WO2020253589A1 - 自移动设备 - Google Patents

自移动设备 Download PDF

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Publication number
WO2020253589A1
WO2020253589A1 PCT/CN2020/095366 CN2020095366W WO2020253589A1 WO 2020253589 A1 WO2020253589 A1 WO 2020253589A1 CN 2020095366 W CN2020095366 W CN 2020095366W WO 2020253589 A1 WO2020253589 A1 WO 2020253589A1
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WO
WIPO (PCT)
Prior art keywords
buffer
self
moving device
groove
bracket
Prior art date
Application number
PCT/CN2020/095366
Other languages
English (en)
French (fr)
Inventor
向强辉
Original Assignee
深圳瑞科时尚电子有限公司
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 深圳瑞科时尚电子有限公司 filed Critical 深圳瑞科时尚电子有限公司
Publication of WO2020253589A1 publication Critical patent/WO2020253589A1/zh

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    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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

Definitions

  • This application relates to the field of robotics, and in particular to a self-moving device.
  • the existing intelligent cleaning equipment can measure parameters such as the distance and size of surrounding objects, so as to control the driving of the intelligent cleaning equipment according to the relevant parameters.
  • the objects that the existing smart cleaning equipment can measure are mostly limited to the horizontal direction of the smart cleaning device; for example, the smart cleaning device can measure the parameters of the object in the horizontal forward direction, or the horizontal forward and oblique downward direction.
  • the object parameters A detection blind zone will appear above the smart cleaning device. If there is an obstacle above the smart cleaning device, the device may jam or hit the obstacle due to the blind spot.
  • this application provides a self-moving device.
  • This application provides a self-moving device, including:
  • the distance measuring device is arranged on the top of the main body of the self-mobile device;
  • the cover is arranged on the outer circumference of the distance measuring device
  • the trigger mechanism is arranged between the cover and the main body of the self-moving device;
  • the trigger mechanism includes a buffer and a light touch switch; the first end of the buffer is linked with the cover through a buffer structure, and the second end of the buffer corresponds to the position of the light touch switch ;
  • the buffer structure converts the external force into a pressure of the buffer member toward the tact switch to trigger the tact switch, so that the self-moving device body is based on the Touch the signal generated by the switch to make the corresponding action.
  • the buffer structure includes a buffer groove and a buffer end adapted to the buffer groove;
  • the buffer end is arranged in the buffer groove
  • the buffer groove is provided on the cover body, and the buffer end is provided on the first end of the buffer member.
  • the buffer end is a tapered end
  • the buffer groove is a tapered groove adapted to the tapered end
  • the external force is decomposed by the tapered groove and the inclined surface of the tapered end into a second component force that is pressed against the buffer in a vertical direction;
  • the second component force causes the buffer member to move downward, pressing the light touch switch, thereby triggering the light touch switch action.
  • a bracket is provided on the bottom of the cover; a protrusion is provided on the bracket, and the protrusion is provided on a surface of the bracket facing the buffer;
  • the groove of the buffer end; the groove constitutes the buffer groove.
  • a buffer installation groove is provided on the body of the self-moving device; the buffer is placed in the buffer installation groove; the space area between the protrusion and the side wall of the buffer installation groove A second buffer space for the movement of the bracket is formed.
  • the bottom of the buffer groove is provided with a through hole penetrating the thickness direction of the bracket, the through hole is called a card and a hole;
  • the first end of the buffer member is a tapered end;
  • the size of the top of the shaped end is smaller than the aperture of the card and the hole; after assembly, the top of the tapered end is clamped into the card and the hole.
  • an opening for accommodating the bracket is provided on the top of the main body of the self-moving device; the bracket is embedded in the opening; and a third buffer space is provided between the bracket and the opening to accommodate the movement of the bracket.
  • the body of the self-moving device is provided with a buffer member installation groove; the bottom of the buffer member installation groove is provided with a locking hole; the other end of the buffer member is inserted into the locking hole and is connected to the The position of the light touch switch at the bottom of the card position hole corresponds.
  • the other end of the buffer is a trigger end; the trigger end abuts the light touch switch.
  • first buffer space between the bottom of the first end of the buffer member and the bottom of the buffer member installation groove for the buffer member to move up and down.
  • a guide portion is provided on a side surface of the first end of the buffer member opposite to the groove wall of the buffer member installation groove; the space area between the bottom of the guide portion and the bottom of the buffer member installation groove It constitutes a part of the first buffer space.
  • the guide portion is an annular peripheral wall surrounding the first end of the buffer member; or, the guide portion is a guide block, and correspondingly, the side wall of the buffer member installation groove is provided with the guide block Matching guide groove.
  • an elastic component is provided in the tact switch; when the tact switch is in a triggered state after being triggered, the elastic component is compressed; when the tact switch is in a non-triggered state, the elastic component Restore, so that the touch switch is restored to the initial position.
  • the self-moving device further includes a connecting mechanism;
  • the connecting mechanism includes a connecting hole, a mounting post, and a connecting piece;
  • the connecting hole is provided on a bracket at the bottom of the cover;
  • the mounting post is provided On the main body of the self-moving device;
  • the mounting post is sleeved in the connection hole, and the bracket is connected to the main body of the self-moving device through the connecting piece;
  • the hole diameter of the connection hole is larger than the installation
  • the diameter of the column is such that the connecting hole has a fourth buffer space for the movement of the bracket.
  • the connecting mechanism and the triggering mechanism are distributed at intervals along the circumferential direction of the bracket, and are respectively provided in multiple.
  • the technical solution provided by the embodiments of the present application is to provide a trigger mechanism between the cover and the main body of the self-moving device, wherein the trigger mechanism includes a buffer and a touch switch; the first end of the buffer is connected to the cover through a buffer structure To achieve linkage, the second end of the buffer member corresponds to the position of the light touch switch; when the cover receives an external force, the buffer structure can convert the external force into the pressure of the buffer member toward the light touch switch to trigger the light touch switch, so that
  • the main body of the self-mobile device makes corresponding actions, such as changing the current direction of movement, to improve the jamming or collision problem caused by detection blind spots or measurement errors in the prior art, and to ensure the normal operation of the self-mobile device.
  • FIG. 1 is a schematic structural diagram of a self-mobile device provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a cover of a self-moving device provided by an embodiment of the present application
  • FIG. 3 is a partial schematic diagram of a trigger mechanism and a connection mechanism of a self-moving device provided by an embodiment of the present application;
  • FIG. 4 is an exploded view of the structure of the trigger mechanism and the connection mechanism of the self-moving device provided by the embodiment of the present application;
  • Figure 5 is a partial schematic diagram of a self-moving device provided by an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of a buffer of a self-moving device provided by an embodiment of the present application.
  • Figure 7 is a partial schematic diagram of a self-moving device provided by an embodiment of the present application.
  • Figure 8 is a partial schematic diagram of the self-moving device of Figure 7 after being stressed
  • Fig. 9 is a partial schematic diagram of a self-moving device provided by an embodiment of the present application.
  • the self-moving device 100 the self-moving device body 1, the locking hole 11, the distance measuring device 2, the cover 3, the bracket 31, the groove 311, the opening 32, the chamfering structure 33, the buffer member installation groove 34, the trigger Mechanism 4, buffer groove 41, card and hole 411, buffer member 42, buffer end 421, trigger end 422, guide portion 423, tact switch 43, connection mechanism 5, connection hole 51, mounting post 52, first buffer space 6.
  • the existing intelligent cleaning equipment can only measure the parameters of the objects in the horizontal front and upward direction, or the parameters of the objects in the horizontal front and obliquely downward direction. If there is an obstacle above the smart cleaning device, and the height of the gap between the bottom of the obstacle and the ground is very close to the height of the smart cleaning device. Because the distance measuring device cannot detect the obstacle, the smart cleaning device will continue to move toward the gap under the obstacle. After moving to the gap, it is easy to become stuck and cannot move anymore. In addition, smart cleaning equipment also has measurement errors and other reasons. Such obstacles cannot be accurately measured, and collisions may occur, which can easily damage the equipment.
  • FIG. 1 is a schematic structural diagram of the self-mobile device 100 provided by an embodiment of the present application.
