TW201720361A - Displacement sensing device capable of promoting a correctness of a sweeping robot on judging whether the sweeping robot is stuck by an obstacle or not, or is kept to continuously operate at an original location and avoiding overdischarging of battery and damage to the battery - Google Patents
Displacement sensing device capable of promoting a correctness of a sweeping robot on judging whether the sweeping robot is stuck by an obstacle or not, or is kept to continuously operate at an original location and avoiding overdischarging of battery and damage to the battery Download PDFInfo
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Description
本發明係有關一種感測裝置，係指一種能使磁球會因掃地機器人移動的慣量與振動，持續在底蓋其底板內晃動且與磁感應器感應產生一定的波型訊號之位移感測裝置。 The invention relates to a sensing device, which is a displacement sensing device capable of causing a magnetic ball to move due to the inertia and vibration of the cleaning robot, continuously shaking in the bottom plate of the bottom cover and inducing a certain wave signal with the magnetic sensor. .
請參閱第一圖、第二圖所示，係為習用掃地機器人與障礙物作用之實施例圖、習用掃地機器人與障礙物作用之另一實施例圖，按一般習見之掃地機器人50，在不使用高階感應器的狀況下，當掃地機器人50在跨越障礙物6或進入某些複雜地形時，有機會卡在原地無法動彈，該障礙物6例如為風扇底座(如第一圖所示)，造成打滑或越障能力不足，或者該障礙物6例如為門檻(如第二圖所示)，造成剛好撐住腹部無法脫困，此無法動彈的狀況，掃地機器人50其輪子510等都還是可以正常運作，這時掃地機器人50若無法偵測掃地機器人50本身已經在原地困住，其是無法啟動脫困模式520讓掃地機器人50退出困境，同時在持續運轉下，可能造成掃地機器人50本身持續浪費電池530其電源，最後電池530其放光電力後，造成掃地機器人 50卡在障礙物6上，而無法自行回家充電，更有機會造成電池530的損害，使得其在實用性上大打折扣，此乃為業者及消費者極欲突破之處，本發明人以此點為考量進行發明，終成一能利用磁球會因掃地機器人移動的慣量與振動，持續在底蓋其底板內晃動且與磁感應器感應產生一定的波型訊號，若掃地機器人卡在原地或障礙物上，磁球會停留住則與磁感應器不會有任何波型反應，就讓掃地機器人進行脫困模式嘗試脫困或停機；進而達成，能讓掃地機器人持續位移而使磁球產生較大的晃動程度，並通過底蓋中央凹陷部且與磁感應器產生較大的波型變化量反應，有效提升掃地機器人其正確判斷是否被障礙物困住或停留原地不斷運轉，避免電池過度放電及損害電池之位移感測裝置。 Please refer to the first figure and the second figure, which are diagrams of an embodiment of a conventional sweeping robot and an obstacle, an embodiment of a conventional sweeping robot and an obstacle, and a sweeping robot 50 according to general knowledge. In the case of using a high-order sensor, when the sweeping robot 50 is crossing the obstacle 6 or entering some complex terrain, there is a chance that the stuck object 6 cannot be moved in place, and the obstacle 6 is, for example, a fan base (as shown in the first figure). Insufficient ability to cause slipping or obstacles, or the obstacle 6 is, for example, a threshold (as shown in the second figure), causing the foot to be unable to move out of the abdomen, and the situation that the ball cannot be moved, the sweeping robot 50, the wheel 510, etc. can still be normal. Operation, when the sweeping robot 50 cannot detect that the sweeping robot 50 itself has been trapped in place, it is unable to start the escape mode 520 to allow the sweeping robot 50 to exit the predicament, and at the same time, under continuous operation, the sweeping robot 50 itself may continue to waste the battery 530. Its power supply, and finally the battery 530 emits light, causing the sweeping robot 50 cards are stuck on the obstacle 6, and cannot be charged home by themselves, and there is a greater chance of causing damage to the battery 530, which makes it greatly impractical, which is a place that the practitioner and the consumer want to break through. The inventor This point is invented for consideration. As a result, the magnetic ball will be used to move the inertia and vibration of the sweeping robot, and it will continue to shake in the bottom plate of the bottom cover and induce a certain wave signal with the magnetic sensor. If the sweeping robot is stuck in place. On the obstacle or the obstacle, the magnetic ball will stay and there will be no wave reaction with the magnetic sensor, so that the sweeping robot can take off the sleep mode or stop the machine; in order to achieve continuous displacement of the sweeping robot and make the magnetic ball larger The degree of swaying, and through the central recess of the bottom cover and the large wave type change reaction with the magnetic sensor, effectively improve the sweeping robot to correctly determine whether it is trapped by the obstacle or stay in place to avoid excessive discharge of the battery and A displacement sensing device that damages the battery.
