TWI732091B - 移動式機器人 - Google Patents

移動式機器人 Download PDF

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Publication number
TWI732091B
TWI732091B TW107101903A TW107101903A TWI732091B TW I732091 B TWI732091 B TW I732091B TW 107101903 A TW107101903 A TW 107101903A TW 107101903 A TW107101903 A TW 107101903A TW I732091 B TWI732091 B TW I732091B
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TW
Taiwan
Prior art keywords
buffer
mobile robot
collision
guide
movement
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TW107101903A
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English (en)
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TW201838578A (zh
Inventor
張宰源
尹盛湖
Original Assignee
南韓商Ｌｇ電子股份有限公司
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Publication of TW201838578A publication Critical patent/TW201838578A/zh
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Abstract

本發明提供一種移動式機器人。該移動式機器人包括：一本體，形成外觀；一移動裝置，用於移動該本體；一緩衝器，被配置以在該本體的外周上突出；複數個碰撞感測器，以一定角度放置在該本體上，以感測該緩衝器的移動；以及複數個壓力部件，在該等碰撞感測器的末端處形成一彎曲形狀。

Description

移動式機器人
本發明涉及一種移動式機器人，並且更具體地涉及一種透過緩衝器減輕碰撞的移動式機器人。
最近，機器人越來越多地於家庭中使用。家用機器人的典型例子是清掃機器人。清掃機器人是一種移動式機器人，其通過在空間中自行行進時吸入地板上的灰塵、污垢和碎屑，或者當旋轉拖把移動時用旋轉拖把擦拭地板，來自動清掃特定空間。
例如，當用於清掃的移動式機器人移動時，它可能碰撞到家中的結構或其他障礙物，因此可能包括緩衝器結構來減輕障礙物的碰撞。用於感應碰撞的碰撞感測器被包含在該緩衝器結構內以感測在不同方向上的碰撞。
為每個方向設置一個碰撞感測器以感測在每個方向上的碰撞。如果在多個方向上需要碰撞感测，則碰撞感测器的數量應與方向數量成比例地增加，這在移動式機器人的結構尺寸和成本方面可能會成為問題。
本發明提供一種移動式機器人，其透過少量感測器感測多個方向的碰撞。
本發明也提供了一種調節緩衝器的移動方向的移動式機器人。
本發明的一示例性實施例提供了一種移動式機器人，包括：一本體，形成外觀；一移動裝置，用於移動該本體；一緩衝器，被配置以在該本體的外周上突出；複數個碰撞感測器，以一定角度放置在該本體上，以感測該緩衝器的移動；以及複數個壓力部件，在該等碰撞感測器的末端處形成一彎曲形狀，用以在該緩衝器移動時對該等碰撞感測器施加壓力。因此，該等碰撞感測器的放置和壓力部件的形狀允許在多個方向上進行碰撞感測。