  • the self-mobile device 100 includes: a self-mobile device main body 1 and a distance measuring device 2 provided on the top of the self-mobile device main body 1.
  • the self-mobile device main body 1 can be arranged in a flat cylindrical shape, and the self-mobile device main body 1 of this shape can move in a more complicated environment and is not easy to be stuck.
  • the self-moving device main body 1 can also be configured as a cube, an elliptical cylinder, and a structure with a triangular cross section or other shapes.
  • an obstacle sensor system (not shown), a control system (not shown), a driving component (not shown), a cleaning system (not shown), and an energy system (not shown) are also provided. Out) and a human-computer interaction system (not shown).
  • the obstacle sensor system is used to detect obstacles.
  • the control system is used to control related operations of the mobile device 100, such as controlling the movement of the driving component according to the obstacle information detected by the obstacle sensor system.
  • the driving assembly is used to drive the main body 1 of the mobile device to move.
  • the cleaning system is used to clean the related cleaning surface during the driving process of the main body 1 of the mobile device; the cleaning system may include a water supply device, a rolling brush, a side brush, etc.
  • the human-computer interaction system is used to realize the interaction between humans and the self-mobile device 100. For example, if a user sends a request to the self-mobile device 100 to direct to a target location, the request is processed by the human-computer interaction system, and the self-mobile device 100 can Lead the user to reach the target location.
  • the distance measuring device 2 is used to detect the surrounding environment of the self-mobile device 100 to obtain relevant distance information, such as distance information from an obstacle to the self-mobile device, so as to ensure that the self-mobile device 100 can work normally.
  • the sensing unit of the distance measuring device 2 includes a light emitting device (not shown) and a light receiving device (not shown).
  • the light-emitting device includes a light-emitting element capable of providing a light-emitting source, such as infrared light emitting, infrared light emitting visible light, and visible light emitting diode.
  • the emitting light source can be a light emitting element emitting a laser beam, such as a laser diode as the emitting light source; specifically, due to the monochromatic, directional and collimated characteristics of the laser beam, the use of the emitting light source of the laser beam can make the measurement compared to other Light is more accurate.
  • the emitting source of the laser beam can be a spot laser, which can detect the two-dimensional position information of an obstacle; it can also be a line laser to detect the three-dimensional position information of an obstacle.
  • the light receiving device includes an image sensor, and a light spot reflected or scattered by an obstacle is formed on the image sensor.
  • the light receiving device converts the light signal into an electrical signal.
  • the image sensor can be a complementary metal oxide semiconductor sensor or a charge-coupled element sensor; the light receiving device also includes a light receiving lens assembly, and the light reflected or scattered by obstacles travels through the light receiving lens assembly.
  • An image is formed on the image sensor; the light-receiving lens assembly may include a single or multiple lenses.
  • the distance measuring device 2 is set on the top of the mobile device main body 1.
  • the distance measuring device 2 may interact with some objects. (Compared to the self-mobile device 100, these objects can be defined as obstacles) collision contact; it may also be that the light-emitting device or light-receiving device of the distance measuring device 2 works abnormally, causing the self-mobile device body 1 to identify the obstacle incorrectly.
  • the self-moving device 100 of this embodiment further includes a cover 3 provided on the outer periphery of the distance measuring device 2, a connection mechanism 5 connecting the cover 3 and the self-moving device main body 1, and a cover 3
  • the trigger mechanism 4, the trigger mechanism 4 and the connecting mechanism 5 are spaced apart from the main body 1 of the mobile device, and are provided in multiples respectively.
  • the cover 3 can prevent the distance measuring device 2 from directly contacting the obstacle to play a protective role;
  • the connection mechanism 5 can realize the connection between the cover 3 and the self-moving device main body 1;
  • the trigger mechanism 4 is to trigger the self-moving device
  • the control mechanism of the main body 1 controls the self-moving device to change or maintain the movement direction. For example, there is an obstacle in the environment where the self-mobile device 100 is located, and the height of the gap between the bottom of the obstacle and the ground is very close to the height of the self-mobile device 100.
  • the trigger mechanism 4 can send a trigger signal to the control mechanism, and the control mechanism (not shown) causes the self-mobile device main body 1 to change the direction of movement to avoid jamming.
  • the cover 3 on the outer periphery of the distance measuring device 2 is arranged in a cylindrical shape to correspond to the structural shape of the self-mobile device main body 1 and increase the aesthetics of the self-mobile device 100.
  • the cover 3 can also have other shapes and structures, and as long as it can cover the distance measuring device 2, it is within the scope of this embodiment to be protected.
  • the distance measuring device 2 is mainly used for emitting laser beams.
  • a plurality of openings 32 along the circumferential direction are provided on the circumferential end surface of the cover 3, and the laser beams are emitted from the openings 32.
  • the edge of the top of the cover 3 is set as a chamfered structure 33.
  • 33 can be a circular arc chamfer or a 45° chamfer.
  • the chamfering structure 33 may only be provided on the top edge of the cover 3 in the forward direction.
  • the bottom of the cover 3 is also provided with a bracket 31.
  • the bracket 31 can be provided as an extended structure extending outward from the bottom of the cover 3; the extended structure can be ring-shaped, of course, it can also have other shapes.
  • an opening for accommodating the stand 31 is provided on the main body 1 of the self-moving device, and the stand 31 is embedded in the opening provided on the main body 1 of the self-moving device.
  • the edge of the bracket 31 can have a predetermined distance from the edge of the opening, and the gap area between the edge of the bracket 31 and the edge of the opening can be used as the third buffer space 8 for the movement of the bracket 31 (refer to FIG. 7).
  • the third buffer space 8 allows the cover 3 to have a movable redundant space when the bracket 31 moves in any direction on the horizontal plane due to force.
  • the bracket 31 can be integrally formed with the cover body 3, or can be connected to the cover body 3 as a whole, which is not limited in this application.
  • connection area between the bracket 31 and the self-moving device main body 1 can also be enlarged, so that the self-moving device main body 1 and the cover 3 are more stable.
  • the trigger mechanism 4 and the connection mechanism 5 can be evenly distributed along the circumferential direction of the bracket 31; for example, if the trigger mechanism 4 and the connection mechanism 5 are set to three, the trigger mechanism 4 can be 120 along the circumferential direction of the bracket 31.
  • the connecting mechanism 5 can also be distributed along the circumferential direction of the bracket 31 at an interval of 120°, and the adjacent trigger mechanism 4 and the connecting mechanism 5 are arranged at an angle of 60° along the circumferential direction of the bracket 31. Interval distribution, etc.
  • the trigger mechanism 4 may include: a buffer 42 and a touch switch 43.
  • the first end of the buffer member 42 is linked with the cover body 3 through a buffer structure, and the second end of the buffer member 42 corresponds to the position 43 of the light touch switch.
  • the second end of the buffer member 42 can also be referred to as a trigger end.
  • the trigger end can abut the light touch switch 43.
  • the buffer structure converts the external force into a pressure of the buffer member 42 toward the light touch switch 43 to trigger the light touch switch 43 so that the self-moving device
  • the main body makes corresponding actions based on the signal generated by the tact switch 43.
  • the buffer structure may include a buffer groove and a buffer end adapted to the buffer groove; the buffer end is arranged in the buffer groove.
  • the buffer groove is provided on the cover body, and the buffer end is provided on the first end of the buffer member.
  • the first end of the buffer member is referred to as the buffer end in this article.
  • the buffer end may be a tapered end; the buffer groove may be a tapered groove adapted to the tapered end.
  • the buffer groove is provided at the first end of the buffer member; the buffer end (such as the tapered end) is provided on the cover.
  • the trigger mechanism 4 includes: a buffer 42 and a touch switch 43.
  • the buffer groove 41 is provided on the bracket 31 at the bottom of the cover 3
  • the tact switch 43 is provided on the self-moving device main body 1, and is opposite to the buffer groove 41
  • the buffer member 42 is provided in the buffer groove 41 and Tap between switch 43.
  • the self-moving device main body 1 is provided with a buffer member installation groove 34
  • the buffer member installation groove 34 is provided with a locking hole 11 at the bottom
  • the light touch switch 43 is provided at the bottom of the locking hole 11, so that the cover 3 When receiving an external force, the external force received by the cover body 3 can be more effectively converted into the pressure of the buffer member 42 toward the light touch switch 43 to trigger the action of the light touch switch 43.