為解決上述之現有技術不足之處，本發明主要目的，在於提供一種位移感測裝置，能利用磁球會因掃地機器人移動的慣量與振動，持續在底蓋其底板內晃動且與磁感應器感應產生一定的波型訊號，若掃地機器人卡在原地或障礙物上，磁球會停留住則與磁感應器不會有任何波型反應，就讓掃地機器人進行脫困模式嘗試脫困或停機，以期克服現有技術中之難處。 In order to solve the above-mentioned deficiencies of the prior art, the main object of the present invention is to provide a displacement sensing device capable of utilizing the inertia and vibration of the magnetic ball moving by the cleaning robot, continuously shaking in the bottom plate of the bottom cover and sensing with the magnetic sensor. A certain wave signal is generated. If the sweeping robot is stuck in place or on an obstacle, the magnetic ball will stay and there will be no wave reaction with the magnetic sensor, so that the sweeping robot can perform the escape mode and try to get out of trouble or stop, in order to overcome the existing The difficulty in technology.
本發明次要目的，在於提供一種位移感測裝置，其能讓掃地機器人持續位移而使磁球產生較大的晃動程度， 並通過底蓋中央凹陷部且與磁感應器產生較大的波型變化量反應。 A secondary object of the present invention is to provide a displacement sensing device that allows the sweeping robot to continuously shift to cause a large degree of shaking of the magnetic ball. And through the central recess of the bottom cover and a large wave shape change reaction with the magnetic sensor.
本發明又一目的，在於提供一種位移感測裝置，其有效提升掃地機器人其正確判斷是否被障礙物困住或停留原地不斷運轉，避免電池過度放電及損害電池。 Another object of the present invention is to provide a displacement sensing device which effectively improves the correctness of the cleaning robot to determine whether it is trapped by an obstacle or stays in place to avoid excessive discharge of the battery and damage to the battery.
本發明所欲解決之問題，係按一般習見之掃地機器人，在不使用高階感應器的狀況下，當掃地機器在跨越障礙物或進入某些複雜地形時，有機會卡在原地無法動彈，該障礙物例如為風扇底座，造成打滑或越障能力不足，或者該障礙物例如為門檻，造成剛好撐住腹部無法脫困，此無法動彈的狀況，掃地機器人其輪子等都還是可以正常運作，這時掃地機器人若無法偵測掃地機器人本身已經在原地困住，其是無法啟動脫困模式，讓掃地機器人退出困境，同時在持續運動下，可能造成掃地機器人本身持續浪費電源，最後電池其放光電力後，造成掃地機器人卡在障礙物上，而無法自行回家充電，更有機會造成電池的損害，使得其在實用性上大打折扣。 The problem to be solved by the present invention is that the sweeping robot according to the general knowledge has the opportunity to be stuck in place when the sweeping machine is crossing an obstacle or entering some complicated terrain without using a high-order sensor. The obstacle is, for example, a fan base, which causes insufficient slip or obstacle resistance, or the obstacle is, for example, a threshold, which causes the stomach to be unable to get out of trouble, and the situation that the ball cannot be moved, the wheel of the sweeping robot can still operate normally, and the floor is swept. If the robot can't detect that the sweeping robot itself is trapped in the original place, it can't start the escape mode, and let the sweeping robot exit the predicament. At the same time, under continuous motion, the sweeping robot itself may continue to waste power. Finally, after the battery emits light, The sweeping robot is stuck on the obstacle, and can't go home to charge it, and it has the opportunity to cause damage to the battery, which makes it practically compromised.
