WO2018049972A1 - 一种触碰传感装置和机器人 - Google Patents

一种触碰传感装置和机器人 Download PDF

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Publication number
WO2018049972A1
WO2018049972A1 PCT/CN2017/098866 CN2017098866W WO2018049972A1 WO 2018049972 A1 WO2018049972 A1 WO 2018049972A1 CN 2017098866 W CN2017098866 W CN 2017098866W WO 2018049972 A1 WO2018049972 A1 WO 2018049972A1
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WO
WIPO (PCT)
Prior art keywords
robot
outer casing
sensing device
touch sensing
casing
Prior art date
Application number
PCT/CN2017/098866
Other languages
English (en)
French (fr)
Inventor
邓文海
Original Assignee
深圳市银星智能科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市银星智能科技股份有限公司 filed Critical 深圳市银星智能科技股份有限公司
Priority to EP17850174.8A priority Critical patent/EP3513701A4/en
Priority to US15/740,545 priority patent/US10646089B2/en
Publication of WO2018049972A1 publication Critical patent/WO2018049972A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/24—Arrangements for mounting bumpers on vehicles
    • B60R19/26—Arrangements for mounting bumpers on vehicles comprising yieldable mounting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
    • B60R19/483—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with obstacle sensors of electric or electronic type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present invention relates to autonomously moving robots, and more particularly to a touch sensing device for a robot and a robot having the touch sensing device.
  • a mobile robot is a device that can move autonomously on the ground, including various sensor devices to avoid obstacles in the work environment.
  • Most mobile robots have a buffer for sensing collisions at the front of the machine. There is a suitable space between the buffer and the robot body.
  • the buffer can buffer the obstacle and collide with the robot. The impact on the robot body and the collision of the obstacle in front of the robot with the robot, so that the robot changes the direction of movement and avoids obstacles.
  • the buffer of most mobile robots can only cover the front area of the robot, and can only cover up to 180°, but can not cover the area behind the robot, so that the robot can not sense the collision encountered in the back when it retreats. .
  • the buffer can only cover a part of the edge of the robot, the visual effect of disconnecting the rear sides of the buffer from the robot body affects the overall appearance.
  • embodiments of the present invention provide a touch sensing device capable of providing a buffering effect in a 360° range around a robot and capable of sensing a touch.
  • Embodiments of the present invention provide the following technical solutions:
  • an embodiment of the present invention provides a touch sensing device for a robot, the touch sensing device including a housing and an inner casing, the housing continuously surrounding the inner casing at least on a side of the inner casing.
  • An elastic mechanism and an inductive switch are disposed between the outer casing and the inner casing, and the elastic mechanism is configured to maintain the outer There is a uniform active gap between the shell and the inner casing, and the inductive switch is used to sense the relative displacement between the outer casing and the inner casing. Since the outer casing encloses the inner casing, the robot will cause relative displacement between the outer casing and the inner casing regardless of which part of the outer casing collides with the obstacle during walking.
  • the robot can sense the collision of the obstacle.
  • the robot can change the direction of motion to bypass the obstacles that collide.
  • the outer casing can form an integrated protection device in a 360° range around the robot, providing a buffer function and sensing the obstacles touched, which makes up for the deficiencies of the prior art.
  • the inductive switch is at least one of a micro switch, a proximity sensor, a photoelectric switch, and a membrane switch, and may be other devices or devices that can perform the same function.
  • the appropriate inductive switch can be selected based on the sensitivity or market cost or structural design requirements required for the engineering design.
  • the elastic mechanism is at least one of a spring, a spring piece and an elastic buffer layer, and may be other devices or devices that can perform the same function.
  • the appropriate elastic mechanism can be selected based on the sensitivity or market cost or structural design requirements required for the engineering design.
  • the elastic mechanism is in the form of a strip, including a sleeve, a compression spring and a sliding rod, the compression spring is placed in the sleeve, and one end of the sliding rod extends into the sleeve and the inside The compression spring is connected, and the two ends of the elastic mechanism are respectively pivotally connected to the outer casing and the inner casing.
  • the touch sensing device includes one or more of the inductive switches, the plurality of inductive switches being distributed corresponding to the outer casing.
  • the touch sensing device includes one or more of the inductive switches, and the plurality of inductive switches are symmetrically disposed in pairs.
  • the touch sensing device includes one or more of the resilient mechanisms, the plurality of resilient mechanisms being symmetrically disposed on either side of the longitudinal axis of the robot.
  • the elastic mechanism is in the form of a strip, including a sleeve, a compression spring and a slide bar, the compression spring is disposed in the sleeve, and one end of the slide bar extends into the sleeve and The compression spring is connected, and the two ends of the elastic mechanism are respectively pivotally connected to the outer casing and the inner casing.
  • the elastic mechanism is provided in plurality, and preferably, the elastic mechanism has four.
  • the elastic mechanism and/or the inductive switch are symmetrically disposed on both sides of the longitudinal axis of the robot.
  • the angle formed by the corresponding elastic mechanism on both sides of the longitudinal axis of the robot is an excellent angle
  • the orientation of the superior angle is the front of the robot, and preferably, the orientation of the superior angle is directly in front of the robot.
  • the outer casing is in the form of an integrally formed ring.
  • the inductive switch includes a swinging rod and a spring acting on the swinging lever, the swinging lever is at least partially lightly attached to the outer casing or the inner casing, and the swinging lever is used for electronic triggering Functionally, the spring is used to assist in resetting the pendulum rod, and the resilient mechanism and the inductive switch are evenly distributed between the outer casing and the inner casing.
  • an embodiment of the present invention provides a robot, wherein the robot includes a robot body, a traveling mechanism and a touch sensing device disposed on the robot body; wherein the touch sensing device includes An outer casing and an inner casing continuously surrounding the inner casing at least on a side of the inner casing, and an elastic mechanism and an inductive switch are disposed between the outer casing and the inner casing, the elastic mechanism for holding the outer casing and There is an active gap between the inner casings, and the inductive switch is used to sense the relative displacement between the outer casing and the inner casing.
  • the robot body includes oppositely disposed chassis and a cover, and an inner casing of the touch sensing device is disposed on the chassis or integrally formed with the chassis.
  • the robot body includes oppositely disposed chassis and a face cover, the face cover being configured to be capable of colliding with the cover when the outer casing of the collision sensor device collides with an obstacle The housing of the sensor device moves together.
  • the robot body includes oppositely disposed chassis and a cover that is integrally formed with the outer casing of the crash sensor device.
  • a scroll member is disposed between the robot body and the outer casing of the touch sensing device, the rolling member reducing a frictional force between the outer casing and the robot body when the outer casing is moved.
  • the rolling member is a circular ball that can roll in all directions at the original position.
  • the robot body includes oppositely disposed chassis and a cover, the inner casing of the touch sensing device is disposed on the chassis or integrally formed with the chassis, and the touch sensing device
  • the outer casing is formed in a ring shape or a spiral shape at least one circumference around the side of the robot body.
  • the touch sensing device includes a plurality of the elastic mechanisms and/or a plurality of the inductive switches uniformly distributed on a side of the outer casing adjacent to the inner casing, Multiple places The inductive switch is distributed at least at the front of the robot.
  • the elastic mechanism is in the form of a strip, including a sleeve, a compression spring and a sliding rod, and the compression spring is placed in the sleeve, and one end of the sliding rod extends into the sleeve and The compression spring is connected, and the two ends of the elastic mechanism are respectively pivotally connected to the outer casing and the inner casing.
  • the angle formed by the corresponding elastic mechanism on both sides of the longitudinal axis of the robot is an excellent angle, and the superior angle is toward the front of the robot.