  • the buffer member 42 may be an umbrella-shaped structure, and its two opposite ends are a buffer end 421 and a trigger end 422, respectively; the buffer end 421 is tapered, specifically a conical shape , Call it the tapered end.
  • the buffer groove 41 is a concave tapered groove that matches with the buffer end 421, and the buffer groove 41 is sleeved on the buffer end 421.
  • the bottom edge of the tapered end of the buffer member 42 extends radially beyond the side surface of the trigger end 422.
  • the space area between the protruding part of the bottom edge of the tapered end and the bottom of the buffer member installation groove 34 can be used as the first buffer space 6 for the buffer member 42 to move up and down.
  • the tapered surface can smoothly transition downwards on the one hand, so that the upper surface of the portion radially beyond the trigger end 422 constitutes a part of the tapered surface;
  • the upper surface of the protruding part may be parallel or substantially parallel to the lower surface, so that the protruding part has the same or substantially the same thickness.
  • the upper surface of the excess part can also be part of the inclined surface with the tapered surface smoothly down, and the other part is the surface parallel to the lower surface.
  • the bottom edge of the tapered end of the buffer member 42 may not exceed the side surface of the trigger end 422 in the radial direction, that is, the size of the bottom of the tapered end of the buffer member 42 and the diameter of the trigger end 422
  • the radial size is the same, or the size of the tapered end is smaller than the radial size of the trigger end 422.
  • the movement of the buffer 42 is the same as the movement of the bottom edge of the tapered end beyond the trigger end 422.
  • the first buffer space 6 and the second buffer space 7 can be connected as a whole.
  • the trigger end 422 may be cylindrical, and the corresponding locking hole 11 is a circular hole that matches with the trigger end 422.
  • the trigger end 422 can be movably inserted into the locking hole on the main body 1 of the self-moving device. 11, and abuts against the tact switch 43.
  • the trigger terminal 422 may not directly abut the light touch switch 43, but is indirectly connected with the light touch switch 43 through, for example, an elastic member or other connecting member, so that the trigger terminal 422 can be connected The force is transmitted to the tact switch.
  • the mating structure of the buffer end 421 and the buffer groove 41 makes it possible to decompose the external force into the first component along the slope direction and the vertical direction through the slope of the buffer groove 41 and the tapered end when the cover 3 is subjected to external force.
  • the second component force that presses the buffer member 42 in the direction the first component force causes the buffer groove 41 and the tapered end to move relative to each other along the contact surface, and the second component force causes the buffer member 42 to move downward, pressing the touch switch 43, Thereby, the light touch switch is triggered and the movement direction of the self-mobile device main body 1 is changed or maintained through the control mechanism.
  • the buffer groove 41 may be provided with a through hole penetrating the thickness direction of the bracket 31 toward the bottom end of the bracket 31.
  • the through hole is called a card and hole 411;
  • the size of the top of the tapered end is smaller than the aperture of the card and hole 411; after assembly, the top of the tapered end is snapped into the card and hole 411 to define the buffer 42 after assembly to prevent it from falling out of the buffer groove 41.
  • the buffer groove 41 may not be provided with a through hole, and any structure that can sleeve a part of the tapered end of the buffer member 42 on the bottom of the buffer groove 41 can be applied to this.
  • the tapered end side wall of the buffer end 421 facing the outer periphery of the side wall of the buffer groove may also be provided with a guide portion 423 which is matched with the side wall of the buffer member installation groove 34.
  • the guide portion 423 can guide the buffer 42 in the buffer installation groove 34.
  • the guide portion 423 is an annular peripheral wall surrounding the buffer end 421; the corresponding buffer member installation groove 34 is a cylindrical groove.
  • the guide portion 423 can also be a guide block arranged along the up and down movement direction of the buffer member 42.
  • the side wall of the buffer member installation groove 34 is provided with a guide groove (not shown) that matches the guide block.
  • the length of the guide portion 423 does not exceed the length of the buffer member 42.
  • the space between the bottom of the guide portion 423 and the bottom of the buffer member installation groove 34 forms the first movement of the buffer member 42 up and down.
  • a protrusion 312 is provided on the bracket 31, and the protrusion 312 is provided on the surface of the bracket 31 facing the buffer member 42; the protrusion 312 is provided with a groove, so The groove is provided on the surface of the bracket 31 facing the buffer end 421; the groove constitutes the buffer groove 41.
  • the aforementioned card and hole 411 may also be provided on the protrusion 312, and the card and hole 411 penetrate the buffer groove 41, that is, the card and hole extend from the buffer groove 41 The bottom of the groove penetrates to the top of the bracket 31.
  • the function of the card and the hole 411 is the same as the function of the aforementioned card and the hole 411, and will not be repeated here.
  • the space area between the protrusion 312 and the side wall of the buffer installation groove 34 constitutes the second buffer space 7 for the movement of the bracket 31.
  • the second buffer space 7 is used to accommodate the protrusion 312 on the one hand, and on the other hand When the protrusion 312 moves, there is a certain redundant space for movement.
  • the tact switch 43 is arranged corresponding to the buffer member 42, that is, the number and position of the tact switch 43 installed correspond to the buffer member 42. Among them, the tact switch 43 is connected to the control system. When the cover 3 is impacted by an external force, the tact switch 43 can be triggered to send a signal to the control mechanism, so that the control system can control the action of the drive assembly to change or maintain the self-moving device body 1. The direction of movement. When the external force applied to the tact switch 43 disappears, the tact switch 43 needs to be restored to the initial position.
  • the tact switch 43 further includes an elastic component (not shown) arranged inside the tact switch 43. The elastic component can restore the tact switch 43 to the initial position.
  • the elastic component may be a spring or an elastic piece.
  • the trigger end 422 of the buffer member 42 presses the light-touch switch 43 and moves downward, and the spring or shrapnel inside the light-touch switch 43 is compressed; when the external force disappears, the light-touch switch 43 is compressed.
  • the spring or elastic piece returns to the initial state, so that the light touch switch 43 rebounds to the initial position and pushes the buffer 42 to move upward.
  • the initial position is the position where the light touch switch 43 abuts the trigger end 422 of the buffer member 42 because the light touch switch 43 is a touch switch. In the initial position, the trigger end 422 of the buffer member 42 abuts against the light touch switch 43.
  • the tact switch 43 will not be triggered, but will be triggered when an external force is applied.
  • a connecting mechanism 5 is also provided.
  • the connecting mechanism 5 is mainly used to connect the cover 3 and the self-moving device main body 1, so that the cover 3 and the distance measuring device 2 inside will not be separated from the self-moving device body 1.
  • Mobile device main body 1. Specifically, referring to FIGS. 3 to 5, the connecting mechanism 5 includes a connecting hole 51 and a mounting post 52.
  • the connecting hole 51 is provided at the bottom of the groove 311 of the bracket 31, and the width of the groove 311 is greater than the diameter of the connecting hole 51;
  • the mounting post 52 is arranged on the main body 1 of the self-moving device, and is arranged opposite to the connecting hole 51.
  • the mounting post 52 is provided with a thread, and correspondingly, a nut is matched with it, and the width of the nut is greater than or equal to the width of the connecting hole 51 and less than the width of the groove 311; this can make the cover 3 not upward Sliding out also prevents the bracket 30 from being stuck in the groove 311 by the nut when moving in the horizontal direction.
  • the aperture of the connecting hole 51 is larger than the outer diameter of the mounting post 52, and the space between the two forms a fourth buffer space 9 (see FIG. 7 ).
  • the trigger mechanism 4 and the connection mechanism 5 can be provided in multiple along the circumferential direction of the bracket 31, which can increase the stability of the connection, and can also make the trigger action of the present application more sensitive and effective.
  • the number of trigger mechanism 4 can be set to only one.