解決問題之技術手段，為達上述之目的，本發明係提供一種位移感測裝置，係應用於具有輪子及脫困模式與電池之掃地機器人，包括：一磁感應器電路板(Printed Circuit Board Assembly，PCBA)，其中央設有一磁感應器； 一底蓋(Base)，係設於磁感應器電路板上端，該底蓋設有形成容置空間且於中央具有凹陷部並呈曲面之一底板，該底板下端設有固定於磁感應器電路板上端之多數底撐塊，該底板下端中央對應磁感應器電路板之磁感應器；一磁球(Magnetic Ball)，係設於底蓋其容置空間呈曲面之底板，該磁球並與磁感應器電路板其磁感應器感應；一上蓋(Top Cover)，係設於底蓋上端並將底蓋其容置空間蓋合。 The technical means for solving the problem, in order to achieve the above object, the present invention provides a displacement sensing device for a sweeping robot having a wheel and a trapping mode and a battery, comprising: a printed circuit board assembly (PCBA) ), a magnetic sensor is arranged in the center; A bottom cover is disposed on the upper end of the magnetic sensor circuit, and the bottom cover is provided with a bottom plate forming a receiving space and having a concave portion at the center and having a curved surface, and the bottom end of the bottom plate is fixed on the upper end of the magnetic inductor circuit. a plurality of bottom struts, the central end of the bottom plate corresponding to the magnetic sensor of the magnetic sensor circuit board; a magnetic ball (Magnetic Ball) is disposed on the bottom cover and the accommodating space is a curved bottom plate, the magnetic ball and the magnetic sensor circuit board The magnetic sensor is sensed; a top cover is attached to the upper end of the bottom cover and covers the receiving space of the bottom cover.
更進一步，本發明底蓋之底板設有置於容置空間且相對應呈放射狀排列之多數三角導板牆，並使各相鄰之導板牆間形成與底板中央其凹陷部相通之導溝。 Furthermore, the bottom plate of the bottom cover of the present invention is provided with a plurality of triangular guide walls disposed in the accommodating space and correspondingly arranged in a radial manner, and the adjacent guide plates are formed to communicate with the recesses in the center of the bottom plate. ditch.
更進一步，磁感應器電路板兩側分別設有一嵌孔。 Further, a magnetic hole is provided on each side of the magnetic sensor circuit board.
更進一步，本發明上蓋相對至少兩側設有向下端延伸之一固定鉤，該固定鉤並扣合於磁感應器電路板其兩側之嵌孔。 Furthermore, the upper cover of the present invention is provided with a fixing hook extending downwardly from at least two sides thereof, and the fixing hook is fastened to the two sides of the magnetic sensor circuit board.
更進一步，底蓋下端周圍環設有一凹槽，且多數底撐塊係設於其內側。 Further, a ring is formed around the lower end of the bottom cover, and a plurality of bottom blocks are disposed on the inner side thereof.
更進一步，本發明上蓋交錯固定鉤之至少另兩側向下端延伸設有扣合於底蓋其凹槽之一扣鉤。 Further, at least two other sides of the upper cover staggered fixing hook of the present invention extend to a lower end and are provided with a hook hooking the groove of the bottom cover.
更進一步，底蓋上端周圍環設有與上蓋嵌合之一上內凹緣。 Further, the inner ring of the upper end of the bottom cover is provided with an inner concave edge which is fitted to the upper cover.
較佳者，本發明磁感應器電路板之磁感應器係為霍爾磁感應器(Hall Sensor)。 Preferably, the magnetic sensor of the magnetic sensor circuit board of the present invention is a Hall sensor.
較佳者，本發明導板牆之導溝形狀係呈外側擴大且向內側縮小之形狀。 Preferably, the shape of the guide groove of the guide wall of the present invention is a shape in which the outer side is enlarged and the inner side is reduced.
