robot 10 may be a sweeping robot, an Automatic Guided Vehicle (AGV), or the like, and the film pressure sensing module 12 may be attached to the side surface 111 around the robot body 11 by 360 ° or along the side surface 111 of the area where the left side to the right side and the right side of the robot body 11 are located.

Referring to fig. 1, 2 and 3, in some embodiments, the protective housing assembly 13 includes a first housing 131, the first housing 131 has a plurality of posts 1311, each of the posts 1311 protrudes from the first housing 131 toward the side surface 111, two adjacent posts 1311 are spaced apart, and the plurality of posts 1311 form an array. The elastic component 14 includes a plurality of elastic contacts 141, the number of the elastic contacts 141 is the same as that of the protruding columns 1311, and each elastic contact 141 is sleeved on one protruding column 1311. By adopting the structural design, when the foreign matter collides with the side wall of the mobile robot 10, the first shell 131 transmits the acting force of the foreign matter to the elastic contact member 141 through the convex column 1311, and then the elastic contact member 141 contacts the film pressure sensing module 12, so that the film pressure sensing module 12 senses the acting force of the foreign matter. The elastic contact member 141 can improve the deformation sensitivity of the first housing 131, so that the mobile robot 10 can sense the stab of the sharp foreign matters with needle-shaped level, and the sensitivity of the film pressure sensing module 12 is effectively improved. In some embodiments, the first housing 131 is connected to the robot body 11 by a snap-fit connection, a fastening connection by a fastener, or a connection by welding or the like.

Referring to fig. 2, 3, 4, 5 and 6, in some embodiments, the film pressure sensing module 12 includes a first film pressure sensor 121, the first film pressure sensor 121 is attached to the side surface 111, each elastic contact 141 has a first end surface 1410, and the first end surface 1410 is opposite to the first film pressure sensor 121 in a spaced manner. In some embodiments, the distance between the first end surface 1410 of each elastic contact 141 and the first film pressure sensor 121 is X, 0.ltoreq.X.ltoreq.10 mm. The distance X is greater than 0mm when the first film pressure sensor 121 is capable of sensing a foreign object collision of 50g or less, and may reach 0mm when the first film pressure sensor 121 is incapable of sensing a foreign object collision of 50g or less. With such a structural design, when the foreign object collides with the sidewall of the mobile robot 10, the acting force can be effectively transmitted to the first end surface 1410, and the first film pressure sensor 121 is pressed by the first end surface 1410, so that the sensing sensitivity of the collision of the mobile robot 10 with the foreign object can be ensured. In some embodiments, the distance X between the first film pressure sensors 121 opposite to the first end surface 1410 ranges from 3mm to 5mm, so that false detection, such as false sensing caused by too fast or sudden acceleration or deceleration of the mobile robot 10, can be effectively avoided. In some embodiments, the first film pressure sensor 121 includes a first electrode (not shown), a second electrode (not shown), and a pressure sensing film (not shown), wherein the pressure sensing film is laminated on a surface of the first electrode, and the second electrode is laminated on a surface of the pressure sensing film.

Referring to fig. 3, 2 and 6, in some embodiments, the side surface 111 is formed with a plurality of first mounting regions 1111, an end surface of each first mounting region 1111 faces the first housing 131, and each first mounting region 1111 is disposed corresponding to one of the posts 1311. In some embodiments, the side surface 111 is further formed with first connection areas 1112, the number of the first mounting areas 1111 is the same as that of the protruding columns 1311, and two adjacent first mounting areas 1111 are at least communicated through one first connection area 1112, the first film pressure sensor 121 is attached to the first mounting areas 1111 and the first connection areas 1112, and the portion of the first film pressure sensor 121 located in the first mounting area 1111 is a pressure sensing area 1211, and the distance from each part in each pressure sensing area 1211 to the first end surface 1410 opposite to the pressure sensing area 1211 is the same. By adopting the structural design, on one hand, each convex column 1311 can effectively drive the elastic contact member 141 to move towards the direction of one first mounting area 1111 under the action of external force and elastically touch the first film pressure sensor 121, and the deformation between the first film pressure sensor 121 and the first mounting area 1111 is smaller and even not deformed, so that the first film pressure sensor 121 accurately senses acting force; on the other hand, the distance between the pressure sensing area 1211 and the first end surface 1410 is the same, so that each area of the same elastic contact element 141 can be effectively guaranteed to equally touch the pressure sensing area 1211, thereby effectively improving the accuracy of pressure sensing and the accuracy of pressure sensing, and reducing the erroneous judgment of collision with the mobile robot 10. In some embodiments, the first mounting region 1111 is a groove structure, i.e., the first mounting region 1111 is a first groove, and the first connection region 1112 is a first channel, and the first channel communicates two adjacent first grooves. In some embodiments, the bottom wall of the first groove is planar, so the corresponding pressure sensing areas 1211 are also planar, and the thickness of each portion of each pressure sensing area 1211 is the same, so that the accuracy of pressure sensing is improved. In some embodiments, the first film pressure sensor 121 is fixed in the first groove and the first channel by gluing, but it is also possible to fix the first film pressure sensor by other means. The portion of the first thin film pressure sensor 121 embedded in the first channel also has a pressure sensing effect, and in this embodiment, the portion embedded in the first channel functions to conduct a pressure sensing signal. Of course, in some alternative embodiments, the first mounting area 1111 of the mounting pressure sensing area 1211 may not be limited to be designed as a first groove, but may also be a first boss and the like, and the corresponding first connection area 1112 may be a second boss, and the first film pressure sensor 121 may be mounted and supported on the side surface 111 through the first boss and the second boss connected with the first boss. The end surface of the bottom wall of the groove of the first mounting region 1111 or the first boss is set to be a plane, and when the pressure sensing region 1211 is pressed by the elastic contact member 141, the deformation amount is small, and the secondary deformation of the pressure sensing region 1211 is avoided, so that the pressure sensing accuracy of the first film pressure sensor 121 can be effectively improved.