  • the inductive switch includes a swing rod and a spring acting on the swing rod, the swing rod is at least partially lightly attached to the outer casing or the inner casing, and the swing rod is used for electronic triggering Functionally, the spring is used to assist in resetting the pendulum rod, and the resilient mechanism and the inductive switch are evenly distributed between the outer casing and the inner casing.
  • the touch sensing device and the robot can provide a buffering effect in the 360° range around the robot and can sense the obstacles touched, make up for the deficiencies of the prior art, and facilitate the integral molding, simplifying the process. Improve the appearance of the product.
  • FIG. 1 is a schematic exploded view showing the structure of a cleaning robot according to an embodiment of the present invention
  • FIG. 2 is a top plan view of a cleaning robot according to an embodiment of the present invention.
  • FIG. 3 is a schematic exploded view showing the structure of an elastic mechanism in an embodiment of the present invention.
  • FIG. 4 is a schematic cross-sectional structural view of a cleaning robot according to an embodiment of the present invention.
  • Figure 5 is a partial enlarged view of Figure 4.
  • Figure 6 is a schematic structural view of a robot in an embodiment of the present invention.
  • Figure 7a is a top plan view of a robot in an embodiment of the present invention.
  • Figure 7b is a schematic cross-sectional view of the robot of Figure 7a taken along line A-A;
  • Figure 7c is a partial enlarged view of a portion I of Figure 7b;
  • FIG. 7d is a schematic structural view of the robot after removing the cover according to the embodiment of the present invention.
  • Figure 8 is a schematic exploded view of the structure of the robot in the embodiment of the present invention.
  • FIG. 9 is a schematic exploded view showing the structure of the inductive switch mounting member and the inductive switch of the robot in one embodiment of the present invention.
  • FIG. 1 is a cleaning robot 100 according to the present embodiment.
  • FIG. 2 is a schematic plan view of the cleaning robot provided by the embodiment.
  • the robot 100 is provided with a touch sensing device according to an embodiment of the present invention.
  • the touch sensing device includes a casing 20 and an inner casing 40.
  • the casing 20 is a continuous side ring and forms a side surface of the robot 100; the inner casing 40 and the base 30 of the robot 100 are mutually connected. In cooperation, a portion of the body of the robot 100 is formed.
  • the inner casing 40 is integrally formed with the base 30 of the robot 100.
  • the robot 100 also includes a cover 10.
  • the cover 10 can be integrally formed with the outer casing 20, but in the present embodiment, the cover 10 and the outer casing 20 are designed as separate components, respectively, in order to facilitate replacement of the different cover 10.
  • the outer casing 20 continuously surrounds the inner casing 40 at least on the side of the inner casing 40, and an elastic mechanism 60 and an inductive switch 80 are disposed between the outer casing 20 and the inner casing 40.
  • An elastic mechanism 60 and an inductive switch 80 are disposed between the outer casing 20 and the inner casing 40, including but not limited to the following: 1) the elastic mechanism 60 and the inductive switch 80 are located between the outer casing 20 and the inner casing 40; 2) the elastic mechanism 60 and/or the inductive switch 80 is mounted to the inner casing 40, but a portion of the resilient mechanism 60 and/or the inductive switch 80 is located between the outer casing 20 and the inner casing 40; 3) the resilient mechanism 60 and/or the inductive switch 80 are mounted to On the outer casing 20, but a portion of the resilient mechanism 60 and/or the inductive switch 80 is located between the outer casing 20 and the inner casing 40; 4) the resilient mechanism 60 and/or the inductive switch 80 are mounted to the outer casing 20 and the inner casing 40.
  • the elastic mechanism 60 is used to maintain a uniform movable gap between the outer casing 20 and the inner casing 40.
  • the switch 80 is used to sense the relative displacement between the outer casing 20 and the inner casing 40.
  • the inductive switch includes an electronic trigger switch.
  • the inductive switch 80 is typically electrically coupled to a processor or control system (not shown) on the robot 100 to facilitate acquiring data from the inductive switch 80 to control the robot 100 to respond.
  • a drive wheel is also provided on the base 30 of the robot 100 to facilitate movement on the ground. Since the outer casing 20 surrounds the inner casing 40, the robot 100 will cause relative displacement between the outer casing 20 and the inner casing 40 regardless of which portion of the outer casing 20 collides with the obstacle during walking.
  • the robot 100 can sense the collision of the obstacle.
  • the robot 100 can change the direction of motion to bypass obstacles that are hit or take other countermeasures.
  • the elastic mechanism between the outer casing 20 and the inner casing 40 can buffer the impact of the collision between the robot and the obstacle, whereby the outer casing 20 can provide a buffer function in the 360° range around the robot and can sense the obstacles touched and make up.
  • the outer casing 20 provides omnidirectional protection around the robot 100, a continuous surface is formed around the robot 100, so that the appearance of the robot 100 is better overall.
  • the side surface of the outer casing is continuous and is not broken, it is not easily deformed during molding.
  • the continuous structure on the side prevents dust, water, debris, etc. from the side from entering the robot body to a certain extent.
  • the resilient mechanism 60 and/or the inductive switch 80 are symmetrically disposed on either side of the longitudinal axis L of the robot 100.
  • the inductive switch 80 can be a photoelectric switch, and each of the photoelectric switches 80 includes a swing bar 82.
  • the photoelectric switch 80 is mounted on the inner casing 40 by screws.
  • the swinging rod 82 extends toward the inner surface of the outer casing 20 and is lightly attached to the outer casing 20. (In other embodiments, the photoelectric switch can also be screwed to the outer casing and the swinging rod is provided. Lightly attached to the inner casing).
  • the swing lever 82 of the photoelectric switch 80 When the outer casing 20 is subjected to a collision, if the impact force of the collision is sufficient to cause the outer casing 20 and the inner casing 40 to move relative to each other, the swing lever 82 of the photoelectric switch 80 is touched, and the swing lever 82 completes the electronic trigger function, thereby completing the touch sensing function.
  • the displacement of the swing lever 82 triggers the photoelectric switch to complete the sensing function, and can be reset by a spring (not shown) in the photoelectric switch, since the swing lever 82 is attached to the inner surface of the outer casing 20. It can also reset the housing 20 at the same time as its own reset.
  • the inductive switch 80 can also be a micro switch or a proximity sensor, or other devices or devices that can perform the same function.
  • the appropriate inductive switch can be selected based on the sensitivity or market cost or structural design requirements required for the engineering design.
  • the elastic mechanism 60 may be a spring or a spring piece or an elastic buffer layer, or It is another device or device that can perform the same function.
  • the appropriate elastic mechanism can be selected based on the sensitivity or market cost or structural design requirements required for the engineering design.
  • the elastic mechanism 60 has a strip shape, and includes a sleeve 62, a compression spring 64 and a sliding rod 66.
  • the compression spring 64 is placed in the sleeve 62.
  • One end of the sliding rod 66 extends into the sleeve 62 and is connected with the compression spring 64.
  • the ends are pivotally connected to the outer casing 20 and the inner casing 40, respectively.
  • the sliding rod 66 When the sliding rod 66 is subjected to a suitable external force, it can slide in the sleeve 62 against the elastic force of the compression spring 64; the elastic force of the compression spring 64 can act on the sleeve 62 and the sliding rod 66 to maintain uniformity between the outer casing 20 and the inner casing 40. Activity gap.
  • the outer ends of the slider 62 and the sleeve 66 are provided with through holes.
  • the sleeve 62 is pivotally connected to the outer casing 20 by screws 61; the sliding rod 66 is pivotally connected to the inner casing 40 by screws 63.