對照先前技術之功效，藉此裝置，本發明能利用磁球會因掃地機器人移動的慣量與振動，持續在底蓋其底板內晃動且與磁感應器感應產生一定的波型訊號，若掃地機器人卡在原地或障礙物上，磁球會停留住則與磁感應器不會有任何波型反應，就讓掃地機器人進行脫困模式嘗試脫困或停機；進而達成，能讓掃地機器人持續位移而使磁球產生較大的晃動程度，並通過底蓋中央凹陷部且與磁感應器產生較大的波型變化量反應，有效提升掃地機器人其正確判斷是否被障礙物困住或停留原地不斷運轉，避免電池過度放電及損害電池，符合產業上之利用、新穎及進步性。 In contrast to the prior art, by means of the device, the present invention can utilize the magnetic ball to be shaken by the inertia and vibration of the sweeping robot, continuously sway in the bottom plate of the bottom cover and induce a certain wave signal with the magnetic sensor, if the sweeping robot card In the original place or obstacle, the magnetic ball will stay and there will be no wave reaction with the magnetic sensor, so that the sweeping robot can take off the sleep mode or stop the machine; in order to achieve the continuous displacement of the sweeping robot and the magnetic ball The greater the degree of sway, and through the central recess of the bottom cover and the large wave shape change reaction with the magnetic sensor, effectively improve the sweeping robot to correctly determine whether it is trapped by the obstacle or stay in place to keep running, avoiding excessive battery Discharge and damage the battery, in line with the industrial use, novelty and progress.
(習用品) (study)
50‧‧‧掃地機器人 50‧‧‧Sweeping robot
510‧‧‧輪子 510‧‧‧ wheels
520‧‧‧脫困模式 520‧‧‧Out of sleep mode
530‧‧‧電池 530‧‧‧Battery
6‧‧‧障礙物 6‧‧‧ obstacles
(本發明) (this invention)
1‧‧‧磁感應器電路板 1‧‧‧Magnetic sensor board
11‧‧‧磁感應器 11‧‧‧Magnetic sensor
12‧‧‧嵌孔 12‧‧‧ hole
2‧‧‧底蓋 2‧‧‧ bottom cover
21‧‧‧容置空間 21‧‧‧ accommodating space
22‧‧‧底板 22‧‧‧floor
221‧‧‧曲面 221‧‧‧ Surface
222‧‧‧凹陷部 222‧‧‧Depression
23‧‧‧凹槽 23‧‧‧ Groove
231‧‧‧上內凹緣 231‧‧‧Upper concave edge
24‧‧‧導板牆 24‧‧‧ Guide wall
241‧‧‧導溝 241‧‧‧ Guide groove
25‧‧‧底撐塊 25‧‧‧Bottom blocks
3‧‧‧磁球 3‧‧‧Magnetic balls
4‧‧‧上蓋 4‧‧‧Upper cover
41‧‧‧固定鉤 41‧‧‧Fixed hook
42‧‧‧扣鉤 42‧‧‧ buckle
5‧‧‧掃地機器人 5‧‧‧Sweeping robot
51‧‧‧輪子 51‧‧‧ Wheels
52‧‧‧脫困模式 52‧‧‧Out of sleep mode
53‧‧‧電池 53‧‧‧Battery
6‧‧‧障礙物 6‧‧‧ obstacles
100‧‧‧掃地機器人開始移動 100‧‧‧Sweeping robot starts moving
200‧‧‧磁球開始晃動且磁感應器電路板有波型訊號產生 200‧‧‧The magnetic ball starts to shake and the magnetic sensor circuit board has wave signal generation
300‧‧‧被障礙物困住並停留原地不斷運轉 300‧‧‧ Trapped by obstacles and staying in place
400‧‧‧磁球停止晃動且磁感應器電路板無波型訊號產生 400‧‧‧The magnetic ball stops shaking and the magnetic sensor circuit board generates no wave signal
500‧‧‧掃地機器人進入脫困模式嘗試脫困 500‧‧‧Sweeping robots enter the escape mode and try to get out of trouble
600‧‧‧無法脫困 600‧‧‧Unable to get out of trouble
700‧‧‧掃地機器人脫困 700‧‧‧Sweeping robots
800‧‧‧掃地機器人停機避免電池過放損害電池 800‧‧‧Sweeping robot stops to avoid battery over-discharge damage to the battery
第一圖：為習用掃地機器人與障礙物作用之實施例圖。 First: A diagram of an example of the role of a conventional sweeping robot and obstacles.
第二圖：為習用掃地機器人與障礙物作用之另一實施例圖。 Second Figure: Another embodiment of the effect of a conventional sweeping robot and obstacles.