  • the embodiment of the present application provides a self-moving device 100, including: a self-mobile device body 1, a distance measuring device 2 arranged on the top of the self-mobile device body 1, a cover 3 arranged on the periphery of the distance measuring device 2, and
  • the trigger mechanism 4 includes: a buffer 42, a light touch switch 43, and a buffer groove 41 arranged on the bottom bracket of the cover;
  • the light touch switch 43 is arranged on the self On the main body 1 of the mobile device;
  • the buffer end 421 of the buffer member 42 is arranged in the buffer groove 41;
  • the trigger end 422 of the buffer member 42 abuts the light touch switch 43, and when the cover 3 receives an external force, the buffer member 42 triggers the light touch
  • the switch 43 changes or maintains the movement direction of the main body of the mobile device through the control mechanism.
  • the cover body 3, the connecting mechanism 5 and the trigger mechanism 4 are respectively connected to the self-moving device main body 1, thereby forming a plurality of buffer spaces, so that when the cover body 3 receives an external force, the cover body 3 drives the trigger mechanism 4 in a plurality of buffer spaces. Buffering is realized in the space, and at the same time, the movement direction of the self-mobile device main body 1 is changed by triggering the touch switch 43, thereby maintaining the normal driving of the self-mobile device 100.
  • the mobile device 100 can avoid jamming and has better adaptability.
  • the above-mentioned self-mobile device 100 can achieve better use effects than existing smart cleaning devices in different scenarios; some specific application scenarios are listed below for description.
  • the self-mobile device 100 drives in the living room for cleaning.
  • the gap between the sofa base and the ground is approximately equal to the height of the self-mobile device 100, and the distance measuring device 2 cannot detect the sofa base.
  • the self-mobile device 100 continues to move forward.
  • the cover 3 of the self-mobile device 100 contacts the sofa base, the cover 3 receives an external force to the left. As shown in FIG.
  • the bracket 31 is in the second buffer space 7,
  • the third buffer space 8 and the fourth buffer space 9 move to the left; and the buffer groove 41 on the bracket 31 is located above the buffer member 42 and is sleeved on the tapered end of the buffer member 42 so that the bracket 31 can follow
  • the cone of the tapered end moves horizontally to the left in the direction close to the top of the tapered end, as shown in Figure 8 after being stressed; and based on the self-moving device body with a locking hole 11, the trigger end 422 of the buffer 42 is limited , So that after the buffer member 42 receives a leftward external force, the tapered end 42 cone and the inner surface of the buffer groove produce relative movement in the direction of the cone, that is, the bracket moves to the left, and the buffer member moves along the retaining hole 11 Move down, and then touch the touch switch 43 to realize the circuit connection.
  • the self-mobile device 100 changes the direction of movement to prevent the self-mobile device 100 from hitting the sofa, and also to prevent the self-mobile device 100 from getting stuck between the sofa base and the ground. In the gap.
  • the external force to the left disappears, there is a reactive spring inside the tact switch 43, which makes the tact switch 43 quickly rebound to the initial position and push the buffer 42 to move upward, so that the bracket 31 can follow the top of the tapered end Move to the right along the inclined cone surface, and finally make the bracket 31 return to the position before the force was not applied. It is realized that the self-mobile device 100 will not hit the obstacle or get stuck in the gap of the obstacle due to the blind area detected above it, thereby maintaining the normal driving of the self-mobile device 100.
  • the self-mobile device 100 is driving in the living room for cleaning. Due to the measurement error of the self-mobile device 100 and other reasons, the self-mobile device 100 cannot accurately identify the obstacle to the obstacle. When the self-mobile device 100 cannot accurately recognize the obstacle, it will cause The cover 3 touches the obstacle, and the cover 3 receives a leftward external force. As shown in FIG.
  • the bracket 31 moves to the left in the second buffer space 7, the third buffer space 8 and the fourth buffer space 9; and
  • the buffer groove 41 on the bracket 31 is located above the buffer member 42 and is sleeved on the tapered end of the buffer member 42, so that the bracket 31 can move horizontally to the left along the tapered surface of the tapered end near the top of the tapered end , As shown in Figure 8 after being forced; and based on the self-moving device body with a locking hole 11, the trigger end 422 of the buffer member 42 is limited, so that the buffer member 42 can be in position after receiving a leftward external force
  • the first buffer space 6 moves down along the locking hole 11, and then touches the light touch switch 43 to realize circuit connection, and the movement direction of the mobile device 100 is changed.
  • the self-mobile device 100 drives in the living room for cleaning.
  • the cover 3 receives an external force to the left.
  • the bracket 31 is in the second buffer space 7 and the third buffer space 8.
  • the fourth buffer space 9 moves to the left; and the buffer groove 41 on the bracket 31 is located above the buffer member 42 and is sleeved on the tapered end of the buffer member 42 so that the bracket 31 can follow the tapered surface of the tapered end
  • the direction of the top near the tapered end moves horizontally to the left, as shown in Figure 8 after being forced; and based on the self-moving device body with the retaining hole 11, the trigger end 422 of the buffer 42 is restricted to make the buffer 42 After receiving an external force to the left, it can move down along the locking hole 11 in the first buffer space 6, and then touch the light touch switch 43 to realize circuit connection and change the direction of movement from the mobile device 100.
  • the mobile device 100 After changing the direction or moving back, the mobile device 100 hits the obstacle again. Based on the self-mobile device 100, there are a plurality of buffers 42 arranged in a circle. After the cover 3 hits the obstacle again, the other The buffer member 42 can buffer again, and the specific method is as described above, and the description is not repeated here, so that the self-mobile device 100 can change the direction and realize the 360-degree collision avoidance of the self-mobile device 100.
  • the self-mobile device 100 travels in the living room for cleaning.
  • the obstacle lightly touches the cover of the self-mobile device 100 3.
  • the cover 3 receives a downward external force, as shown in FIG. 9, based on the locking hole 11 on the body of the self-moving device, the trigger end 422 of the buffer 42 is limited, and the bracket 31 presses the buffer 42 Move downward in the first buffer space 6, thereby pushing the trigger end 422 of the buffer member 42 downward to touch the touch switch 43.
  • the mobile device 100 Based on the fact that there is no obstacle in front of the mobile device 100, the mobile device 100 keeps the direction and continues to move forward; When the downward external force disappears, there is a reactive spring inside the tact switch 43, which makes the tact switch 43 quickly rebound to the initial position and push the buffer 42 to move upward so that the bracket 31 can follow the top of the tapered end Move along the inclined cone surface, and finally make the bracket 31 return to the position before the force was not applied.