每一個碰撞感測器可以包括：一開關桿，其透過該壓力部件的移動接收對該緩衝器的碰撞；以及一感測器本體，其透過該開關桿的移動感測對該緩衝器的碰撞，其中，該壓力部件被配置以包覆該開關桿的末端。因此，可以感測到對緩衝器前部和側部的碰撞。
該移動式機器人可以包括包含一移動引導部件，用於限制該緩衝器移動，並且該移動引導部件可以包括：複數個突出引導部件，由該本體突出並且限制該緩衝器的移動；以及複數個緩衝器引導部件，每一個緩衝器引導部件都在該突出引導部件周圍具有一引導孔並且引導該緩衝器的移動。因此，即使碰撞量超過一定程度，也能夠限制該緩衝器的移動。
每一個緩衝器引導部件可以具有一風箏型引導孔，並且由後緩衝器引導部件的後角所形成的角度小於由前緩衝器引導部件的後角所形成的角度。這導致壓力部件對碰撞感測器的開關桿施加壓力，即使碰撞是在不同方向上施加於緩衝器上。
首先，根據本發明，移動式機器人在尺寸和成本方面具有優勢，因為碰撞感測器以一定角度放置並且壓力部件在碰撞感測器的末端形成為彎曲形狀，由此允許透過少量的碰撞感測器在不同方向上進行碰撞感測。
其次，根據本發明，移動式機器人具有防止由於緩衝器的過度移動而損壞移動式機器人的優點，因為突出引導部件在緩衝器引導部件的範圍內移動以限制緩衝器的移動。
第三，根據本發明，移動式機器人具有透過少量碰撞感測器感測多個方向上的碰撞的優點，因為每一個緩衝器引導部件均具有一風箏型引導孔，其形狀根據緩衝器引導部件是否位於前部或後部而改變，使得即使在不同方向上施加碰撞時，壓力部件也對碰撞感測器的開關桿施加壓力。
10:移動式機器人
20:本體
30:移動裝置(旋轉拖把)
100:緩衝器
102:上本體
104:下蓋
106:前表面
110:碰撞感測器
112:感測器本體
114:開關桿
116:樞紐滾輪
120:壓力部件
122:前部
124:側部
130:緩衝器引導部件
132:前緩衝器引導部件
132a:左前緩衝器引導部件
132b:右前緩衝器引導部件
134:後緩衝器引導部件
136:引導孔
138:突出引導部件
140:固定螺母
150:第一突出部件
152:第一突出部件
154:彈性部件
156:突出構件孔
X-X':中心線
θ 0:角度
θ 1:角度
θ 2:角度
θ 3:角度
θ 4:角度
圖1為根據本發明一示例性實施例之移動式機器人的透視圖；圖2為根據本發明一示例性實施例之移動式機器人的側視圖；圖3為根據本發明一示例性實施例之移動式機器人的前視圖；圖4為根據本發明一示例性實施例之移動式機器人的碰撞感測器的放置以及本體與緩衝器之間的關係的視圖；圖5為沿著圖2之V-V'線所截取的剖面圖； 圖6為說明根據本發明一示例性實施例之移動式機器人的位置恢復部件的視圖；圖7為說明根據本發明一示例性實施例之移動式機器人的移動引導部件的視圖；圖8A為說明根據本發明一示例性實施例之相對於緩衝器的移動之碰撞感測部件和移動引導部件的參考位置的視圖；圖8B為說明根據本發明一示例性實施例當碰撞施加至緩衝器的前部中心時相對於緩衝器的移動的碰撞感測部件和移動引導部件的位置的視圖；圖8C為說明根據本發明一示例性實施例當碰撞施加至緩衝器的前側的側部時相對於緩衝器的移動的碰撞感測部件和移動引導部件的位置的视圖；以及圖8D為說明根據本發明一示例性實施例當碰撞施加至緩衝器的側部時相對於緩衝器的移動的碰撞感測部件和移動引導部件的位置的視圖。
透過參考以下實施例的詳細描述和附圖，可以更容易地理解本揭示以及實現該揭示的方法。然而，本揭示可以以許多不同的形式來體現，並且不應該被解釋為限於在此闡述的實施例。相反，提供這些實施例是為了使本揭示透徹和完整，並將本發明的概念完全傳達給本領域之技術人員，並且本揭示將僅由所申請專利範圍限定。整個說明書中相同的附圖標記表示相同的元件。
在下文中，將參照附圖描述根據本發明示例性實施例的移動式機器人。