第三圖：為本發明與掃地機器人之立體分解圖。 The third figure is an exploded view of the invention and the sweeping robot.
第四圖：為本發明位移感測裝置之立體組合圖。 The fourth figure is a three-dimensional combination diagram of the displacement sensing device of the present invention.
第五圖：為本發明位移感測裝置之組合剖面圖。 Fig. 5 is a sectional view showing the combination of the displacement sensing device of the present invention.
第六圖：為本發明掃地機器人作用流程圖。 Figure 6 is a flow chart showing the action of the sweeping robot of the present invention.
第七圖：為本發明位移感測裝置其磁球與底蓋之作用圖。 Figure 7 is a diagram showing the action of the magnetic ball and the bottom cover of the displacement sensing device of the present invention.
為利貴審查員瞭解本發明之發明特徵、內容與優點及其所能達成之功效，茲將本發明配合附圖，並以實施例之表達形式詳細說明如下，而於文中所使用之圖式，其主旨僅為示意及輔助說明書之用，未必為本發明實施後之真實比例與精準配置，故不應就所附之圖式的比例與配置關係侷限本發明於實際實施上的專利範圍，合先敘明。 The invention will be described with reference to the accompanying drawings, and the embodiments of the present invention are described in detail below, and the drawings used in the text are used to describe the features, the contents and the advantages of the invention. The subject matter is only for the purpose of illustration and supplementary description, and is not necessarily the true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be limited to the patent scope of the present invention. Explain first.
請參閱第三圖、第四圖、第五圖及第六圖及第七圖所示，係為本發明之立體分解圖、本發明位移感測裝置之立體組合圖、本發明位移感測裝置之組合剖面圖及本發明掃地機器人作用流程圖、本發明位移感測裝置其磁球與底蓋之作用圖；本發明之位移感測裝置於一較佳之實施例中，係應用於具有輪子51及脫困模式52與電池53之掃地機器人5，包括：一磁感應器電路板1、一底蓋2、一磁球3、一上蓋4。 Please refer to the third, fourth, fifth, sixth and seventh figures, which are perspective exploded views of the present invention, a three-dimensional combination diagram of the displacement sensing device of the present invention, and the displacement sensing device of the present invention. The combined sectional view and the action diagram of the cleaning robot of the present invention, the action diagram of the magnetic ball and the bottom cover of the displacement sensing device of the present invention; the displacement sensing device of the present invention is applied to the wheel 51 in a preferred embodiment. And the cleaning robot 52 of the battery 52 and the battery 53 includes a magnetic sensor circuit board 1, a bottom cover 2, a magnetic ball 3, and an upper cover 4.
前述之一磁感應器電路板1(Printed Circuit Board Assembly，PCBA)，其中央設有一磁感應器11(Sensor)，於本實施例該磁感應器11係為霍爾磁感應器(Hall Sensor)，並將磁場變化轉換成電壓之波型，又該磁感應器電路板1兩側分別設有一嵌孔12。 A magnetic sensor 11 (Sensor) is disposed in the center of the printed circuit board assembly (PCBA). In the embodiment, the magnetic sensor 11 is a Hall sensor and the magnetic field is applied. The change is converted into a waveform of a voltage, and a hole 12 is respectively disposed on each side of the magnetic sensor circuit board 1.