  • the sleeve 62 can be rotated with the screw 61 as a rotating shaft; the slide bar 66 can be rotated with the screw 63 as a rotating shaft.
  • the angle formed by the corresponding elastic mechanism on both sides of the longitudinal axis L of the robot 100 is an excellent angle a (an angle greater than 180° less than 360° is an excellent angle), and the orientation of the superior angle a is a robot.
  • the direction of the hollow arrow indicates the front of the robot, that is, the direction in which the robot moves forward). Since the main action of the robot 100 is to advance, such an angular placement can reduce the sliding of the slide bar 66 on the sleeve 62 as much as possible when the robot is in the forward direction, so that the elastic mechanism 60 is in the outer casing 20 and the inner casing as much as possible.
  • the pivoting position of 40 is rotated to reduce the triggering force requirement and improve the sensitivity.
  • the elastic mechanism may also be set in a radial direction with the center of the robot (for example, the center of the circular robot as a center) as a reference point, so that the extension line of the elastic mechanism in the longitudinal direction passes through the robot. Center, but the triggering force is relatively large, that is, a relatively larger impact force is required to cause relative displacement of the outer casing 20 and the inner casing 40, and in this embodiment, the relatively small collision can make the outer casing 20 and the inner casing
  • the relative displacement of 40 makes it easier for the robot to sense the collision with the obstacle during the movement.
  • the touch sensing device and the robot of the robot provided by the embodiments of the present invention can form an integrated protection device in a 360° range around the robot, provide a buffering function and can sense the touched obstacle, and make up for the deficiencies of the prior art. It is easy to form in one piece, which simplifies the process and improves the appearance of the product.
  • the technical solution disclosed by the embodiment of the present invention is also applicable to various robots that move autonomously.
  • orientation terms “front”, “back”, “left”, and “right” are relative to the direction of advancement of the robot during normal operation, and the front refers to the direction in which the cleaning device advances.
  • the terms “upper”, “lower”, “bottom” or “top” are all referenced to the placement state of the robot during normal operation.
  • FIG. 6 is a schematic structural diagram of a robot in an embodiment of the present invention
  • FIG. 8 is a schematic exploded view of the structure of the robot in the embodiment of the present invention.
  • Embodiments of the present invention provide a robot including a robot body 1 and a touch sensing device 200.
  • the robot body 1 is provided with a control system for controlling the touch sensing device 200 and other components.
  • the robot also includes a moving assembly 50 disposed on the robot body 1 for moving the robot, for example, the moving assembly can be a wheel assembly, a track or a mechanical leg, and the like.
  • the robot may also include sensor systems such as infrared sensors, laser range sensors and other ranging sensors, cameras, optical flow sensors, acoustic sensors, ultrasonic sensors.
  • the robot may also include other functional components, such as a cleaning component, a cutting component, not described in further detail herein.
  • the touch sensing device 200 includes a housing 210 and an inductive switch 220.
  • the housing 210 surrounds the robot body 1 at least once (ie, one revolution), or the housing 210 surrounds the robot body 1 for at least one week ( That is, one turn), that is, the outer casing 210 is at least 360° around the main body 1 of the robot.
  • the outer casing 210 can be designed to surround the robot body 1 two, three or more circles, except that the robot can be arranged as an embodiment of the cleaning robot, and can be designed in other embodiments, for example, In the embodiment in which the robot is a humanoid robot, the outer casing 210 of the touch sensing device 200 is wound around the robot body from bottom to top or from top to bottom.
  • the touch sensing device 200 may be disposed in a spiral shape on the robot body 1 .
  • a plurality of inductive switches are evenly distributed on the robot body 1 and/or the outer casing 210 corresponding to the shape of the outer casing 210, that is, the plurality of inductive switches may be circled around the robot body 1 or Multiple circles are evenly distributed. It can be understood that a plurality of inductive switches can also be disposed only at the front or the rear of the robot. Thus, since the outer casing 210 surrounds at least one circumference (ie, one turn) of the robot main body 1, no matter which side the robot is.
  • the inductive switch can be triggered to cause the robot to perform corresponding operations, such as retreating and steering, so that the robot is more intelligent, and the collision orientation can be judged, thereby greatly reducing the collision of the robot.
  • the sensing blind zone makes the robot's induction of obstacles more accurate and sensitive.
  • the inductive switch is at least one of a photo inductive switch, a micro switch, a membrane switch, and a capacitor.
  • the inductive switch 220 may be disposed in one or more, and when the plurality of the inductive switches 220 are disposed, a plurality of the inductive switches 220 are evenly distributed along the outer casing 210. Of course, a plurality of the sensing switches 220 may be disposed at different portions of the outer casing 210 according to the needs of the design. It can be understood that the inductive switch 220 can also be disposed at least in the front half or the rear half of the robot or any part of the robot. In one embodiment, the outer casing 210 may be designed such that at least the impacted portion is movable relative to the robot body 1 when the outer casing 210 is impacted.
  • the sensing switch 220 is disposed on the robot body 1 and/or the outer casing 210 to sense a collision condition of the touch sensing device 200.
  • the outer casing 210 is a continuous unit; in another embodiment, the outer casing 210 includes a plurality of segments, the segments being connected with the elastic members so that each segment can be moved separately for judging The force attribute of the corresponding portion of the outer casing 210, such as the force orientation, angle, size, and the like.
  • the inductive switch 220 includes a first portion that is disposed on the robot body 1 and a second portion that is disposed on the housing 210, the second portion being relative to the first portion mobile.
  • the inductive switch 220 can be a capacitive inductive switch, the first portion is a first plate of the capacitive inductive switch, and the second portion is a second plate of the capacitive inductive switch, when the touch sensing When the device 200 is impacted, a relative movement occurs between the first plate and the second plate, causing a change in capacitance to give a signal, and the control system operates the robot in accordance with the signal.
  • the inductive switch 220 may be a Hall inductive switch. The coil of the Hall inductive switch is disposed on the robot body 1. The magnetic core is disposed on the outer casing 210. When the touch sensing device 200 is impacted, the magnetic A relative motion occurs between the core and the coil to give a signal.
  • the inductive switch 220 can be a microswitch, a membrane switch, or a contact switch.
  • the inductive switch 220 includes a first electrode and a second electrode, wherein the first electrode and One of the second electrodes is disposed on or in contact with the elastic member such that at least the one is movable and resettable.
  • an insulating layer may be disposed between the first electrode and the second electrode, and the insulating layer has a notch or a through hole, and the first electrode and the second electrode are in the outer casing.
  • the pressing of 210 can be made by a gap in the insulating layer to conduct the first electrode and the second electrode, giving a signal, and the control system operates the robot in accordance with the signal.
  • FIG. 8 is a schematic exploded view of the structure of the robot in the embodiment of the present invention
  • FIG. 9 is a schematic exploded view of the structure of the inductive switch mounting member and the inductive switch of the robot according to an embodiment of the present invention.
  • the inductive switch 220 is disposed on the inductive switch mount 240
  • the inductive switch mount 240 includes a first mount 226 and a second mount 227 that are disposed opposite each other.
  • the inductive switch mount 240 can be mounted to the robot body 1.
  • the inductive switch mounting member 240 may extend corresponding to an extended trajectory of the outer casing 210, that is, the inductive switch mounting member 240 spirals at least a position close to a peripheral edge of the robot main body 1; it is understood that the The inductive switch mount 240 may also be disposed corresponding to a portion of the extended trajectory of the outer casing 210, for example, the inductive switch mount 240 is disposed at an outer periphery of the front half of the robot body 1.
  • One or more inductive switches 220 are distributed over the inductive switch mount 240.