圖1為根據本發明一示例性實施例之移動式機器人的透視圖。圖2為根據本發明一示例性實施例之移動式機器人的側視圖。圖3為根據本發明一示例性實施例之移動式機器人的前視圖。圖4是根據本發明一示例性實施例之移動機式器人的碰撞感測器的放置以及根據本發明一示例性實施例之本體與緩衝器之間的關係的視圖。
參考圖1至圖4，將描述根據本示例性實施例的移動式機器人的配置和緩衝器的結構。
根據本發明示例性實施例的移動式機器人包括：本體20，形成移動式機器人的外觀；移動裝置30，用於移動本體；緩衝器100，被配置以在本體的外周上突出；碰撞感測器110，其以一定角度放置在該本體上以感測該緩衝器的移動；壓力部件120，其在碰撞感測器的末端處形成彎曲形狀，用以在緩衝器移動時對碰撞感測器施加壓力。
根據本示例性實施例之移動式機器人的本體20可以進一步包括：內部具有用於驅動移動裝置30的驅動馬達、和用於控制移動裝置30的控制器。另外，取決於移動式機器人的功能，可以在本體20的內部進一步包括用於儲存水的儲存器、供水流路和幫浦等。本體20可以由覆蓋頂部以保護內部部件的頂蓋、和連接到移動裝置的部件(例如旋轉拖把30或緩衝器100)的基座組成。
移動式機器人的移動裝置可以包括滾輪和滾動拖把或旋轉拖把，作為用於允許本體20到處移動的裝置。在本示例性實施例中，當與地板接觸旋轉時拖洗地板的旋轉拖把30被描述為移動裝置。然而，這僅僅是一個例子，並且本發明可以應用於使用滾輪之類作為移動裝置的移動式機器人。
參考圖3，在根據本示例性實施例的移動式機器人10中，將旋轉拖把30以相對於地板表面的特定角度θ 0放置。旋轉拖把30以這樣的方式放置，使得地板表面與旋轉拖把30的一些部分以特定角度θ 0接觸，而不是與旋轉拖把30的整個表面完全接觸。
本體20連接到移動裝置。本體20透過移動裝置來移動。根據本示例性實施例，移動裝置包括驅動單元，諸如由電力驅動的馬達，以及透過驅動單元驅動而移動的旋轉拖把30。
本體20的一側連接到緩衝器100。緩衝器100被配置以在本體20的周邊上突出。緩衝器100減輕了對本體20的碰撞。緩衝器100被配置以沿著移動式機器人10的行進方向突出。根據本示例性實施例的緩衝器100被配置以從本體20向前突出。緩衝器100被配置以突出至本體20的前側、左側、以及右側。
根據本示例性實施例的緩衝器100被放置以面對本體20的底部的一側。緩衝器100放置在本體20的下側上。緩衝器100以能夠在本體20的下側移動的方式連接到本體20。
根據本發明的本示例性實施例的緩衝器100包括上本體102，被設置以面對本體20、以及下蓋104，附接至上本體102下方的上本體102，以保護緩衝器100的內部部件。
在根據本示例性實施例的移動式機器人10中，作為碰撞感測部件的組件且將於稍後描述的碰撞感測器110和對碰撞感測器110施加壓力的壓力部件120設置在上本體102的上方。此外，移動式機器人10具有作為位置恢復部件的組件且將於稍後描述的第一突出部件150、第二突出部件152、以及彈性部件154，所述第一突出部件150、第二突出部件152、以及彈性部件154置於上本體102的下方。
根據本發明本示例性實施例的移動式機器人10可以進一步包括位於緩衝器100下方的支撐部件40，其支撐移動式機器人10的本體20。根據本示例性實施例的支撐部件40可以放置在移動裝置30的前部，並且被配置以與地板接觸來拖地。
圖5為沿著圖2之V-V'線所截取的剖面圖。圖6為說明根據本發明一示例性實施例之移動式機器人的位置恢復部件的視圖。圖7為說明根據本發明一示例性實施例之移動式機器人的移動引導部件的視圖。
在下文中，將參照圖5至圖7描述根據本示例性實施例之移動式機器人的碰撞感測部件、移動引導部件、和位置恢復部件。
根據本示例性實施例的移動式機器人10包括碰撞感測部件，用於感測對緩衝器100的碰撞；移動引導部件，用於限制緩衝器100的移動；以及位置恢復部件，用於恢復因外部碰撞而改變之緩衝器100的位置。