前述之一底蓋2(Base)，係設於磁感應器電路板1上端，該底蓋2設有形成容置空間21且於中央具有凹陷部222並呈曲面221之一底板22，也就是使底板22其外圍高而中央低，該底板22下端設有固定於磁感應器電路板1上端之多數底撐塊25，又於本實施例該底蓋2下端周圍環設有一凹槽23，且多數底撐塊25係設於凹槽23之內側，該底蓋2上端周圍環設有與後述上蓋4嵌合之一上內凹緣231；該底板22下端中央對應磁感應器電路板1之磁感應器11；該底蓋2之底板22另設有置於容置空間21且相對應呈放射狀排列之多數三角導板牆24，並使各相鄰之導板牆24間形成與底板22其中央凹陷部222相通之導溝241，於本實施例該導板牆24之導溝241形狀係呈外側擴大且向內側縮小之形狀。 The bottom cover 2 (Base) is disposed at the upper end of the magnetic sensor circuit board 1. The bottom cover 2 is provided with a bottom surface 22 having a recessed portion 222 formed at the center and having a curved surface 221, that is, The bottom plate 22 has a high periphery and a low center. The lower end of the bottom plate 22 is provided with a plurality of bottom struts 25 fixed to the upper end of the magnetic sensor circuit board 1. In the present embodiment, a groove 23 is disposed around the lower end of the bottom cover 2, and a plurality of grooves are provided. The bottom support 25 is disposed on the inner side of the recess 23, and the inner end of the bottom cover 2 is provided with an inner concave edge 231 which is fitted to the upper cover 4 to be described later; the magnetic sensor of the lower end of the bottom plate 22 corresponding to the magnetic sensor circuit board 1 11; the bottom plate 22 of the bottom cover 2 is further provided with a plurality of triangular guide wall 24 disposed in the accommodating space 21 and correspondingly arranged in a radial manner, and the adjacent guide wall 24 is formed between the adjacent bottom plate 22 and the bottom plate 22 thereof. In the guide groove 241 of the guide wall 24 in the present embodiment, the shape of the guide groove 241 of the guide wall 24 is enlarged outward and reduced inward.
前述之一磁球3(Magnetic Ball)，係設於底蓋2其容置空間21呈曲面221之底板22，該磁球3並與磁感應器電路板1其磁感應器11感應，又底蓋2若設有且相對應呈放射狀排列之多數三角導板牆24所構成之導溝241，磁球3則能使其準確經過底蓋2其底板22中央凹陷部222並與其底部設於磁感應器電路板1之磁感應器11作用，又底蓋2其底板22具有外高內低之一曲面221，可以輔助磁球3具有一定的晃動程度，反之若底蓋2其底板22為平面則磁球3其晃動程度會較小，磁感應器電路板1與磁球3 之作用，會使其收到的波型會較小，而無法正確判斷。 The magnetic ball 3 is disposed on the bottom cover 2, and the accommodating space 21 of the bottom cover 2 is a bottom plate 22 of the curved surface 221, and the magnetic ball 3 is inducted with the magnetic sensor 11 of the magnetic sensor circuit board 1 and the bottom cover 2 If the guide groove 241 formed by the plurality of triangular guide walls 24 arranged in a radial arrangement is provided, the magnetic ball 3 can be accurately passed through the central recess 2 of the bottom cover 2 and the bottom of the bottom cover 22 is disposed on the magnetic sensor. The magnetic sensor 11 of the circuit board 1 functions, and the bottom cover 2 has a bottom surface 22 having an outer high inner low surface 221, which can assist the magnetic ball 3 to have a certain degree of shaking, and if the bottom cover 2 has a bottom surface 22 as a flat magnetic ball 3 The degree of shaking will be small, the magnetic sensor circuit board 1 and the magnetic ball 3 The effect will be that the waveform received will be smaller and cannot be judged correctly.
前述之一上蓋4(Top Cover)，係設於底蓋2上端並將底蓋2其容置空間21蓋合；該上蓋4相對至少兩側設有向下端延伸之一固定鉤41，該固定鉤41並扣合於磁感應器電路板1其兩側之嵌孔12；又該上蓋4交錯固定鉤41之至少另兩側向下端延伸設有扣合於底蓋2其凹槽23之一扣鉤42。 The top cover 4 is disposed on the upper end of the bottom cover 2 and covers the receiving space 21 of the bottom cover 2; the upper cover 4 is provided with a fixing hook 41 extending downward from at least two sides, the fixing The hook 41 is fastened to the two sides of the magnetic sensor circuit board 1; and the upper cover 4 is at least two sides of the staggered fixing hook 41 extending downwardly from the bottom end of the bottom cover 2 Hook 42.