  • the inductive switch mount 240 is integral with the robot body 1, and preferably, the plurality of inductive switches 220 are evenly distributed over the inductive switch mount 240.
  • the inductive switch 220 includes a touch rod 221 , a rotating shaft 224 , an elastic member 228 , a sensing member 222 , and a shielding portion 223 .
  • the sensing member 222 and the rotating shaft 224 are fixed in the recess of the second mounting bracket 227, and the structure of the recess is combined with the contact rod 221, the rotating shaft 224, the elastic member 228, the sensing member 222 and the shielding portion 223. Adapted.
  • a sleeve 225 is disposed at a position in the middle or near the middle of the contact rod 221, and the sleeve 225 is sleeved on the rotating shaft 224 to enable the lever 221 to rotate with the rotating shaft 224 as a rotating shaft.
  • the shielding portion 223 is disposed at one end of the contact bar 221, and the other end of the contact bar 221 is a free end that protrudes to the outside of the robot body 1. When the outer casing 210 is collided, the free end is pressed by the outer casing 210.
  • the sensing member 222 can have a transmitter and a receiver, such as an optical transmitter and receiver, an acoustic transmitter and a receiver.
  • the shielding portion 223 moves to the sensing member 222, the shielding portion 223 blocks the hair. Between the transmitter and the receiver, the signal transmission between the transmitter and the receiver is blocked, so that the signal receiver outputs a signal different from the signal at the time of collision to the control system.
  • the sensing component 222 can also be a micro switch.
  • the elastic member 228 is used to elastically reset the contact bar 221 and can play a certain buffering role during the collision.
  • the touch sensing device 200 further includes one or more elastic mechanisms for causing the touch sensing device 200 to have a buffering effect when being collided and a resetting action after being impacted.
  • the elastic mechanism may be a cushioning layer that conforms to the shape of the outer casing 210, such as elastic rubber, elastic foam, sponge, foam.
  • the elastic mechanism may also be a plurality of elastic pieces evenly distributed and adapted to the shape of the outer casing 210.
  • FIG. 7d is a schematic structural view of the robot after removing the cover from the embodiment of the present invention.
  • the touch sensing device 200 further includes one or more elastic pieces 230.
  • the plurality of elastic pieces are disposed around the robot main body 1.
  • one elastic piece may be disposed in front, rear, left, and right.
  • the touch sensing device 200 includes an elastic piece as an example.
  • the middle portion of the elastic piece 230 is fixed on the robot main body 1. Both ends of the elastic piece 230 extend to the outside of the robot main body 1 and The inner side of the outer casing 210 is in contact.
  • the outer casing 210 presses the two ends of the elastic piece 230. Under the elastic force of the elastic piece 230, the collision is buffered.
  • the outer casing 210 returns to the original position under the action of the elastic force.
  • FIG. 7a is a schematic top view of the robot in the embodiment of the present invention
  • FIG. 7b is a schematic cross-sectional view of the robot in FIG. 7a along the line AA
  • FIG. 7c is a part of the portion I of FIG.
  • FIG. 7d is a schematic structural view of the robot after the face cover is removed in the embodiment of the present invention.
  • a scroll member 300 is disposed between the robot body 1 and the outer casing 210.
  • the rolling member 300 can be rolled in an original position in an arbitrary direction, and the rolling member 300 is used to reduce the movement of the outer casing 210 when it is moved by collision.
  • a bracket 31 may be disposed under the rolling member 300 for supporting the rolling member 300 so that the rolling member 300 can be fixed to be rolled in place.
  • the rolling members 300 are round balls that can roll in all directions in situ.
  • the rolling part 300 can be set It is disposed in plurality and evenly distributed between the robot body 1 and the outer casing 210.
  • the bracket 31 may be provided with a small ball group that assists the rolling member 30, and the small ball group is arranged on the inner wall of the bracket 31 to make the rolling member 30 roll more smoothly.
  • the bracket 31 accommodates more than half of the volume of the rolling member 30, and at least one small protrusion is provided at the edge of the opening of the bracket 31, the small protrusion for limiting the rolling member 30, The rolling member 30 is prevented from falling out of the accommodating cavity of the bracket 31, and the small ball group for assisting rolling may not be provided in the bracket 31.
  • the outer casing 210 has an extending portion 211 that at least partially overlaps a surface of the robot body 1 away from the running surface of the robot, and the rolling member 300 is disposed at the extending portion. 211 is between the robot body 1.
  • the robot body 1 may include an oppositely disposed chassis 110 and a face cover 120 between the extension portion 211 and the face cover 120.
  • the robot body 1 may further include a middle cover 130 located below the face cover 120, and the face cover 120 serves as an upper outer surface protective layer and an appearance layer of the robot.
  • the edge of the middle cover 130 is exposed outside the edge of the cover 120, and the extension 211 overlaps the exposed portion of the middle cover 130 with a gap therebetween, and the rolling member 300 is located between the extension 211 and the middle cover 130.
  • the face cover 120 and the middle cover 130 may be designed to be integrally formed, ie, non-detachable.
  • the cover 120 is coupled to the touch sensing device 200 such that the cover 120 and the touch sensing device 200 can be integrally formed, reducing the number of moldings and simplifying the molding process. And it can make the user's visual overall sense of the robot stronger.
  • the extending portion 211 of the outer casing 210 is integrally formed with the cover 120, and the middle cover 130 is disposed under the cover 120.
  • the rolling cover 300 is disposed between the middle cover 130 and the cover 120 when the touch sensing device 200 is touched. When moved by the collision, the face cover 120 moves together with the outer casing 210 of the touch sensing device 200.
  • sensors such as an infrared sensor, a laser range sensor and other ranging sensors, a camera, an optical flow sensor, an acoustic sensor, and an ultrasonic sensor, may also be disposed on the touch sensing device 200.