碰撞感測部件感測外力對緩衝器100的碰撞。碰撞感測部件透過碰撞感測器110感測對緩衝器100的碰撞。
對緩衝器100的碰撞包括：在移動式機器人移動時，緩衝器100與外部物體接觸的移動、或者由於作用在緩衝器100上之外部壓力的緩衝器100的移動，而與移動式機器人的移動無關。
碰撞感測部件包括碰撞感測器110，用於感測外部碰撞；以及壓力部件120，用於將在緩衝器100上的碰撞傳遞到碰撞感測器110。
碰撞感測器110固定到本體20。根據本示例性實施例的碰撞感測器110放置在緩衝器100的上方。碰撞感測器110感測緩衝器100的移動。每一個碰撞感測器110包括：開關桿114，其透過壓力部件120的移動接收對緩衝器的碰撞、以及感測器本體112，其透過開關桿114的移動感測對緩衝器的碰撞。根據本示例性實施例，樞紐滾輪116可旋轉地安裝在開關桿114的末端。
一對碰撞感測器110被對稱地放置在將緩衝器100分成左右兩半的虛擬中心線X-X'的左側和右側。碰撞感測器110感測在從放置碰撞感測器110的一側到其前部相對於中心線X-X'的範圍內所產生之對緩衝器100的碰撞。
如圖5所示，每一個碰撞感測器110向前傾斜。如圖5所示，開關桿114從感測器本體112向後傾斜。從中心線X-X'到開關桿114的角度θ 1可以是30°到60°。
每一個壓力部件120從緩衝器100的一個表面朝向放置碰撞感側器110的位置突出。根據本示例性實施例的壓力部件120朝向放置在緩衝器100上方的碰撞感測器110突出。壓力部件120與緩衝器100一起移動。壓力部件120放置在開關桿114的末端處。壓力部件120具有彎曲的形狀。壓力部件120透過在緩衝器100的側面與其前部之間所產生對緩衝器100的碰撞，在開關桿114的末端上施加壓力。
壓力部件120將緩衝器100的碰撞傳遞到碰撞感測器110。壓力部件120放置在相鄰開關桿114的末端。壓力部件120在開關桿114的末端彎曲。壓力部件120被設置以包覆開關桿114的末端。
壓力部件120包括傳遞在緩衝器100的側面上的碰撞的側部124、和傳遞在緩衝器100的前面上的碰撞的前部122。側部124和前部122以彎曲方式連接在一起，例如以敞開的V形連接在一起。開關桿114放置在側部124與前部122連接的位置。前部122與形成在緩衝器100的前方的前表面106形成角度θ 2。
根據本示例性實施例的移動式機器人10包括限制緩衝器100的移動範圍的移動引導部件。移動引導部件包括突出引導部件138，其從本體20突出並且限制緩衝器100的移動；以及緩衝器引導部件130，每一個緩衝器引導部件130具有圍繞突出引導部件138的引導孔136並且引導緩衝器100的移動。移動引導部件限制緩衝器100的移動。即使緩衝器100上的碰撞太大，緩衝器100也不會移動超出既定的範圍。
緩衝器引導部件130設置在緩衝器100上。每一個緩衝器引導部件130都具有風箏型引導孔136。緩衝器引導部件130與緩衝器100一起移動。緩衝器引導部件130的移動被突出引導部件138限制。突出引導部件138是從本體20突出的固定構件。突出引導部件138放置在形成在緩衝器引導部件130中的引導孔136內。
用於將緩衝器100連接到本體20的固定螺母140緊固到每一個突出引導部件138的末端。固定螺母140在不限制緩衝器100的前後移動和左右移動的範圍內緊固到突出引導部件138。突出引導部件138和固定螺母140限制緩衝器100的上下移動。
緩衝器引導部件130包括：後緩衝器引導部件134，置於將緩衝器100分成左右兩半的虛擬中心線X-X'上的緩衝器的後部；以及前緩衝器引導部件132，置於後緩衝器引導部件134的前方，與中心線X-X'的左側和右側對稱。