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Push-Button Switches (AREA)

Abstract

本申请公开一种自移动设备，包括：自移动设备主体，测距装置、罩体及触发机构。其中，测距装置设置于所述自移动设备主体顶部；罩体设置于所述测距装置外周；触发机构设置于所述罩体与所述自移动设备主体之间；其中触发机构包括缓冲件及轻触开关；缓冲件的第一端通过一缓冲结构与所述罩体实现联动，所述缓冲件的第二端与所述轻触开关位置对应；在罩体受外力时，缓冲结构可将外力转化为缓冲件朝向轻触开关的压力，以触发轻触开关，使得所述自移动设备主体做出相应的动作，如改变当前运动方向等，以改善现有技术中因探测盲区或测量误差等原因出现卡住或碰撞的问题，保证自移动设备的正常工作，适应性好。

Description

自移动设备
交叉引用
本申请引用于2019年06月18日递交的名称为“自移动设备”的第2019105288249号的中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及机器人技术领域，尤其涉及一种自移动设备。
背景技术
随着科学技术的发展和人们生活水平的提高，智能清洁设备已经逐步进入到我们的生活当中。其中，现有的智能清洁设备可以测量出周围物体的距离、尺寸等参数，从而根据相关参数控制智能清洁设备的行驶。
但是，现有的智能清洁设备所能测量的物体多限制于智能清洁设备的水平方向上；例如，智能清洁设备可以测量其水平正前方向上的物体参数，或者测量其水平正前斜下方方向上的物体参数。智能清洁设备上方就会出现探测盲区。如果在智能清洁设备的上方存在障碍物，可能会因为盲区致使设备卡死或与障碍物撞击。
发明内容
为解决或改善现有技术中存在的问题，本申请提供一种自移动设备。
本申请提供一种自移动设备，包括：
自移动设备主体；
测距装置，设置于所述自移动设备主体顶部；
罩体，设置于所述测距装置外周；
触发机构，设置于所述罩体与所述自移动设备主体之间；
其中，所述触发机构包括缓冲件及轻触开关；所述缓冲件的第一端通过一缓冲结构与所述罩体实现联动，所述缓冲件的第二端与所述轻触开关位置对应；
在所述罩体受外力时，所述缓冲结构将所述外力转化为所述缓冲件朝向所述轻触开关的压力，以触发所述轻触开关，使得所述自移动设备主体基于所述轻触开关产生的信号做出相应的动作。
可选的，所述缓冲结构包括缓冲凹槽以及与所述缓冲凹槽适配的缓冲端；
所述缓冲端设置于所述缓冲凹槽中；
所述缓冲凹槽设置在所述罩体上，所述缓冲端设置在所述缓冲件的第一端。
可选的，所述缓冲端为锥形端，所述缓冲凹槽为与所述锥形端适配的锥形凹槽。
可选的，在所述罩体受外力时，所述外力通过所述锥形凹槽与所述锥形端的斜面被分解出一竖直方向压向所述缓冲件的第二分力；
所述第二分力使得所述缓冲件向下运动，按压所述轻触开关，从而触发所述轻触开关作用。
可选的，所述罩体的底部设有支架；所述支架上设置有凸起，所述凸起设置于所述支架朝向所述缓冲件的表面；所述凸起上设置有朝向所述缓冲端的凹槽；所述凹槽构成所述的缓冲凹槽。
可选的，所述自移动设备主体上设置有缓冲件安装槽；所述缓冲件置于所述缓冲件安装槽内；所述凸起与所述缓冲件安装槽侧壁之间的空间区域构成所述支架移动的第二缓冲空间。
可选的，所述缓冲凹槽的槽底设有贯穿所述支架厚度方向的通孔，所述通孔称为卡和孔；所述缓冲件的第一端为锥形端；所述锥形端顶部尺寸小于 所述卡和孔的孔径；装配后，所述锥形端顶部卡入所述卡和孔中。
可选的，所述自移动设备主体顶部设置有容纳所述支架的开口；所述支架嵌入所述开口内；所述支架与所述开口间具有容所述支架移动的第三缓冲空间。
可选的，所述自移动设备主体上设置有缓冲件安装槽；所述缓冲件安装槽底部设有卡位孔；所述缓冲件的另一端插入所述卡位孔，并与设置于所述卡位孔底部的所述轻触开关位置对应。
可选的，所述缓冲件的另一端为触发端；所述触发端与所述轻触开关相抵接。
可选的，所述缓冲件的第一端的底部与所述缓冲件安装槽的槽底之间具有便于所述缓冲件上下移动的第一缓冲空间。
可选的，所述缓冲件的第一端的与所述缓冲件安装槽的槽壁相对的侧面设有导向部；所述导向部的底部与所述缓冲件安装槽底部之间的空间区域构成所述第一缓冲空间的一部分。
可选的，所述导向部为围绕所述缓冲件的第一端的环形周壁；或者，所述导向部为导向块，相应的，所述缓冲件安装槽侧壁设置有与所述导向块相配合的导向槽。
可选的，所述轻触开关内设有弹性部件；所述轻触开关被触发后处于触发状态时，所述弹性部件被压缩；所述轻触开关处于非触发状态时，所述弹性部件恢复，使得所述轻触开关恢复至初始位置。
可选的，所述的自移动设备还包括连接机构；所述连接机构包括：连接孔、安装柱及连接件；所述连接孔设置在所述罩体底部的支架上；所述安装柱设置在所述自移动设备主体上；所述安装柱套接于所述连接孔中，通过所述连接件将所述支架与所述自移动设备主体连接；所述连接孔的孔径大于所述安装柱的直径，使得所述连接孔内具有容所述支架移动的第四缓冲空间。
可选的，所述连接机构和所述触发机构沿所述支架的周向间隔分布，且 分别设置为多个。
本申请实施例提供的技术方案，通过在罩体与自移动设备主体之间设置触发机构，其中触发机构包括缓冲件及轻触开关；缓冲件的第一端通过一缓冲结构与所述罩体实现联动，所述缓冲件的第二端与所述轻触开关位置对应；在罩体受外力时，缓冲结构可将外力转化为缓冲件朝向轻触开关的压力，以触发轻触开关，使得所述自移动设备主体做出相应的动作，如改变当前运动方向等，以改善现有技术中因探测盲区或测量误差等原因出现卡住或碰撞的问题，保证自移动设备的正常工作。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是本申请实施例提供的一种自移动设备的结构示意图；
图2是本申请实施例提供的自移动设备的罩体的结构示意图；
图3是本申请实施例提供的自移动设备的触发机构和连接机构的局部示意图；
图4是本申请实施例提供的自移动设备的触发机构和连接机构的结构爆炸图；
图5是本申请实施例提供的自移动设备的局部示意图；
图6是本申请实施例提供的自移动设备的缓冲件的结构示意图；
图7是本申请实施例提供的自移动设备的局部示意图；
图8是图7受力后的自移动设备的局部示意图；
图9是本申请实施例提供的自移动设备的局部示意图。
其中，自移动设备100，自移动设备主体1，卡位孔11，测距装置2，罩体3，支架31，凹槽311，开孔32，倒角结构33，缓冲件安装槽34，触发机 构4，缓冲凹槽41，卡和孔411，缓冲件42，缓冲端421，触发端422，导向部423，轻触开关43，连接机构5，连接孔51，安装柱52，第一缓冲空间6，第二缓冲空间7，第三缓冲空间8，第四缓冲空间9。
具体实施方式
由于现有智能清洁设备仅能测量其水平正前方向上的物体参数，或测量其水平正前斜下方方向上的物体参数。若智能清洁设备的上方存在障碍物，而这个障碍物底部距离地面的空隙高度与智能清洁设备的高度十分接近。因测距装置无法探测到该障碍物，智能清洁设备会继续朝该障碍物下的空隙移动，移动至空隙后极易出现卡死状态，而不能再移动。此外，智能清洁设备还存在测量误差等原因，此类障碍物更无法准确测量出，也可能出现碰撞的情况，极易撞坏设备。
为此，本申请提供了如下各实施例以解决或改善现有技术存在的问题。为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，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，都属于本申请保护的范围。
本申请实施例提供一种自移动设备100，图1是本申请实施例提供的自移动设备100结构示意图。
如图1所示，本申请实施例提供的自移动设备100，包括：自移动设备主体1和设置于自移动设备主体1顶部的测距装置2。其中，在本实施例中，自移动设备主体1可设置为偏平圆柱状，该形状的自移动设备主体1可以在较 为复杂的环境中移动，且不易被卡死。当然，自移动设备主体1还可以被设置为方体，椭圆柱体以及截面呈三角形或者其它形状的结构。