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Abstract

一种机器人的触碰传感装置，包括外壳（20）和内壳（40），所述外壳（20）至少在内壳（40）的侧面连续包围所述内壳（40），所述外壳（20）和内壳（40）之间设有弹性机构（60）和感应开关（80），所述弹性机构（60）用于保持外壳（20）和内壳（40）之间具有均匀的活动间隙，所述感应开关（80）用于感测外壳（20）与内壳（40）之间的相对位移。还提供一种安装触碰传感装置的机器人。由于外壳（20）包围内壳（40），机器人在行走过程中无论外壳（20）的哪一个部位与障碍物碰撞，都将会引起外壳（20）和内壳（40）之间发生相对位移。由于感应开关（80）可感测到外壳（20）与内壳（40）之间的相对位移，使得机器人可以感测到障碍物的碰撞。由此，外壳（20）能够在机器人周围360°范围提供缓冲作用并能感测触碰到的障碍物，弥补了现有技术的不足。

Description

一种触碰传感装置和机器人
本发明要求2016年9月13日向中国国家知识产权局递交的申请号为201621051503.2，发明名称为“一种机器人的触碰传感装置和机器人”的在先申请的优先权，上述在先申请的内容以引入的方式并入本文本中。
技术领域
本发明涉及自主移动的机器人，尤其涉及一种机器人的触碰传感装置和具有该触碰传感装置的机器人。
背景技术
移动机器人是一种能够在地面自主移动的设备，其包括各种传感器装置以便在工作环境中避开障碍。大多数移动机器人在机器的前部设有一感测碰撞的缓冲器，缓冲器与机器人主体之间有适当的活动空间，当该缓冲器与障碍物碰撞时，缓冲器能缓冲障碍物与机器人碰撞时对机器人主体产生的冲击，并能感测到机器人前方的障碍物与机器人的碰撞，使得机器人变换移动方向，避开障碍。但是目前大多数移动机器人的缓冲器只能覆盖到机器人前部区域，最多只能覆盖到180°，而不能覆盖到机器人后部的区域，使得机器人在后退时无法感测后部遇到的碰撞。且由于缓冲器只能覆盖机器人的边缘的一部分范围，导致缓冲器两侧后部与机器人主体存在断开的视觉效果，影响了外观的整体性。
发明内容
针对现有技术存在的问题，本发明的实施例提供一种能够在机器人周围360°范围提供缓冲作用并能感测触碰的触碰传感装置。本发明的实施例提供以下技术方案：
一方面，本发明的实施例提供一种机器人的触碰传感装置，该触碰传感装置包括外壳和内壳，所述外壳至少在所述内壳的侧面连续包围所述内壳，所述外壳和内壳之间设有弹性机构和感应开关，所述弹性机构用于保持所述外 壳和内壳之间具有均匀的活动间隙，所述感应开关用于感测所述外壳与内壳之间的相对位移。由于所述外壳包围所述内壳，机器人在行走过程中无论外壳的哪一个部位与障碍物碰撞都将会引起所述外壳和内壳之间发生相对位移。由于感应开关可感测到所述外壳与内壳之间的相对位移，使得机器人可以感测到障碍物的碰撞。机器人可改变运动方向以绕开碰撞到的障碍物。由此，所述外壳能够在机器人周围360°范围形成一体保护装置，提供缓冲功能并能感测触碰到的障碍物，弥补了现有技术的不足。
具体地，所述感应开关为微动开关、接近传感器、光电开关及薄膜开关的至少一种，也可以是其他能够起到相同作用的装置或器件。可根据工程设计所需要的灵敏度或市场成本或结构设计需要来选择适当的感应开关。
具体地，所述弹性机构为弹簧、弹片及弹性缓冲层的至少一种，也可以是其他能够起到相同作用的装置或器件。可根据工程设计所需要的灵敏度或市场成本或结构设计需要来选择适当的弹性机构。
在一个实施例种，所述弹性机构呈条状，包括套筒、压缩弹簧和滑杆，所述压缩弹簧置于所述套筒内，所述滑杆一端伸入所述套筒内与所述压缩弹簧连接，所述弹性机构两端分别与所述外壳和内壳枢接。
在一个实施例中，所述触碰传感装置包括一个或多个所述感应开关，所述多个所述感应开关对应于所述外壳而分布。
在一个实施例中，所述触碰传感装置包括一个或多个所述感应开关，所述多个所述感应开关两两对称设置。
在一个实施例中，所述触碰传感装置包括一个或多个所述弹性机构，所述多个所述弹性机构在所述机器人的纵轴线两侧对称设置。
在一种实施例中，所述弹性机构呈条状，包括套筒、压缩弹簧和滑杆，所述压缩弹簧置于所述套筒内，所述滑杆一端伸入所述套筒内与所述压缩弹簧连接，所述弹性机构两端分别与所述外壳和内壳枢接。所述弹性机构设置为多个，优选地，所述弹性机构有4个。所述弹性机构和/或感应开关在所述机器人的纵轴线两侧对称设置。
具体地，所述机器人的纵轴线两侧对应的弹性机构形成的角度为优角，并 且优角的朝向为机器人的前方，优选地，优角的朝向为机器人的正前方。
在一种实施例中，所述外壳呈一体成型的环形。
在一种实施例中，所述感应开关包括一摆杆和作用于所述摆杆的弹簧，所述摆杆至少部分轻贴于所述外壳或内壳，所述摆杆用于完成电子触发功能，所述弹簧用于帮助所述摆杆复位，所述弹性机构和感应开关在所述外壳和内壳之间均匀分布。
另一方面，本发明的实施例提供一种机器人，其中，所述机器人包括机器人主体、设置于所述机器人主体上的行走机构和触碰传感装置；其中，所述触碰传感装置包括外壳和内壳，所述外壳至少在所述内壳的侧面连续包围所述内壳，所述外壳和内壳之间设有弹性机构和感应开关，所述弹性机构用于保持所述外壳和内壳之间具有活动间隙，所述感应开关用于感测所述外壳与内壳之间的相对位移。
在其中一个实施例中，所述机器人主体包括相对设置的底盘和面盖，所述触碰传感装置的内壳设置于所述底盘或者与所述底盘一体成形。
在其中一个实施例中，所述机器人主体包括相对设置的底盘和面盖，所述面盖设置为：当所述碰撞传感器装置的外壳与障碍物碰撞时，所述面盖可与所述碰撞传感器装置的外壳一同移动。
在其中一个实施例中，所述机器人主体包括相对设置的底盘和面盖，所述面盖与所述碰撞传感器装置的外壳一体成型。
在其中一个实施例中，所述机器人主体与所述触碰传感装置的外壳之间设置有滚动部件，所述滚动部件减小所述外壳移动时与所述机器人主体之间的摩擦力。
在其中一个实施例中，所述滚动部件是可在原位置全方位滚动的圆滚珠。
在其中一个实施例中，所述机器人主体包括相对设置的底盘和面盖，所述触碰传感装置的内壳设置于所述底盘或者与所述底盘一体成形,所述触碰传感装置的外壳绕所述机器人主体的侧面至少一周，形成环状或者螺旋状。
在其中一个实施例中，所述触碰传感装置包括多个均匀地分布于所述外壳的靠近所述内壳的一侧的所述弹性机构和/或多个所述感应开关，所述多个所 述感应开关至少分布于所述机器人的前部。
在其中一个实施例中，所述弹性机构呈条状，包括套筒、压缩弹簧和滑杆，所述压缩弹簧置于所述套筒内，所述滑杆一端伸入所述套筒内与所述压缩弹簧连接，所述弹性机构两端分别与所述外壳和内壳枢接。
在其中一个实施例中，所述机器人的纵轴线两侧对应的弹性机构形成的角度为优角，并且所述优角朝向所述机器人的前方。
在其中一个实施例中，所述感应开关包括一摆杆和作用于所述摆杆的弹簧，所述摆杆至少部分轻贴于所述外壳或内壳，所述摆杆用于完成电子触发功能，所述弹簧用于帮助所述摆杆复位，所述弹性机构和感应开关在所述外壳和内壳之间均匀分布。
本发明的实施例提供技术方案至少具有以下有益效果：
本发明的实施例中触碰传感装置和机器人能够在机器人周围360°范围提供缓冲作用并能感测触碰到的障碍物，弥补了现有技术的不足，且便于一体成型，简化了工艺，改善了产品外观的完整性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的变形形式。