本發明係將磁球3放置在底蓋2其容置空間21且呈曲面221之底板22，當掃地機器人5在移動時，即會造成磁球3在底蓋2其容置空間21呈曲面221之底板22晃動，並與底板22下端中央之磁感應器電路板1之磁感應器11作用產生波型變化；同樣的該底蓋2之底板22若設有置於容置空間21且相對應呈放射狀排列之多數三角導板牆24，該磁球3在任何移動之正常狀況下，更可以利用各導板牆24間形成之外側擴大且向內側縮小形狀之導溝241，使磁球3準確靠近底板22其中央凹陷部222，並利用外側擴大且向內側縮小形狀之導溝241，而與磁感應器11作用製造一定波型變化量(如第七圖所示)，當掃地機器人5若上在原地或障礙物6時而不再移動時，磁球3會停留住，則其與磁感應器電路板1之磁感應器11不再晃動且不會再有任何波型反應，此時掃地機器人5即會啟動進行脫困模式52或停機，以避免掃地機器人5其內部電池53過度放 電造成損壞；至於掃地機器人5其流程(請參閱第六圖所示)，掃地機器人開始移動100，此時會產生二條路徑，其一，磁球開始晃動且磁感應器電路板有波型訊號產生200，其二，被障礙物困住並停留原地不斷運轉300，當其二之被障礙物困住並停留原地不斷運轉300之後，磁球停止晃動且磁感應器電路板無波型訊號產生400；之後，掃地機器人進入脫困模式嘗試脫困500，之後再產生二條路徑，其一，無法脫困600，之後，掃地機器人停機避免電池過放損害電池800，其二，掃地機器人脫困700，再回到掃地機器人開始移動100。 The present invention places the magnetic ball 3 in the accommodating space 21 of the bottom cover 2 and is the bottom plate 22 of the curved surface 221. When the cleaning robot 5 is moving, the magnetic ball 3 is curved on the bottom cover 2 in the accommodating space 21 of the bottom cover 2. The bottom plate 22 of the 221 is oscillated and acts on the magnetic sensor 11 of the magnetic sensor circuit board 1 at the center of the lower end of the bottom plate 22 to generate a wave pattern change; the bottom plate 22 of the bottom cover 2 is disposed in the accommodating space 21 and correspondingly The plurality of triangular guide walls 24 are arranged radially, and the magnetic balls 3 can be formed by the guide grooves 241 which are formed on the outer side of each of the guide walls 24 and are reduced in shape to the inner side under any normal condition of movement. Accurately approaching the central recessed portion 222 of the bottom plate 22, and using the outer side to expand and reduce the shape of the guide groove 241 to the inner side, and the magnetic inductor 11 acts to produce a certain wave type change (as shown in the seventh figure), when the sweeping robot 5 When the magnetic ball 3 is stopped when it is in place or when the obstacle is no longer moved, the magnetic sensor 11 of the magnetic sensor circuit board 1 is no longer shaken and there is no more wave type reaction. 5 will start the rescue mode 52 or stop, to avoid 5 the cleaning robot 53 over its internal battery discharge The damage caused by electricity; as for the flow of the sweeping robot 5 (please refer to the sixth figure), the sweeping robot starts moving 100, and two paths are generated. First, the magnetic ball starts to shake and the magnetic sensor circuit board generates a wave signal. 200, second, trapped by obstacles and staying in place for 300. When the second is trapped by the obstacle and stays in place for 300, the magnetic ball stops shaking and the magnetic sensor circuit board generates no wave signal. 400; After that, the sweeping robot enters the escape mode and tries to get out of sleep 500, and then generates two paths. First, it can't get out of sleep 600. After that, the sweeping robot stops to prevent the battery from being over-discharged and damages the battery 800. Second, the sweeping robot takes off 700, and then returns. The sweeping robot starts moving 100.