在自移动设备主体1上，还设置有障碍物传感器系统(未示出)、控制系统(未示出)、驱动组件(未示出)、清洁系统(未示出)和能源系统(未示出)和人机交互系统(未示出)。障碍物传感器系统用于探测障碍物。控制系统用于控制自移动设备100的相关操作，例如根据障碍物传感器系统探测的障碍物信息控制驱动组件的移动等。驱动组件用于带动自移动设备主体1移动。清洁系统用于在自移动设备主体1行驶的过程中，对相关清洁面进行清洁；清洁系统可包括供水装置，滚刷和边刷等。能源系统(例如电池、超级电容器等)用于提供电能。人机交互系统用于实现人与自移动设备100的交互，例如，用户向自移动设备100发送一个指引去目标位置的请求，则该请求通过人机交互系统处理后，自移动设备100便能够引领用户到达该目标位置。测距装置2用于对自移动设备100周围环境进行探测，以获得相关的距离信息，如障碍物到所述自移动设备的距离信息等，以保证自移动设备100能够正常工作。
其中，在本实施例中，测距装置2的感测单元包含发光装置(未示出)和受光装置(未示出)。发光装置包括能够提供发射光源的发光元件，例如，发射红外光线、发射可见光线的红外光以及可见光线发光二极管等。当然，发射光源可以是发射激光束的发光元件，如将激光二极管作为发射光源；具体地，由于激光束的单色、定向和准直特性，使用激光束的发射光源可以使得测量相比于其它光更为准确。例如，相比于激光束，激光二极管的红外光线或可见光线受周围环境因素影响，从而在测量准确性上会有所降低。激光束的发射光源可以是点激光，其可以探测障碍物的二维位置信息；还可以是线激光，以探测出障碍物的三维位置信息。
受光装置包括图像传感器，在该图像传感器上形成由障碍物反射或散射的光点。受光装置将光信号转换为电信号，图像传感器可以为互补金属氧化 物半导体传感器或者电荷耦合元件传感器；受光装置还包括受光透镜组件，由障碍物反射或散射的光经由受光透镜组件行进，以在图像传感器上形成图像；受光透镜组件可以包括单个或者多个透镜。
在本实施例中，如图1所示，测距装置2设置在自移动设备主体1的顶部，当自移动设备主体1移动到较为复杂的清洁环境中时，测距装置2可能与一些物体(相对于自移动设备100而言，这些物体可以定义为障碍物)发生碰撞接触；也可能是测距装置2的发光装置或者受光装置非正常工作，造成自移动设备主体1识别障碍物错误而发生碰撞接触；还可能出现一些障碍物底部空隙高度与自移动设备100的高度十分接近，因在测距装置2的探测盲区，无法探测到其上方的障碍物，从而导致自移动设备100移向该空隙，并处于卡死状态，不能再移动的状况。
为了实现将测距装置2稳固安装在自移动设备主体1上，且保护测距装置2不被障碍物撞坏，以及避免自移动设备100卡死在上述环境的空隙中；则如图1至图3所示，本实施例的自移动设备100还包括，设置在测距装置2的外周的罩体3，连接罩体3与自移动设备主体1的连接机构5，以及设置于罩体3与自移动设备主体1间的触发机构4；触发机构4和连接机构5间隔分布，且分别设置为多个。其中，罩体3可以防止测距装置2与障碍物直接接触，以起到保护的作用；连接机构5能够实现罩体3与自移动设备主体1的连接；触发机构4则是触发自移动设备主体1的控制机构控制该自移动设备改变或保持运动方向。例如，自移动设备100所处环境中存在一障碍物，该障碍物的底部距离地面的空隙高度与自移动设备100的高度十分接近。自移动设备100朝该障碍物下的空隙移动至罩体3与障碍物底部刚接触时，使得罩体3受到外力作用，该外力可通过罩体3专递至触发机构4，并使触发机构4作用，触发机构4可向控制机构发出触发信号，通过控制机构(未示出)使得自移动设备主体1改变运动方向，以避免出现卡死的情况。
具体的，在本实施例中，测距装置2外周的罩体3设置为圆柱状，以对 应自移动设备主体1的结构形状，增加自移动设备100的美观程度。当然，罩体3还可以为其它形状结构，只要是能够将测距装置2罩住，均是本实施例所要保护的范围。测距装置2主要是用于发射激光束的，在罩体3的圆周端面上设置有沿周沿方向的多个开孔32，激光束由该开孔32发出。其中，为了避免罩体3与障碍物碰撞损坏，分散撞击力，同时使罩体3更容易从空隙内脱离出，则将罩体3的顶部的边缘设置为倒角结构33，该倒角结构33可以是圆弧倒角，也可以是45°倒角。特别的，基于自移动设备100有一前进方向，所以该倒角结构33可以只设置在罩体3的前进方向上的顶部边缘。
罩体3的底部还设置有支架31。参见图2所示的示例，支架31可设置为由罩体3底部向外延展出的延展结构；该延展结构可以为环状，当然，其也可以为其它形状。为了配合支架31的安装，在自移动设备主体1上设置有容纳支架31的开口，支架31嵌入自移动设备主体1上设置的开口内。具体实施时，支架31的边缘可与开口的口边缘具有预定距离，支架31的边缘与开口的口边缘之间的空隙区域可作为支架31移动的第三缓冲空间8(参考图7)。第三缓冲空间8使得罩体3因受力致使支架31在水平面上产生任何一个方向的移动时，均有可移动的冗余空间。需要说明的是，支架31可以与罩体3一体成型，也可以与罩体3通过连接的方式连接为一体，本申请对此不做限定。
具体实施时，还可扩大支架31与自移动设备主体1的连接面积，使得自移动设备主体1与罩体3更加稳固。另外，触发机构4和连接机构5可沿支架31的周沿方向均匀分布；例如，将触发机构4和连接机构5分别设置为3个，则触发机构4可沿支架31的周沿方向以120度夹角间隔分布；连接机构5也可沿支架31的周沿方向以120度夹角间隔分布，且相邻的触发机构4和连接机构5在沿支架31的周沿方向以60度夹角间隔分布等。
触发机构4可包括：缓冲件42及轻触开关43。其中，所述缓冲件42的第一端通过一缓冲结构与所述罩体3实现联动，所述缓冲件42的第二端与所述轻触开关位置43对应。该缓冲件42的第二端亦可称为触发端，在具体实 施时，所述触发端可与所述轻触开关43相抵接。在所述罩体3受外力时，所述缓冲结构将所述外力转化为所述缓冲件42朝向所述轻触开关43的压力，以触发所述轻触开关43，使得所述自移动设备主体基于所述轻触开关43产生的信号做出相应的动作。
缓冲结构可包括缓冲凹槽以及与所述缓冲凹槽适配的缓冲端；所述缓冲端设置于所述缓冲凹槽中。在一种实现方式中，所述缓冲凹槽设置在所述罩体上，所述缓冲端设置在所述缓冲件的第一端。为方便叙述，本文中将所述缓冲件的第一端均称为缓冲端。该缓冲端可以是一锥形端；该缓冲凹槽可以是与锥形端适配的锥形凹槽。当然还可存在如下的另一种实现方式，即缓冲凹槽设置在所述缓冲件的第一端；缓冲端(如锥形端)设置在罩体上。
具体的，如图3至图5所示的示例中，触发机构4包括：缓冲件42以及轻触开关43。具体的，缓冲凹槽41设置在罩体3底部的支架31上，轻触开关43设置在自移动设备主体1上，且与缓冲凹槽41相对设置；缓冲件42设置在缓冲凹槽41与轻触开关43之间。其中，自移动设备主体1上设置有缓冲件安装槽34，在该缓冲件安装槽34的底部设置有卡位孔11，轻触开关43设置于卡位孔11的底部，从而在罩体3受外力时，能够更为有效的将罩体3所受外力转化为缓冲件42朝向轻触开关43的压力，以触发轻触开关43作用。
在本实施例中，结合图4和图6所示，缓冲件42可以为伞状结构，其两相对端分别为缓冲端421和触发端422；缓冲端421呈锥形，具体为呈圆锥形，将其称之为锥形端。相应的，缓冲凹槽41为与缓冲端421相配合的凹形锥槽，缓冲凹槽41套接于缓冲端421。其中，缓冲件42的锥形端底部边缘沿径向超出触发端422侧面。锥形端底部边缘超出部分与缓冲件安装槽34底部之间的空间区域可作为缓冲件42上下移动的第一缓冲空间6。在所述锥形端底部边缘径向超出触发端422的情形下，所述锥面一方面可以平滑向斜下方过度，使得径向超出触发端422部分的上表面构成锥面一部分；另一方面，其超出部分上表面可以与下表面平行或基本平行，使得超出部分具有相同或大致相 同的厚度。当然，超出部分上表面也可以部分为锥面向下平滑过度的斜面，另一部分为与下表面平行的表面。