图1是本发明的实施例提供的清洁机器人的结构分解示意图；
图2是本发明实施例提供的清洁机器人的俯视平面示意图；
图3是本发明的实施例中弹性机构的结构分解示意图；
图4是本发明的实施例提供的清洁机器人的剖面结构示意图；
图5是图4的局部放大图；
图6是本发明的实施例中机器人的结构示意图；
图7a是本发明的实施例中机器人的俯视示意图；
图7b是图7a中机器人的沿剖切线A-A的截面示意图；
图7c是图7b中I部分的局部放大图；
图7d是本发明实施例中机器人去掉面盖后的结构示意图；
图8是本发明实施例中机器人的结构的爆炸示意图；及
图9是本发明的一个实施例中机器人的感应开关安装件及感应开关的结构爆炸示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行详细地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
下面本发明的一个实施例以清洁机器人为例，详细说明本发明的一个实施例提供的一种机器人的触碰传感装置，如图1所示为本实施例提供的一种清洁机器人100的结构分解图；图2所示为本实施例提供的清洁机器人的俯视平面示意图。该机器人100设有本发明的实施例所述的触碰传感装置。所述的触碰传感装置包括外壳20和内壳40，其中本实施例中，外壳20为侧面连续的圆环形，并形成了机器人100的侧面；内壳40与机器人100的底座30相互配合，形成机器人100的主体的一部分，在一个实施例中，内壳40与机器人100的底座30一体成型。机器人100还包括一面盖10。在别的实施例中，面盖10可以与外壳20一体成型，但在本实施例中，为了便于更换不同的面盖10，因而把面盖10和外壳20分别设计为独立的部件。外壳20至少在内壳40的侧面连续包围内壳40，外壳20和内壳40之间设有弹性机构60和感应开关80。所述外壳20和内壳40之间设有弹性机构60和感应开关80，包括但不限于以下情况：1)弹性机构60和感应开关80位于外壳20和内壳40之间；2)弹性机构60和/或感应开关80安装于内壳40上，但弹性机构60和/或感应开关80的一部位位于外壳20和内壳40之间；3)弹性机构60和/或感应开关80安装于外壳20上，但弹性机构60和/或感应开关80的一部位位于外壳20和内壳40之间；4)弹性机构60和/或感应开关80安装于外壳20和内壳40上。弹性机构60用于保持外壳20和内壳40之间具有均匀的活动间隙，感 应开关80用于感测外壳20与内壳40之间的相对位移。感应开关包括电子触发开关。感应开关80通常与机器人100上的某一处理器或控制系统(未图示)电气连接，以便于采集感应开关80的数据从而控制机器人100做出响应动作。机器人100的底座30上还设有驱动轮，以便于在地面上移动。由于外壳20包围内壳40，机器人100在行走过程中无论外壳20的哪个部位与障碍物碰撞都将会引起外壳20和内壳40之间发生相对位移。由于感应开关80可感测到外壳20与内壳40之间的相对位移，使得机器人100可以感测到障碍物的碰撞。机器人100可改变运动方向以绕开碰撞到的障碍物或采取其他应对措施。外壳20与内壳40之间的弹性机构可以缓冲机器人与障碍物碰撞时的冲击作用，由此，外壳20能够在机器人周围360°范围提供缓冲功能并能感测触碰到的障碍物，弥补了现有技术的不足。且外壳20由于在机器人100的周围提供全方位的保护，在机器人100周围形成连续的表面，使得机器人100的外观整体性更好。在制造时，由于外壳的侧面连续，没有断开，因此成型时不易变形。侧面连续的结构在一定程度上可防止来自侧面的灰尘、水花、碎屑等进入机器人主体中。
在一个实施例中，弹性机构60和/或感应开关80在所述机器人100的纵轴线L两侧对称设置。感应开关80可以是光电开关，各光电开关80包括一摆杆82。光电开关80通过螺钉安装在内壳40上，摆杆82朝向外壳20内表面延伸，轻贴在外壳20上(在别的实施例中光电开关也可以用螺丝安装在外壳上，并使摆杆轻贴于内壳上)。当外壳20受到碰撞时，若碰撞的冲击力足以使得外壳20和内壳40发生相互移动，则触动光电开关80的摆杆82，摆杆82完成电子触发功能，从而完成触碰传感功能。当机器人不再与障碍物触碰，摆杆82位移触发光电开关完成传感功能后可通过光电开关内的弹簧(未图示)使其复位，由于摆杆82是贴于外壳20的内表面，自身复位的同时也可起到将外壳20复位的功能。
在别的实施例中，感应开关80也可以为微动开关或接近传感器，也可以是其他能够起到相同作用的装置或器件。可根据工程设计所需要的灵敏度或市场成本或结构设计需要来选择适当的感应开关。
在别的实施例中，弹性机构60可以为弹簧或弹片或弹性缓冲层，也可以 是其他能够起到相同作用的装置或器件。可根据工程设计所需要的灵敏度或市场成本或结构设计需要来选择适当的弹性机构。
在本实施例中，如图1至图3所示，弹性机构60有4个。弹性机构60呈条状，包括套筒62、压缩弹簧64和滑杆66，压缩弹簧64置于套筒62内，滑杆66一端伸入套筒62内与压缩弹簧64连接，弹性机构60两端分别与外壳20和内壳40枢接。滑杆66受到适当的外力时可克服压缩弹簧64的弹力在套筒62内滑动；压缩弹簧64的弹力可作用于套筒62和滑杆66，以保持外壳20与内壳40之间有均匀的活动间隙。滑杆62和套筒66的外端设有通孔。本实施例中，如图4和图5所示，套筒62通过螺钉61枢接在外壳20上；滑杆66通过螺钉63枢接在内壳40上。套筒62可以以螺钉61为转轴旋转；滑杆66可以以螺钉63为转轴旋转。
具体地，如图2所示，机器人100的纵轴线L两侧对应的弹性机构形成的角度为优角a(大于180°小于360°的角是优角)，并且优角a的朝向为机器人的正前方(图2中，空心箭头的指示方向为机器人的正前方，也即机器人的向前移动方向)。由于机器人100的主要动作是前进，这样的角度放置可以尽可能的在机器人前行方向受力时减少滑杆66在套筒62的滑动，尽可能多使弹性机构60在与外壳20和内壳40的枢接处转动，以降低触发力度的要求，提高灵敏度。在别的实施例中，也可以将弹性机构以机器人的中心(例如，圆形的机器人的中心则为圆心)为参考点，径向设置，使弹性机构在长度方向上的延伸线经过机器人的中心，但触发力度相对要大些，即需要相对更大的撞击力度才可以使得外壳20和内壳40发生相对位移，而本实施例中，相对较小的碰撞就可以使外壳20和内壳40发生相对位移，使得机器人更加容易感测到在移动中与障碍物的碰撞。
本发明的实施例提供的机器人的触碰传感装置和机器人能够在机器人周围360°范围形成一体保护装置，提供缓冲作用并能感测触碰到的障碍物，弥补了现有技术的不足。且便于一体成型，既简化了工艺又改善了产品外观的完整性。
除本发明的实施例公开的清洁机器人外，本发明的实施例公开的技术方案还适用于各种在自主移动的机器人。
下面将提供另外的实施例来对本发明进行示例性地解说。除非有特别说明，否则以下的方位用语“前”、“后”、“左”、“右”均是相对于机器人正常工作时的前进方向而言，前方是指清洁设备前进的方向。用语“上”“下”“底”或“顶”均以所述机器人正常工作时的放置状态为参考。