前緩衝器引導部件132包括置於中心線X-X'左側上的左前緩衝器引導部件132a、和置於中心線X-X'右側上的右前緩衝器引導部件132b。左前緩衝器引導部件132a和右前緩衝器引導部件132b相對於中心線X-X'在形狀和位置上是對稱的。
根據本示例性實施例的緩衝器引導部件130被成形為類似一風箏。由後緩衝器引導部件134的後角所形成的角度θ 4小於由前緩衝器引導部件132的後角所形成的角度θ 3。前緩衝器引導部件132具有比後緩衝器引導部件134更容易向左右移動的形狀
根據本示例性實施例的移動式機器人10包括位置恢復部件，用於將由外部碰撞而改變的緩衝器100的位置恢復至參考位置。
緩衝器100的參考位置是指當沒有外力施加時緩衝器100所保持的位置。當沒有外力施加到緩衝器100時，緩衝器100透過位置恢復部件的彈性構件154的彈力保持在參考位置。在參考位置中，根據本示例性實施例的緩衝器100對稱於中心線X-X'的左側和右側並向前突出。
位置恢復部件包括第一突出構件150，從本體20突出；第二突出構件152，與第一突出構件150並排地從緩衝器100突出；以及彈性部件154，其連接第一突出部件150和第二突出部件152並且將緩衝器100的位置恢復到參 考位置。在緩衝器100上設置第一突出構件150穿過的突出構件孔156。第一突出構件150放置在比第二突出構件152更遠離中心線X-X'的前方。
位置恢復部件包括設置在緩衝器100左側的左回收部件、和設置在緩衝器100右側的右回收部件。左回收部件和右回收部件的每一個均包括第一突出構件150、第二突出構件152、和彈性構件154。左回收部件對本體20的左前方施加彈力，而右回收部件對本體20的右前方施加彈力。
由左回收部件和右回收部件的彈性構件154所產生的彈力相等，但是在不同的方向上起作用。透過由左回收部件和右回收部件同時施加到緩衝器100的彈力，緩衝器100突出到本體20前部的中心。
圖8是說明根據本發明一示例性實施例之碰撞感測部件和移動引導部件的位置如何隨著緩衝器的移動而改變的視圖。參考圖8，下面敘述將說明當碰撞施加到緩衝器時緩衝器引導部件如何移動以及碰撞感測部件如何感測。
如果碰撞施加到緩衝器100，則緩衝器100移動。當緩衝器100移動時，與緩衝器100一起移動的壓力部件120對碰撞感測器110施加壓力。如在圖8A中那樣，當沒有外力作用在緩衝器100上時，緩衝器100保持在參考位置並且壓力部件120不對碰撞感測器110施加壓力。
如圖8B所示，如果對緩衝器100的前部施加碰撞，則緩衝器100向後移動。緩衝器100在移動引導部件的範圍內向後移動。一旦緩衝器100向後移動，置於中心線X-X'左側和右側的壓力部件120就一起對碰撞感測器110施加壓力。壓力部件120的前部122在碰撞感測器110上施加壓力。與緩衝器100的前表面106形成角度θ 2的前部122在垂直於緩衝器100的前表面106的方向上施加壓力在置於開關桿114的末端處的樞紐滾輪116上。
透過緩衝器100的移動，突出引導部件定位在緩衝器引導部件130的引導孔的前方。
如果碰撞施加到緩衝器100的前部的一側，則施加了碰撞的緩衝器100的前部的一側向後移動。如在圖8C中所示，如果對緩衝器100的前部的左側施加碰撞，則施加了碰撞的緩衝器100的前部的左側向後移動。通過右側恢復部件，緩衝器100的前部的右側可以不被移動，或者即使它移動，可以相對於前部的左側移動較少。當緩衝器100移動時，置於中心線X-X'左側的壓力 部件120對碰撞感測器110施加壓力。置於左側的壓力部件120的前部122對碰撞感測器110施加壓力。
通過緩衝器100的移動，置於左前緩衝器引導部件132a的引導孔內的突出引導部件138定位在引導孔的前方。
如圖8D中所示，如果對緩衝器100的側面施加碰撞，則緩衝器100沿著與受到碰撞的緩衝器100的那側相反的方向移動。當緩衝器100移動時，置於左側的壓力部件120對碰撞感測器110施加壓力。壓力部件120的側部124在碰撞感測器110上施加壓力。通過緩衝器100的移動，置於前緩衝器引導部件132的引導孔內的突出引導部件138定位於引導孔的左側。