In some embodiments, one first connection region 1112 communicates with two adjacent first mounting regions 1111, and the two adjacent first mounting regions 1111 are located at the same level. The structural design is suitable for the case that the plurality of first mounting areas 1111 are arranged in multiple rows and multiple columns (the first grooves shown in fig. 2 are two rows and five columns), and is favorable for improving the reliability of mounting the first film pressure sensor 121 and the robot main body 11. In some embodiments, one first connection region 1112 communicates with two adjacent first mounting regions 1111, and the two adjacent first mounting regions 1111 are located in the same vertical direction, such a structure is suitable for the first mounting regions 1111 to be arranged in a column, such as a multi-row and multi-column arrangement. In some embodiments, one first connection region 1112 communicates with two adjacent first mounting regions 1111, and the two adjacent first mounting regions 1111 are located in different height directions and different vertical directions, for example, the first mounting regions 1111 of two rows and two columns are arranged, the first mounting regions 1111 of the first row are communicated with the first mounting regions 1111 of the second row and the second column through one first connection region 1112, and the first mounting regions 1111 of the second row and the first mounting regions 1111 of the first row are communicated with the first mounting regions 1111 of the first row and the second column through one first connection region 1112, whereby the two first connection regions 1112 cross each other, thereby effectively improving the mounting reliability of the first film pressure sensor 121.

Referring to fig. 2 and 4, in some embodiments, an end surface of a portion of the first mounting area 1111 is disposed toward a right front of the mobile robot 10 to sense an obstacle encountered by the right front of the mobile robot 10, and an end surface of a portion of the first mounting area 1111 is disposed toward a left side of the mobile robot 10, so that an obstacle encountered by the left side of the mobile robot 10 can be effectively sensed, and an end surface of the remaining first mounting area 1111 is disposed toward a right side of the mobile robot 10 to effectively sense an obstacle encountered by the right side of the mobile robot 10. Of course, the end surface of the first mounting region 1111 is not limited to the right-front, left-side and right-side directions, and the first mounting region 1111 may be added between the left-side and right-front directions or the first mounting region 1111 may be added between the right-front and right-side directions as needed, thereby effectively improving the reliability of the collision sensing of the mobile robot 10 with the foreign matter.

Referring to fig. 8 and 6, in some embodiments, the elastic contact 141 includes a socket portion 1411 and an elastic contact portion 1412, the socket portion 1411 is sleeved on the boss 1311 to connect the elastic contact 141 with the first housing 131, the elastic contact portion 1412 is connected with the socket portion 1411, and the first end surface 1410 is disposed at an end of the elastic contact portion 1412 opposite to the boss 1311, so that a force can be transmitted to the elastic contact portion 1412 through the boss 1311, so that the elastic contact portion 1412 abuts against the film pressure sensing module 12, and the film pressure sensing module 12 generates a pressure sensing signal, thereby completing the conversion of an external force into a pressure sensing signal. By providing the elastic contact portion 1412, the sensing area can be effectively enlarged, and the sensing blind area in the advancing direction can be eliminated, so that the mobile robot 10 can effectively sense the collision or the stab of the sharp foreign matter at the needle level. In some embodiments, the front projection of the first end surface 1410 on the first mounting area 1111 encloses a first area larger than the front projection of the boss 1311 on the first mounting area 1111 encloses a second area, and the second area falls within the first area, so that the elastic contact portion 1412 covers a larger area, and the pressure sensing area is enlarged. Referring to fig. 2, 4, 5 and 7, in some embodiments, the robot body 11 further has a top surface 112, the protective housing assembly 13 further includes a second housing 132, the film pressure sensing module 12 further includes a second film pressure sensor 122, the second film pressure sensor 122 is attached to the top surface 112, and the second housing 132 covers the second film pressure sensor 122 and is connected to the robot body 11. In some embodiments, the top surface 112 is formed with a second mounting region 1121 for mounting the second film pressure sensor 122. In some embodiments, the second mounting area 1121 is a second groove, and the second groove is recessed from the top surface 112 toward the interior of the robot body 11, so that the second film pressure sensor 122 is embedded in the second mounting area 1121, and the second housing 132 has elasticity, so as to effectively protect the second film pressure sensor 122 and improve sensitivity and accuracy to the sensing of the second film pressure sensor 122. In some embodiments, the second groove is an arcuate groove. In some embodiments, the second mounting area 1121 may also be an arc-shaped boss or the like. By providing the second film pressure sensor 122 on the top surface 112 of the robot main body 11, it is possible to effectively detect whether or not foreign matter falls on the top of the mobile robot 10 or whether or not the top position of the mobile robot 10 is caught in a short space.