请参阅图6和图8，图6是本发明实施例中机器人的结构示意图，图8是本发明实施例中机器人的结构的爆炸示意图。本发明的实施例提供一种机器人，所述机器人包括机器人主体1及触碰传感装置200。其中，机器人主体1设置有控制系统，用于控制触碰传感装置200及其他部件。所述机器人还包括设置于机器人主体1的移动组件50，所述移动组件用于使所述机器人移动，例如，所述移动组件可以是轮子组件、履带或机械腿等。可以理解的是，所述机器人还可以包括传感器系统，例如红外传感器、激光量程传感器及其他测距传感器、摄像头、光流传感器、声学传感器、超声波传感器。所述机器人还可以包括其他功能部件，例如清洁组件、切割组件，不在此进一步详细叙述。
所述触碰传感装置200包括外壳210和感应开关220，所述外壳210至少围绕所述机器人主体1一周(即一圈)，或者说，所述外壳210围绕所述机器人主体1至少一周(即一圈)，即外壳210至少绕机器人主体1围360°。可以理解地，所述外壳210可以设计为围绕机器人主体1两圈、三圈或更多圈，除了在机器人作为清洁机器人的实施例可以如此设置外，在其他实施例亦可以如此设计，例如，在机器人是人形机器人的实施例中，触碰传感装置200的外壳210从下至上或从上至下绕机器人主体多圈，例如，触碰传感装置200可以以螺旋形设置于机器人主体1。在一个实施例中，多个感应开关均匀地且与所述外壳210的形状相对应的分布于所述机器人主体1和/或外壳210上，即多个感应开关可以绕机器人主体1一圈或多圈均匀地分布。可以理解的是，多个感应开关还可以只设置于机器人的前部或者后部。如此，由于所述外壳210至少围绕所述机器人主体1一周(即一圈)，因此，无论所述机器人在哪个方 位上受碰撞，都可以触发感应开关，使所述机器人作出相应的操作，例如后退，转向，使所述机器人更智能，可对碰撞方位进行判断，极大程度上减少了所述机器人受碰撞时的感测盲区，使所述机器人对障碍物的感应更准确和灵敏。
所述感应开关是光感应开关、微动开关、薄膜开关及电容器中的至少一种。
当所述外壳210受碰撞时，至少一个所述感应开关220被触发而给出信号，所述控制系统根据所述信号操纵所述机器人。所述感应开关220可以设置为一个或多个，当设置多个所述感应开关220时，多个所述感应开关220沿着所述外壳210均匀地分布。当然，也可以根据设计的需要而将多个所述感应开关220设置于外壳210的不同部位。可以理解的是，感应开关220也可以至少设置于所述机器人的前半部分或者后半部分或者机器人的任意部位。在一个实施例中，所述外壳210可以被设计为当所述外壳210受碰撞时，至少所述受碰撞的部分可相对于所述机器人主体1移动。
所述感应开关220设置于所述机器人主体1和/或所述外壳210上，以感测触碰传感装置200的受碰撞情况。
在一个实施例中，所述外壳210是一个连续的整体；在另一个实施例中，所述外壳210包括若干段，段与段之间以弹性部件连接，使得每段可单独移动，以便判断所述外壳210的对应部位的受力属性，例如受力方位、角度、大小等。
在一个实施例中，感应开关220包括第一部分和第二部分，所述第一部分设置于机器人主体1，所述第二部分设置于外壳210上，所述第二部分可以相对于所述第一部分移动。例如，感应开关220可以是电容式感应开关，所述第一部分是电容式感应开关的第一极板，所述第二部分是电容式感应开关的第二极板，当所述触碰传感装置200受碰撞时，所述第一极板和所述第二极板之间发生相对运动，引起电容变化，从而给出信号，所述控制系统根据所述信号操作所述机器人。又例如，感应开关220可以是霍尔感应开关，霍尔感应开关的线圈设置于机器人主体1上，磁芯设置于外壳210上，当所述触碰传感装置200受碰撞时，所述磁芯与所述线圈之间发生相对运动，从而给出信号。
在一个实施例中，所述感应开关220可以是微动开关、薄膜开关或触点开关。所述感应开关220包括具有第一电极和第二电极，其中，所述第一电极和 所述第二电极中的一者是设置于弹性材料上或与弹性件接触的，从而使至少该一者可动和可复位。在该实施例中，所述第一电极和所述第二电极之间还可以设置有绝缘层，所述绝缘层上有缺口或通孔，所述第一电极及所述第二电极在外壳210的挤压下可通过绝缘层上的缺口进行接触，从而导通所述第一电极和所述第二电极，给出一信号，所述控制系统根据所述信号操作所述机器人。
请参阅图8和图9，图8是本发明实施例中机器人的结构的爆炸示意图，图9是本发明的一个实施例中机器人的感应开关安装件及感应开关的结构爆炸示意图。在一个实施例中，所述感应开关220设置于感应开关安装件240上，所述感应开关安装件240包括相对设置的第一安装架226和第二安装架227。感应开关安装件240可以安装于机器人主体1上。所述感应开关安装件240可以对应于外壳210的延伸轨迹而进行延伸，即所述感应开关安装件240至少在靠近机器人主体1周界边缘的位置盘旋延伸一圈；可以理解地是，所述感应开关安装件240也可以对应于外壳210的延伸轨迹的一部分设置，例如，所述感应开关安装件240设置于机器人主体1的前半部分的外周缘。一个或多个感应开关220分布于感应开关安装件240。感应开关安装件240与机器人主体1一体，优选地，多个感应开关220均匀地分布于感应开关安装件240上。
下面以所述感应开关安装件240设置于机器人主体1的前半部分的外周缘为例对本实施例进行说明。所述感应开关220包括触杆221、转轴224、弹性件228、感应件222及遮挡部223。感应件222及转轴224固定于第二安装架227的凹槽内，所述凹槽的结构与所述触杆221、转轴224、弹性件228、感应件222及遮挡部223组合安装后的形状相适应。触杆221的中部或靠近中部的位置设置有轴套225，轴套225套于转轴224，以使触杆221能以转轴224为旋转轴转动。遮挡部223设置于触杆221的一端，触杆221的另一端是自由端，该自由端伸出至机器人主体1的外侧，当外壳210受碰撞时，该自由端受外壳210触碰挤压，从而使触杆221以转轴224为旋转轴转动，带动遮挡部223移动，从而使遮挡部223移动至感应件222，从而触发感应件222，从而输出一信号。该感应件222可以具有发射器和接收器，例如光学发射器和接收器，声学发射器和接收器，当遮挡部223移动至感应件222时，遮挡部223遮挡于发 射器和接收器之间，阻断发射器和接收器之间的信号传输，从而使信号接收器输出一不同于不受碰撞时的信号的信号至控制系统。在一个实施例中，感应件222还可以是微动开关，当遮挡部223移动至感应件222时，微动开关的电子接点导通，从而输出一不同于正常状态下(即不受碰撞时)的信号。弹性件228用于使触杆221可以弹性复位，并可以在受碰撞过程中起到一定的缓冲作用。
进一步地，所述触碰传感装置200还包括一个或多个弹性机构，所述弹性机构用于使所述触碰传感装置200在被碰撞时具有缓冲作用及被碰撞后具有复位作用。在一个实施例中，所述弹性机构可以是与所述外壳210的形状相适应的缓冲层，例如弹性橡胶、弹性泡棉、海绵、泡沫。在一个实施例中，所述弹性机构还可以是均匀分布的且与所述外壳210的形状相适应的多个弹片。
请参阅图7d，图7d是本发明实施例中机器人去掉面盖后的结构示意图。在该实施例中，所述触碰传感装置200还包括一个或多个弹片230，多个弹片绕着机器人主体1设置，例如，可以是前、后、左、右各设置一个弹片。以所述触碰传感装置200包括一个弹片为例进行说明，如图7d中所示，弹片230的中间部位固定于机器人主体1上，弹片230的两端向机器人主体1的外侧延伸并与外壳210的内侧接触。当外壳210受碰撞时，外壳210挤压弹片230的两端，在弹片230的弹力作用下，碰撞得到缓冲，当碰撞撤销后，在弹力的作用下，外壳210回复至原位。