当然，在其它实施例中，缓冲件42的锥形端底部边缘沿径向也可以不超出触发端422的侧面，即，所述缓冲件42的锥形端的底部尺寸与所述触发端422径向尺寸相同，或者锥形端的尺寸小于所述触发端422的径向尺寸。在这种情形下，缓冲件42的运动方式与前述锥形端底部边缘超出触发端422的运动方式相同。所述第一缓冲空间6与第二缓冲空间7可以连为一体。
在本实施例中，触发端422可以呈圆柱形，相应的卡位孔11为与触发端422相配合的圆形孔，触发端422可活动的插入在自移动设备主体1上的卡位孔11中，并与轻触开关43抵接。在另外的实施例中，所述触发端422也可以不与轻触开关43直接抵接，而是通过诸如弹性件或其他连接件间接与所述轻触开关43连接，从而可以将触发端422的力传递至所述轻触开关。缓冲端421与缓冲凹槽41相配合的结构，可使得在罩体3在受到外力作用时，外力通过缓冲凹槽41与锥形端的斜面分解为沿斜面方向的第一分力和沿竖直方向压向缓冲件42的第二分力，第一分力使得缓冲凹槽41与锥形端沿接触面产生相对运动，第二分力使得缓冲件42向下运动，按压轻触开关43，从而触发轻触开关并通过控制机构使得自移动设备主体1改变或保持运动方向。
在本实施例中，请继续参考图4和图5，缓冲凹槽41朝向支架31底端可以设置贯穿于支架31厚度方向的通孔，该通孔称为卡和孔411；缓冲件42的锥形端顶部尺寸小于卡和孔411的孔径；装配后，锥形端顶部卡入卡和孔411中，以在装配后限定缓冲件42，避免其由缓冲凹槽41中脱出。当然，在其它可选方案中，缓冲凹槽41可以不设置通孔，任何能够将缓冲件42的锥形端的部分锥面套接于缓冲凹槽41底部的结构均可应用于此。
在本实施例中，缓冲端421锥形端侧壁朝向缓冲凹槽侧壁的外周还可以设置有导向部423，所述导向部423与缓冲件安装槽34侧壁相配合。如图6中所示，该导向部423可以对缓冲件42在缓冲件安装槽34中起到导向作用。 在本实施例中，导向部423为围绕缓冲端421的环形周壁；相应的缓冲件安装槽34为圆柱形凹槽。在其他实施例中，导向部423还可以为沿缓冲件42上下移动方向设置的导向块，相应的，缓冲件安装槽34侧壁设置有与导向块相配合的导向槽(未示出)。
请参考图6和图7，导向部423的长度不超过缓冲件42的长度，在装配后，导向部423底部与缓冲件安装槽34底部之间的空间区域形成缓冲件42上下移动的第一缓冲空间6的一部分。在本实施例中，在所述支架31上设置有凸起312，所述凸起312设置于所述支架31朝向所述缓冲件42的表面；所述凸起312上设置有凹槽，所述凹槽设置于所述支架31的朝向所述缓冲端421的表面；所述凹槽构成所述的缓冲凹槽41。在此情形下，也可以在所述凸起312上设置前述的卡和孔411，该卡和孔411与所述缓冲凹槽41贯通，即所述卡和孔自所述缓冲凹槽41的槽底贯通至所述支架31的顶端。此处，卡和孔411的作用与前述的卡和孔411的作用相同，在此不再赘述。所述凸起312与缓冲件安装槽34侧壁之间的空间区域构成支架31移动的第二缓冲空间7，第二缓冲空间7一方面用于容置所述凸起312，另一方面在凸起312运动时有一定的移动冗余空间。
请继续参考图7，轻触开关43对应于缓冲件42设置，即轻触开关43安装的数量和位置对应于缓冲件42。其中，轻触开关43与控制系统连接，在罩体3受外力碰撞时，能够触发轻触开关43向控制机构发出信号，从而使得控制系统能够控制驱动组件作用，以改变或保持自移动设备主体1的运动方向。当施加在轻触开关43的外力消失时，轻触开关43需要恢复至初始位置。在本实施例中，轻触开关43还包括设置在其内部的弹性部件(未示出)，弹性部件能够使轻触开关43恢复至初始位置，例如该弹性部件可以是弹簧或弹片。当缓冲件42受到外力触碰时，缓冲件42的触发端422抵压轻触开关43向下运动，轻触开关43内部的弹簧或弹片被压缩；当外力消失时，轻触开关43内部的弹簧或弹片恢复初始状态，使得轻触开关43回弹到初始位置，并推动 缓冲件42向上运动。其中，初始位置为轻触开关43与缓冲件42的触发端422抵接的位置，因为轻触开关43为触碰开关，初始位置时，缓冲件42的触发端422抵接于轻触开关43时，轻触开关43不会被触发，而受到外力时则被触发。
在本实施例中，还设置有连接机构5，连接机构5主要是用于实现罩体3与自移动设备主体1连接，从而使罩体3及其内部的测距装置2不会脱离于自移动设备主体1。具体的，请参考图3至图5，连接机构5包括连接孔51和安装柱52，连接孔51设置在支架31的凹槽311的底部，且凹槽311的宽度大于连接孔51的直径；安装柱52设置在自移动设备主体1上，并与连接孔51相对设置。其中，安装柱52上设置有螺纹，对应的，螺帽与其配合，且螺帽的宽度大于或等于连接孔51的宽度，且小于凹槽311的宽度；这样既能够使得罩体3不会向上滑出，也使得支架30在水平方向移动时不会被螺帽卡死在凹槽311中。当然，为了保证罩体3在连接机构5作用时，还可以实现移动，连接孔51的孔径大于安装柱52的外径尺寸，二者之间的空间区域构成第四缓冲空间9(参见图7)。
触发机构4和连接机构5沿支架31的周沿方向可以分别设置为多个，这样既可以增加连接的稳定性，还可以使得本申请的触发动作更为灵敏有效。当然，触发机构4的数量可以仅设置为1个。
本申请实施例提供了一种自移动设备100，包括：自移动设备主体1、设置于自移动设备主体1顶部的测距装置2，设置于测距装置2外周的罩体3，以及设置于罩体3与自移动设备主体1间的触发机构4；触发机构4包括：缓冲件42、轻触开关43、以及设置于罩体底部支架上的缓冲凹槽41；轻触开关43设置于自移动设备主体1上；缓冲件42的缓冲端421设置于缓冲凹槽41中；缓冲件42的触发端422与轻触开关43相抵接，在罩体3受外力时，缓冲件42触发轻触开关43，并通过控制机构使得自移动设备主体变或保持运动方向。本申请通过罩体3、连接机构5以及触发机构4分别与自移动设备主体 1连接，从而形成多个缓冲空间，使得罩体3在受到外力时，罩体3带动触发机构4在多个缓冲空间中实现缓冲，并同时通过触发轻触开关43以改变自移动设备主体1的运动方向，进而维护了自移动设备100的正常行驶。该自移动设备100能够避免卡死，适应性更好。
上述自移动设备100能够在不同场景下获得较现有智能清洁设备更佳的使用效果；以下举出一些具体应用场景予以说明。
应用场景1
自移动设备100行驶在客厅进行清洁，当自移动设备100行驶到沙发位置时，沙发底座与地面之间的间隙大致与自移动设备100的高度相等，测距装置2无法探测到沙发底座。此时，自移动设备100继续前进，当自移动设备100的罩体3与沙发底座接触时，罩体3受到一个向左的外力，如图7所示，支架31在第二缓冲空间7、第三缓冲空间8以及第四缓冲空间9内向左运动；且基于支架31上的缓冲凹槽41位于缓冲件42上方，且套接在缓冲件42的锥形端上，使得支架31能沿着锥形端的锥面向靠近锥形端的顶尖的方向水平向左移动，受力后如图8所示；又基于自移动设备本体上有卡位孔11，对缓冲件42的触发端422进行限位，使得缓冲件42在受到一个向左的外力之后，锥形端42锥面与缓冲凹槽内表面之间产生沿锥面方向的相对运动，即支架向左运动，缓冲件沿着卡位孔11向下移动，进而触碰轻触开关43，实现电路连通，自移动设备100改变运动方向，避免自移动设备100继续撞击沙发，也避免自移动设备100卡死在沙发底座与地面之间的间隙中。当向左的外力消失之后，轻触开关43内部具有反作用力的弹簧，使得轻触开关43快速回弹到初始位置，并推动缓冲件42向上运动，从而使支架31能沿着锥形端的顶端沿倾斜的锥面向右移动，并最终使得支架31回到未受力之前的位置。实现了自移动设备100不会因其上方探测的盲区，而将自移动设备100撞击在障碍物或者卡死在障碍物间隙中，进而维护了自移动设备100的正常行驶。