Referring to any of fig. 1, 2, 4, and 5, in some embodiments, the mobile robot 10 further includes a radar device 15, where the radar device 15 is configured to detect an obstacle or the like in the operating environment of the mobile robot 10, so as to further assist the mobile robot 10 in obstacle avoidance. In some embodiments, the radar device 15 is provided to the robot body 11, such as mounted on the top of the robot body 11, avoiding the area where the membrane pressure sensing module 12 is mounted.

Referring to fig. 9 and any of the diagrams of fig. 1-5, in some embodiments, the mobile robot 10 further includes a control system 16, where the control system 16 is configured to control the mobile robot 10 to execute control instructions. In some embodiments, the control system 16 is connected to the film pressure sensing module 12 to receive the pressure sensing signal of the film pressure sensing module 12, and the control system 16 determines the direction of the foreign object colliding with the mobile robot 10 and the weight of the foreign object according to the pressure sensing signal, and controls the mobile robot 10 to adjust or change the movement track or the movement speed, etc. In some embodiments, the control system 16 is further connected to the radar device 15 to receive radar signals fed back by the radar device 15 to adjust or change the trajectory or speed of the mobile robot 10.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any equivalent modifications or substitutions will be apparent to those skilled in the art within the scope of the present utility model, and are intended to be included within the scope of the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (10)

1. The mobile robot is characterized by comprising a robot main body, a film pressure sensing module, a protective shell assembly and an elastic assembly;

the robot main body is provided with a side surface, and the film pressure sensing module is at least attached to the side surface;

the protective shell assembly covers the film pressure sensing module and is connected with the robot main body;

the elastic component is arranged between the film pressure sensing module and the protective shell component and is connected with the protective shell component.

2. The mobile robot of claim 1, wherein the protective housing assembly comprises a first housing having an array of a plurality of posts spaced apart, each of the posts projecting toward the side surface, the resilient assembly comprising a plurality of resilient contacts, the number of resilient contacts being the same as the number of posts, and each of the resilient contacts being sleeved on one of the posts.

3. The mobile robot of claim 2, wherein the membrane pressure sensing module comprises a first membrane pressure sensor attached to the side surface, each of the resilient contacts having a first end face that is spaced from and directly opposite the first membrane pressure sensor.

4. The mobile robot of claim 3, wherein a distance between the first end surface of each of the elastic contacts and the first film pressure sensor is X, 0.ltoreq.x.ltoreq.10 mm.

5. The mobile robot of claim 4, wherein the value of X ranges from 3mm to 5mm.

6. The mobile robot of claim 3, wherein the side surface is formed with a plurality of first mounting areas, the end surfaces of the first mounting areas are planes, and each first mounting area is arranged corresponding to one of the convex columns; the number of the first mounting areas is the same as that of the convex columns, the first film pressure sensors are mounted on the first mounting areas, the parts, located in the first mounting areas, of the first film pressure sensors are pressure sensing areas, and the distances from each part in each pressure sensing area to the first end face opposite to the pressure sensing areas are the same.

7. The mobile robot of claim 6, wherein the side surface is further formed with a first connection area, the first film pressure sensor is further attached to the first connection area, one first connection area is communicated with two adjacent first mounting areas, and the two adjacent first mounting areas are located on the same horizontal level;

or, the side surface is further formed with a first connection area, the first film pressure sensor is further attached to the first connection area, one first connection area is communicated with two adjacent first mounting areas, and the two adjacent first mounting areas are located in the same vertical direction;

or, the side surface is further formed with a first connection area, the first film pressure sensor is further attached to the first connection area, one first connection area is communicated with two adjacent first mounting areas, and the two adjacent first mounting areas are located in different height directions and different vertical directions.

8. The mobile robot of claim 6, wherein the first mounting area is a first groove or a first boss;

and/or, the end face of part of the first mounting area is arranged towards the right front of the mobile robot, the end face of part of the first mounting area is arranged towards the left side of the mobile robot, and the end face of the rest of the first mounting area is arranged towards the right side of the mobile robot.

9. The mobile robot of any of claims 1-8, wherein the robot body further has a top surface, the protective housing assembly further comprises a second housing, the membrane pressure sensing module further comprises a second membrane pressure sensor attached to the top surface, and the second housing covers the second membrane pressure sensor and is coupled to the robot body.

10. The mobile robot of any one of claims 1 to 8, wherein the mobile robot comprises any one of a sweeping robot, an automated guided vehicle;

and/or the mobile robot further comprises a radar device and a control system, wherein the radar device is arranged on the robot main body avoiding the film pressure sensing module mounting area; the control system is respectively connected with the film pressure sensing module and the radar device.

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