请参阅图7a至7d及图8，图7a是本发明的实施例中机器人的俯视示意图,图7b是图7a中机器人的沿剖切线A-A的截面示意图,图7c是图7b中I部分的局部放大图，图7d是本发明实施例中机器人去掉面盖后的结构示意图。本发明的一个实施例中，机器人主体1与外壳210之间设置有滚动部件300，滚动部件300可以在任意方向上在原位置滚动，滚动部件300用于减小外壳210受碰撞而移动时与所述机器人主体1之间的摩擦力，使外壳210更顺畅地移动，减少磨损。所述滚动部件300下方可以设置一托槽31，用于支撑滚动部件300，使滚动部件300可以固定于原位地滚动。在一个实施例中，所述滚动部件300是圆滚珠，所述圆滚珠可在原位全方位滚动。滚动部件300可以设 置为多个，均匀分布于机器人主体1和外壳210之间。
在一个实施例中，托槽31可以设置有辅助所述滚动部件30的小滚珠群，所述小滚珠群排列于托槽31内壁，使滚动部件30滚动得更顺畅。在另一个实施例中，托槽31收容滚动部件30的一半以上的体积，在托槽31的口的边缘处设置有至少一个小突起，所述小突起用于对滚动部件30进行限位，避免滚动部件30从托槽31的容纳腔内脱落，托槽31内可以不设置辅助滚动用的小滚珠群。
在一个具体实施方式中，所述外壳210具有延伸部211，所述延伸部211与所述机器人主体1的远离所述机器人的行驶面的表面至少部分重叠，滚动部件300设置于所述延伸部211与所述机器人主体1之间。具体地，机器人主体1可以包括相对设置的底盘110和面盖120，滚动部件300位于延伸部211与面盖120之间。在一个实施例中，机器人主体1还可以包括中盖130，中盖130位于面盖120下方，面盖120作为所述机器人的上侧外表面保护层及外观层。在一个实施例种，中盖130的边缘露出于面盖120的边缘之外，延伸部211与中盖130的该露出部分具有间隙地重叠，滚动部件300位于延伸部211与中盖130之间。在一个实施例中，面盖120和中盖130可以设计为一体成型，即为不可拆分的整体。
在一个实施例中，所述面盖120的至少一部分与所述触碰传感装置200相连，使面盖120与所述触碰传感装置200可以一体成型，减少成型次数，简化成型工艺，并且可以使用户对机器人在视觉上的整体感更强。具体地，外壳210的延伸部211与面盖120一体成型，面盖120下方设置有中壳130，所述中壳130和面盖120之间设置有滚动部件300，当触碰传感装置200受碰撞而移动时，面盖120随触碰传感装置200的外壳210一同移动。
所述触碰传感装置200上还可以设置各种其他感应器，例如红外传感器、激光量程传感器及其他测距传感器、摄像头、光流传感器、声学传感器、超声波传感器。
在本说明书的描述中，参考术语“第一个实施例”、“第二个实施例”、“本 发明的实施例”、“一个实施方式”、“一种实施方式”、“一个实施例”、“示例”、“具体示例”或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述的实施方式，并不构成对该技术方案保护范围的限定。任何在上述实施方式的精神和原则之内所作的修改、等同替换和改进等，均应包含在该技术方案的保护范围之内。

Claims (20)

  1. 一种机器人的触碰传感装置，其中，包括外壳和内壳，所述外壳至少在所述内壳的侧面连续包围所述内壳，所述外壳和内壳之间设有弹性机构和感应开关，所述弹性机构用于保持所述外壳和内壳之间具有活动间隙，所述感应开关用于感测所述外壳与内壳之间的相对位移。
  2. 根据权利要求1所述的触碰传感装置，其中，所述感应开关为微动开关、接近传感器、光电开关及薄膜开关的至少一种。
  3. 根据权利要求1所述的触碰传感装置，其中，所述弹性机构为弹簧、弹片及弹性缓冲层的至少一种。
  4. 根据权利要求1所述的触碰传感装置，其中，所述弹性机构呈条状，包括套筒、压缩弹簧和滑杆，所述压缩弹簧置于所述套筒内，所述滑杆一端伸入所述套筒内与所述压缩弹簧连接，所述弹性机构两端分别与所述外壳和内壳枢接。
  5. 根据权利要求4所述的触碰传感装置，其中，所述触碰传感装置包括一个或多个所述感应开关，所述多个所述感应开关对应于所述外壳而分布或者两两对称设置。
  6. 根据权利要求1所述的触碰传感装置，其中，所述触碰传感装置包括一个或多个所述弹性机构，所述多个所述弹性机构在所述机器人的纵轴线两侧对称设置。
  7. 根据权利要求6所述的触碰传感装置，其中，所述机器人的纵轴线两侧对应的弹性机构形成的角度为优角，并且所述优角的朝向为机器人的前方。
  8. 根据权利要求1所述的触碰传感装置，其中，所述外壳绕所述内壳至少一周，且所述外壳呈一体成型的环状。
  9. 根据权利要求1所述的触碰传感装置，其中，所述感应开关包括一摆杆和作用于所述摆杆的弹簧，所述摆杆至少部分轻贴于所述外壳或内壳，所述摆杆用于完成电子触发功能，所述弹簧用于帮助所述摆杆复位，所述弹性机构和感应开关在所述外壳和内壳之间均匀分布。
  10. 一种机器人，其中，所述机器人包括机器人主体、设置于所述机器人主体 上的行走机构以及触碰传感装置；其中，所述触碰传感装置包括外壳和内壳，所述外壳至少在所述内壳的侧面连续包围所述内壳，所述外壳和内壳之间设有弹性机构和感应开关，所述弹性机构用于保持所述外壳和内壳之间具有活动间隙，所述感应开关用于感测所述外壳与内壳之间的相对位移。
  11. 根据权利要求10所述的机器人，其中，所述机器人主体包括相对设置的底盘和面盖，所述触碰传感装置的内壳设置于所述底盘或者与所述底盘一体成型。
  12. 根据权利要求10所述的机器人，其中，所述机器人主体包括相对设置的底盘和面盖，所述面盖设置为：当所述碰撞传感器装置的外壳与障碍物碰撞时，所述面盖可与所述碰撞传感器装置的外壳一同移动。
  13. 根据权利要求10所述的机器人，其中，所述机器人主体包括相对设置的底盘和面盖，所述面盖与所述碰撞传感器装置的外壳一体成型。
  14. 根据权利要求10所述的机器人，其中，所述机器人主体与所述触碰传感装置的外壳之间设置有滚动部件，所述滚动部件减小所述外壳移动时与所述机器人主体之间的摩擦力。
  15. 权利要求14所述的机器人，其中，所述滚动部件是可在原位置全方位滚动的圆滚珠。
  16. 根据权利要求10所述的机器人，其中，所述机器人主体包括相对设置的底盘和面盖，所述触碰传感装置的内壳设置于所述底盘或者与所述底盘一体成形,所述触碰传感装置的外壳绕所述机器人主体至少一圈，形成环状或者螺旋状。
  17. 根据权利要求16所述的机器人，其中，所述触碰传感装置包括多个均匀地分布于所述外壳的靠近所述内壳的一侧的至少一个所述弹性机构和/或多个所述感应开关，所述多个所述感应开关至少分布于所述机器人的前部，所述弹性机构至少分布于所述机器人的前部。
  18. 根据权利要求10所述的机器人，其中，所述弹性机构呈条状，包括套筒、压缩弹簧和滑杆，所述压缩弹簧置于所述套筒内，所述滑杆一端伸入所述套筒内与所述压缩弹簧连接，所述弹性机构两端分别与所述外壳和内壳枢 接。
  19. 根据权利要求10所述的机器人，其中，所述机器人的纵轴线两侧对应的弹性机构形成的角度为优角，并且所述优角朝向所述机器人的前方。
  20. 根据权利要求10所述的机器人，其中，所述感应开关包括一摆杆和作用于所述摆杆的弹簧，所述摆杆至少部分轻贴于所述外壳或内壳，所述摆杆用于完成电子触发功能，所述弹簧用于帮助所述摆杆复位，所述弹性机构和感应开关在所述外壳和内壳之间均匀分布。
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