根據本示例性實施例的移動式機器人10可以透過碰撞感測器110的操作感測障礙物的位置。如圖8B所示，當移動式機器人10的左碰撞感測器110和右碰撞感測器110兩者操作時，可以檢測到前方障礙物的存在。
當左碰撞感測器110操作時，移動式機器人10可以檢測到左前方或左方存在障礙物。類似地，當右碰撞感測器110操作時，移動式機器人10可以檢測到右前方或右方障礙物的存在。
儘管以上參照附圖描述了本發明的較佳實施例，但是應該理解本領域技術人員可以在不改變本發明的技術精神和基本特徵的情況下以其他具體形式來體現技術配置。因此，應該理解的是，上述實施例是示例性的，並且在所有方面都不是限制性的，並且本發明的範圍由所附申請專利範圍限定，而不是由上述具體描述限定。應該理解的是，從申請專利範圍的含義，範圍和等同概念中導出的所有改變和修改的形式都包括在本發明的範圍內。
110‧‧‧碰撞感測器
112‧‧‧感測器本體
114‧‧‧開關桿
116‧‧‧樞紐滾輪
120‧‧‧壓力部件
122‧‧‧前部
124‧‧‧側部
100‧‧‧緩衝器
X-X'‧‧‧中心線
θ 1‧‧‧角度

Claims (11)

  1. 一種移動式機器人，包括：一本體，形成外觀；一移動裝置，用於移動該本體；一緩衝器，被配置以在該本體的外周上突出；複數個碰撞感測器，以一定角度放置在該本體上，以感測該緩衝器的移動；以及複數個壓力部件，在該等碰撞感測器的末端處形成，以在該緩衝器移動時對該等碰撞感測器施加壓力，其中，該壓力部件包括傳遞在該緩衝器的側面上的碰撞的側部、和傳遞在該緩衝器的前面上的碰撞的前部，並且該側部和該前部以敞開的V形連接在一起。
  2. 根據申請專利範圍第1項所述的移動式機器人，其中，每一個碰撞感測器包括：一開關桿，透過該壓力部件的移動接收對該緩衝器的碰撞；以及一感測器本體，透過該開關桿的移動感測對該緩衝器的碰撞，其中，該壓力部件被配置以包覆該開關桿的末端，以及其中，該開關桿設置在該側部和該前部相連接的位置。
  3. 根據申請專利範圍第2項所述的移動式機器人，其中，該開關桿從該感測器本體向後傾斜並且具有安裝在該末端的一樞紐滾輪。
  4. 根據申請專利範圍第2項所述的移動式機器人，其中，該開關桿的該末端與該側部和該前部的一連接部分接觸。
  5. 根據申請專利範圍第4項所述的移動式機器人，其中，該前部與該緩衝器的一前表面形成一角度。
  6. 根據申請專利範圍第1項所述的移動式機器人，包括一移動引導部件，用於限制該緩衝器的移動。
  7. 根據申請專利範圍第6項所述的移動式機器人，其中，該移動引導部件包括：複數個突出引導部件，從該本體突出並且限制該緩衝器的移動；以及複數個緩衝器引導部件，每一個緩衝器引導部件都在該突出引導部件周圍具有一引導孔並且引導該緩衝器的移動。
  8. 根據申請專利範圍第7項所述的移動式機器人，其中，該緩衝器引導部件包括：一後緩衝器引導部件，置於將該緩衝器分成左右兩半的一虛擬中心線上該緩衝器的後部；以及一對前緩衝器引導部件，置於該後緩衝器引導部件的前方，對稱於該中心線的左側和右側。
  9. 根據申請專利範圍第8項所述的移動式機器人，其中，該等前緩衝器引導部件具有比該後緩衝器引導部件更容易向左右移動的形狀。
  10. 根據申請專利範圍第8項所述的移動式機器人，其中，每一個緩衝器引導部件均具有一風箏型引導孔，並且由該後緩衝器引導部件的後角所形成的角度小於由該前緩衝器引導部件的後角所形成的角度。
  11. 根據申請專利範圍第7項所述的移動式機器人，其中，用於將該緩衝器可移動地連接到該本體的一固定螺母被緊固到每一個突出引導部件的末端。
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