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Self-moving robot

A robot, self-moving technology, applied in robot cleaning machines, automatic detection of obstacles, automatic control of traveling motion, etc., can solve the problems of many components, complex installation, high cost, avoid damage, ensure safety, and improve cleaning efficiency. Effect

Inactive Publication Date: 2017-12-08
ECOVACS HOME SERVICE ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method can only detect the situation of no border, and cannot detect the situation of high border, and there are many components that need to be installed. higher cost

Method used

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Comparison scheme
Effect test

Embodiment 1

[0019] figure 2 It is a structural schematic diagram of the self-mobile robot of the present invention. like figure 2 As shown, the self-mobile robot of the present invention includes a robot main body 1, and a control unit (not shown) is provided in the robot main body 1. The self-mobile robot also includes a rotatable boundary detection device 2 arranged on the robot main body 1, and the boundary The detection device 2 includes a detection rod, one end of the detection rod is a fixed end, fixed on the side of the robot main body 1, and the other end of the detection rod is a free end, away from the side edge of the robot main body 1, and the detection rod can Rotate around the fixed end, and send detection signals according to the peripheral environment during the rotation process, and the control unit controls the self-mobile robot to move according to the detection signals.

[0020] It should be noted that the number of boundary detection devices 2 on the robot body 1 ...

Embodiment 2

[0025] The structure of this embodiment is basically the same as that of the self-moving robot in Embodiment 1. The difference is that the boundary detection device 2 also includes a ball head. Specifically, the free end of the detection rod faces the side of the working surface. The telescopic ball head can slide along the direction perpendicular to the working surface, and the control unit controls the movement of the self-moving robot according to the detection signal of the boundary detection device equipped with the ball head.

[0026] The self-mobile robot in the first embodiment can only detect the boundary of the working surface with a high frame, but in this embodiment, the self-mobile robot with a ball head can realize the boundary detection of the working surface without a frame.

[0027] The specific structure of the ball head can be found in patent CN203885426U. The ball head can be connected to the inside of the detection rod by a spring to achieve the purpose of ...

Embodiment 3

[0030] The structure of this embodiment and the self-moving robot in Embodiment 1 is basically the same, the difference is that the fixed end of the detection rod is provided with a sleeve, the robot main body 1 is provided with a rotating shaft, and the sleeve is sleeved on the rotating shaft. It can slide along the axial direction of the rotating shaft, that is, the length of the sleeve is shorter than that of the rotating shaft. The above-mentioned structure can realize the rotation of the detection rod around the rotation axis, and can also make the boundary detection device 2 move axially along the rotation axis as a whole. The position of the casing can also be detected by a sensor connected to the control unit, such as a micro switch or a distance sensor, which will not be repeated here. According to the position of the casing, the boundary detection device transmits the detection signal to the control unit, and the control unit controls Self-moving robot actions.

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Abstract

A self-moving robot, comprising a robot body (1), the robot body is provided with a control unit and a boundary detection device (2), the boundary detection device includes a detection rod, one end of the detection rod is a fixed end, and The side of the robot body is fixed, and the other end is a free end, away from the side edge of the robot body. The detection rod can rotate around the fixed end and send out a detection signal according to the peripheral environment during the rotation. The control unit controls the self-mobile robot to act according to the detection signal. In the present invention, a boundary detection device is set on the self-mobile robot, so that the self-mobile robot can walk along the edge without retreating after encountering the boundary, thereby improving the cleaning efficiency of the area near the boundary; in addition, the self-mobile robot can effectively The various types of boundaries on the working surface can be accurately identified, so as to avoid damage to the self-mobile robot during work and ensure the safety of the self-mobile robot.

Description

technical field [0001] The invention relates to a self-moving robot, which belongs to the technical field of small household appliance manufacturing. Background technique [0002] Most of the window cleaning robots sold on the market use vacuum adsorption to work on the window. In order to reduce the collision between the window cleaning robot and the glass boundary, in the prior art, anti-collision devices are generally used on the window cleaning robot. The plate method, when the window cleaning robot collides with the glass boundary, the anti-collision plate triggers the micro switch, and the control unit in the window cleaning robot also controls the walking of the window cleaning robot according to the signal of the micro switch. Specifically, due to the collision Finally, the window-cleaning robot cannot continue to move forward. Therefore, after the control unit receives the collision signal, it controls the window-cleaning robot to retreat a certain distance and turn...

Claims

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Application Information

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IPC IPC(8): A47L1/02
CPCA47L1/02A47L2201/00A47L2201/04
Inventor 汤进举
Owner ECOVACS HOME SERVICE ROBOTICS CO LTD
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