藉此裝置，本發明能利用磁球3會因掃地機器人5移動的慣量與振動，持續在底蓋2其底板22內晃動且與磁感應器11感應產生一定的波型訊號，若掃地機器人5卡在原地或障礙物6上，磁球會停留住則與磁感應器11不會有任何波型反應，就讓掃地機器人5進行脫困模式52嘗試脫困或停機；進而達成，能讓掃地機器人5持續位移而使磁球3產生較大的晃動程度，並通過底蓋2中央凹陷部222且與磁感應器11產生較大的波型變化量反應，有效提升掃地機器人5其正確判斷是否被障礙物6困住或停留原地不斷運轉，避免電池53過度放電及損害電池，符合產業上之利用、新穎及進步性。 With this device, the present invention can utilize the inertia and vibration of the magnetic ball 3 due to the movement of the cleaning robot 5, and continuously sway in the bottom plate 22 of the bottom cover 2 and induce a certain wave signal with the magnetic sensor 11, if the sweeping robot 5 card In the original place or obstacle 6, the magnetic ball will stay and there will be no wave reaction with the magnetic sensor 11, so that the sweeping robot 5 can perform the unblocking mode 52 to try to get out of sleep or stop; and then, the sweeping robot 5 can be continuously displaced. The magnetic ball 3 is caused to have a large degree of swaying, and passes through the central recessed portion 222 of the bottom cover 2 and generates a large wave shape variation reaction with the magnetic sensor 11, thereby effectively improving the cleaning robot 5 to correctly determine whether it is trapped by the obstacle 6. Staying or staying in place keeps running, avoiding excessive discharge of battery 53 and damaging the battery, in line with industrial use, novelty and progress.
綜觀上述可知，本發明在突破先前之技術結構下，確實已達到所欲增進之功效，且也非熟悉該項技藝者所易於思及，再者，本發明申請前未曾公開，其所具之新穎性、進步性，顯已符合發明專利之申請要件，爰依法提出發明申請，懇請 貴局核准本件發明專利申請案，以勵發明，至感德便。 As can be seen from the above, the present invention has achieved the desired effect under the prior art structure, and is not familiar to those skilled in the art. Moreover, the present invention has not been disclosed before the application, and it has Novelty and progress have obviously met the requirements for the application of the invention patent, and the application for invention is filed according to law. You are requested to approve the application for the invention patent to encourage the invention.
以上所述之實施例僅係為說明本發明之技術思想及特點，其目的在使熟習此項技藝之人士能夠瞭解本發明之內容並據以實施，當不能以之限定本發明之專利範圍，即大凡依本發明所揭示之精神所作之均等變化或修飾，仍應涵蓋在本發明之專利範圍內。 The embodiments described above are merely illustrative of the technical spirit and the features of the present invention, and the objects of the present invention can be understood by those skilled in the art, and the scope of the present invention cannot be limited thereto. That is, the equivalent variations or modifications made by the spirit of the present invention should still be included in the scope of the present invention.
1‧‧‧磁感應器電路板 1‧‧‧Magnetic sensor board
11‧‧‧磁感應器 11‧‧‧Magnetic sensor
12‧‧‧嵌孔 12‧‧‧ hole
2‧‧‧底蓋 2‧‧‧ bottom cover
21‧‧‧容置空間 21‧‧‧ accommodating space
22‧‧‧底板 22‧‧‧floor
221‧‧‧曲面 221‧‧‧ Surface
222‧‧‧凹陷部 222‧‧‧Depression
23‧‧‧凹槽 23‧‧‧ Groove
231‧‧‧上內凹緣 231‧‧‧Upper concave edge
24‧‧‧導板牆 24‧‧‧ Guide wall
241‧‧‧導溝 241‧‧‧ Guide groove
25‧‧‧底撐塊 25‧‧‧Bottom blocks
3‧‧‧磁球 3‧‧‧Magnetic balls
4‧‧‧上蓋 4‧‧‧Upper cover
41‧‧‧固定鉤 41‧‧‧Fixed hook
42‧‧‧扣鉤 42‧‧‧ buckle
5‧‧‧掃地機器人 5‧‧‧Sweeping robot
51‧‧‧輪子 51‧‧‧ Wheels
52‧‧‧脫困模式 52‧‧‧Out of sleep mode
53‧‧‧電池 53‧‧‧Battery
Claims (9)
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| TW104140744A TWI538648B (en) | 2015-12-04 | 2015-12-04 | Displacement sensing means |
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| TW104140744A TWI538648B (en) | 2015-12-04 | 2015-12-04 | Displacement sensing means |
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| TW201720361A true TW201720361A (en) | 2017-06-16 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI718455B (en) * | 2018-12-20 | 2021-02-11 | 燕成祥 | Robot trap detection device |
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| CN111240311A (en) * | 2018-11-29 | 2020-06-05 | 北京奇虎科技有限公司 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI718455B (en) * | 2018-12-20 | 2021-02-11 | 燕成祥 | Robot trap detection device |
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