应用场景2：
自移动设备100行驶在客厅进行清洁，由于自移动设备100测量误差等原因，导致自移动设备100无法准确识别出障碍物对其的阻碍，当自移动设备100无法准确识别到障碍物时，导致罩体3与障碍物触碰，罩体3受到一个向左的外力，如图7所示，支架31在第二缓冲空间7、第三缓冲空间8以及第四缓冲空间9内向左运动；且基于支架31上的缓冲凹槽41位于缓冲件42上方，且套接在缓冲件42的锥形端上，使得支架31能沿着锥形端的锥面向靠近锥形端的顶尖的方向水平向左移动，受力后如图8所示；又基于自移动设备本体上有卡位孔11，对缓冲件42的触发端422进行限位，使得缓冲件42在受到一个向左的外力之后，能够在第一缓冲空间6内沿着卡位孔11向下移动，进而触碰轻触开关43，实现电路连通，自移动设备100改变运动方向。当向左的外力消失之后，轻触开关43内部具有反作用力的弹簧，使得轻触开关43快速回弹到初始位置，并推动缓冲件42向上运动，从而使支架31能沿着锥形端的顶端沿倾斜的锥面向右移动，并最终使得支架31回到未受力之前的位置。实现了自移动设备100不会因其探测不到障碍物，而使得自移动设备100撞击障碍物，进而维护了自移动设备100的不会撞坏。
应用场景3：
自移动设备100行驶在客厅进行清洁，当自移动设备100撞击障碍物后，罩体3受到一个向左的外力，如图7所示，支架31在第二缓冲空间7、第三缓冲空间8以及第四缓冲空间9内向左运动；且基于支架31上的缓冲凹槽41位于缓冲件42上方，且套接在缓冲件42的锥形端上，使得支架31能沿着锥形端的锥面向靠近锥形端的顶尖的方向水平向左移动，受力后如图8所示；又基于自移动设备本体上有卡位孔11，对缓冲件42的触发端422进行限位，使得缓冲件42在受到一个向左的外力之后，能够在第一缓冲空间6内沿着卡位孔11向下移动，进而触碰轻触开关43，实现电路连通，自移动设备100改变运动方向。但是障碍物分布较多，改变方向或后退后自移动设备100再次撞击障碍物，基于自移动设备100上设置有多个缓冲件42，且环绕一周设置， 罩体3再次撞击障碍物后，其它的缓冲件42能够再次缓冲，具体方式如上述，在此不作重复说明，从而使得自移动设备100改变方向，实现自移动设备100的360度防撞。
应用场景4
自移动设备100行驶在客厅进行清洁，当自移动设备100的竖直方向有障碍物时或者受到来自竖直方向的障碍物的撞击时，此时，障碍物轻触自移动设备100的罩体3，当罩体3受到向下的外力时，如图9所示，基于自移动设备本体上有卡位孔11，对缓冲件42的触发端422进行限位，支架31挤压缓冲件42在第一缓冲空间6内向下运动，从而推动缓冲件42的触发端422向下触碰轻触开关43，基于自移动设备100前方未有障碍物，自移动设备100保持方向继续向前运动；当向下的外力消失之后，轻触开关43内部具有反作用力的弹簧，使得轻触开关43快速回弹到初始位置，并推动缓冲件42向上运动，从而使支架31能沿着锥形端的顶端沿倾斜的锥面移动，并最终使得支架31回到未受力之前的位置。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (16)

  1. 一种自移动设备，其特征在于，包括：
    自移动设备主体；
    测距装置，设置于所述自移动设备主体顶部；
    罩体，设置于所述测距装置外周；
    触发机构，设置于所述罩体与所述自移动设备主体之间；
    其中，所述触发机构包括缓冲件及轻触开关；所述缓冲件的第一端通过一缓冲结构与所述罩体实现联动，所述缓冲件的第二端与所述轻触开关位置对应；
    在所述罩体受外力时，所述缓冲结构将所述外力转化为所述缓冲件朝向所述轻触开关的压力，以触发所述轻触开关，使得所述自移动设备主体基于所述轻触开关产生的信号做出相应的动作。
  2. 根据权利要求1所述的自移动设备，其特征在于，所述缓冲结构包括缓冲凹槽以及与所述缓冲凹槽适配的缓冲端；
    所述缓冲端设置于所述缓冲凹槽中；
    所述缓冲凹槽设置在所述罩体上，所述缓冲端设置在所述缓冲件的第一端。
  3. 根据权利要求2所述的自移动设备，其特征在于，所述缓冲端为锥形端，所述缓冲凹槽为与所述锥形端适配的锥形凹槽。
  4. 根据权利要求3所述的自移动设备，其特征在于，
    在所述罩体受外力时，所述外力通过所述锥形凹槽与所述锥形端的斜面被分解出一竖直方向压向所述缓冲件的第二分力；
    所述第二分力使得所述缓冲件向下运动，按压所述轻触开关，从而触发所述轻触开关作用。
  5. 根据权利要求2所述的自移动设备，其特征在于，所述罩体的底部设 有支架；所述支架上设置有凸起，所述凸起设置于所述支架朝向所述缓冲件的表面；
    所述凸起上设置有朝向所述缓冲端的凹槽；
    所述凹槽构成所述的缓冲凹槽。
  6. 根据权利要求5所述的自移动设备，其特征在于，
    所述自移动设备主体上设置有缓冲件安装槽；
    所述缓冲件置于所述缓冲件安装槽内；
    所述凸起与所述缓冲件安装槽侧壁之间的空间区域构成所述支架移动的第二缓冲空间。
  7. 根据权利要求5所述的自移动设备，其特征在于，所述缓冲凹槽的槽底设有贯穿所述支架厚度方向的通孔，所述通孔称为卡和孔；
    所述缓冲件的第一端为锥形端；所述锥形端顶部尺寸小于所述卡和孔的孔径；
    装配后，所述锥形端顶部卡入所述卡和孔中。
  8. 根据权利要求5所述的自移动设备，其特征在于，所述自移动设备主体顶部设置有容纳所述支架的开口；
    所述支架嵌入所述开口内；
    所述支架与所述开口间具有容所述支架移动的第三缓冲空间。
  9. 根据权利要求1至8中任一项所述的自移动设备，其特征在于，
    所述自移动设备主体上设置有缓冲件安装槽；
    所述缓冲件安装槽底部设有卡位孔；
    所述缓冲件的另一端插入所述卡位孔，并与设置于所述卡位孔底部的所述轻触开关位置对应。
  10. 根据权利要求9所述的自移动设备，其特征在于，所述缓冲件的另一端为触发端；所述触发端与所述轻触开关相抵接。
  11. 根据权利要求9所述的自移动设备，其特征在于，所述缓冲件的第一端的底部与所述缓冲件安装槽的槽底之间具有便于所述缓冲件上下移动的第一缓冲空间。
  12. 根据权利要求11所述的自移动设备，其特征在于，所述缓冲件的第一端的与所述缓冲件安装槽的槽壁相对的侧面设有导向部；
    所述导向部的底部与所述缓冲件安装槽底部之间的空间区域构成所述第一缓冲空间的一部分。
  13. 根据权利要求12所述的自移动设备，其特征在于，所述导向部为围绕所述缓冲件的第一端的环形周壁；或者，
    所述导向部为导向块，相应的，所述缓冲件安装槽侧壁设置有与所述导向块相配合的导向槽。
  14. 根据权利要求1至8中任一项所述的自移动设备，其特征在于，所述轻触开关内设有弹性部件；
    所述轻触开关被触发后处于触发状态时，所述弹性部件被压缩；所述轻触开关处于非触发状态时，所述弹性部件恢复，使得所述轻触开关恢复至初始位置。
  15. 根据权利要求5所述的自移动设备，其特征在于，还包括：连接机构；
    所述连接机构包括：连接孔、安装柱及连接件；
    所述连接孔设置在所述罩体底部的支架上；
    所述安装柱设置在所述自移动设备主体上；
    所述安装柱套接于所述连接孔中，通过所述连接件将所述支架与所述自移动设备主体连接；所述连接孔的孔径大于所述安装柱的直径，使得所述连接孔内具有容所述支架移动的第四缓冲空间。
  16. 根据权利要求15所述的自移动设备，其特征在于，所述连接机构和 所述触发机构沿所述支架的周向间隔分布，且分别设置为多个。
PCT/CN2020/095366 2019-06-18 2020-06-10 自移动设备 WO2020253589A1 (zh)

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