A sweeping robot and its ground-lift sensor

Abstract

The present invention discloses a sweeping robot and its ground-lift sensor, the latter comprising: an infrared pair tube, the infrared pair tube comprising a transmitting end for transmitting infrared rays to the ground and a receiving end for receiving infrared rays reflected by the ground, the transmitting end and the receiving end are both arranged at the bottom of the housing of the sweeping robot; an infrared baffle, the infrared baffle is rotatably mounted on the housing through a rotating shaft, one end of the infrared baffle is connected to the wheel axle of the sweeping robot, and the other end of the infrared baffle blocks or unblocks the infrared beam between the infrared pair tube and the ground. In this way, by adding the ground-lift sensor, the optical signal can be cut off in hardware, thereby quickly stopping the motor from working, avoiding idling of the bottom wheel, thereby improving safety performance and avoiding power waste.

Description

Technical Field

[0001] The invention belongs to the technical field of smart homes, and in particular relates to a sweeping robot and a ground sensor thereof. Background Art

[0002] With the improvement of living standards and the acceleration of the pace of life, people's requirements for smart homes are also increasing. A sweeping robot is a type of smart home that can automatically complete floor cleaning work in the room based on artificial intelligence. However, during the operation of the sweeping robot, if the sweeping robot is lifted off the ground, the existing technology cannot achieve timely cutoff of the robot motor, resulting in the motor idling after the robot leaves the ground, which not only wastes electricity, but also causes the motor to drive the wheels to idle, which may also cause safety accidents. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the problems existing in the above-mentioned prior art, and this purpose is achieved through the following technical solutions.

[0004] The present invention provides a ground-lift sensor for a sweeping robot, comprising:

[0005] An infrared pair tube, the infrared pair tube comprising a transmitting end for transmitting infrared rays to the ground and a receiving end for receiving infrared rays reflected by the ground, the transmitting end and the receiving end are both arranged at the bottom of the housing of the sweeping robot;

[0006] An infrared baffle is rotatably mounted on the housing via a rotating shaft, one end of the infrared baffle is connected to the wheel axle of the sweeping robot, and the other end of the infrared baffle blocks the infrared beam between the infrared pair tube and the ground. The infrared pair tube can be unblocked by rotating the infrared baffle.

[0007] During operation, if the robot leaves the ground, the bottom wheel of the robot will move down under the action of gravity. Since the infrared baffle is connected to the axle of the bottom wheel, when the bottom wheel moves down, the end of the infrared baffle fixed to the axle will move down with it, and the middle part of the infrared baffle is rotatably connected to the shell of the sweeping robot through the shaft, then the end of the infrared baffle away from the axle will rotate around the shaft, thereby blocking the infrared beam between the infrared pair tube and the ground to cut off the infrared signal. According to the working principle of the infrared pair tube, when the infrared signal is cut off, a lift-off command will be sent to the robot's central control unit. In this way, by adding the lift-off sensor, the optical signal can be cut off in hardware, thereby quickly stopping the motor from working and avoiding idling of the bottom wheel, thereby improving safety performance and avoiding power waste.

[0008] Furthermore, the infrared baffle includes a connecting rod and a baffle located at the end of the connecting rod, the connecting rod is rotatably connected to the housing through the rotating shaft, and the baffle blocks or releases the infrared beam between the infrared tube and the ground.

[0009] Furthermore, it also includes a fixing base, which is fixed to the shell, and the connecting rod is rotatably connected to the fixing base.

[0010] Furthermore, the rotating shaft is mounted on the fixing seat, a mounting ring is fixedly connected to the connecting rod, and the mounting ring is movably sleeved on the rotating shaft.

[0011] Furthermore, the rotating shaft and the fixing seat are an integrally formed structure.

[0012] Furthermore, the fixing seat includes a bottom box and a top cover detachably mounted on the bottom box, one end of the connecting rod passes through the bottom box and is connected to the wheel axle, and the baffle is located in the accommodating space surrounded by the bottom box and the top cover.

[0013] Furthermore, it also includes a position-limiting dust-proof plate, which is located on the outside of the bottom box and is fixedly connected to the connecting rod.

[0014] Furthermore, the transmitting end and / or the receiving end are both provided with a dustproof structure.

[0015] Furthermore, the dustproof structure is a sealing gasket.

[0016] The present invention also provides a sweeping robot, comprising a shell and a ground-lift sensor installed at the bottom of the shell, wherein the ground-lift sensor is the ground-lift sensor described above.

[0017] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic structural diagram of a specific implementation of the lift-off sensor provided by the present invention;

[0019] Figure 2 for Figure 1 Outline drawing of the provided ground lift sensor.

[0020] Description of reference numerals:

[0021] 1-infrared baffle 11-connecting rod 12-baffle

[0022] 2-fixed seat 21-bottom box

[0023] 3-Limited dust plate DETAILED DESCRIPTION

[0024] The principles and features of the invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the invention and are not used to limit the scope of the invention.

[0025] Please refer to Figure 1 and Figure 2 , Figure 1 This is a structural schematic diagram of a specific implementation of the ground lift sensor provided by the present invention. Figure 2 for Figure 1 Outline drawing of the provided ground lift sensor.

[0026] In a specific embodiment, the lift-off sensor provided by the present invention is used in a sweeping robot to quickly cut off the infrared signal when the sweeping robot is off the ground, thereby realizing the rapid disconnection of the photoelectric switch to cut off the driving circuit of the robot and prevent the wheels from idling.

[0027] The off-ground sensor includes an infrared pair tube (not shown in the figure) and an infrared baffle 1, wherein the infrared pair tube includes a transmitting end for transmitting infrared rays to the ground and a receiving end for receiving infrared rays reflected by the ground, and the transmitting end and the receiving end are both arranged at the bottom of the housing of the sweeping robot. The infrared baffle 1 is rotatably mounted on the housing via a rotating shaft, one end of the infrared baffle 1 is connected to the wheel axle of the sweeping robot, and the other end of the infrared baffle 1 blocks the infrared beam between the infrared pair tube and the ground. By rotating the infrared baffle 1, the infrared pair tube can be unblocked.

[0028] The infrared pair tube realizes the control of the robot motor by the principle of photoelectric switch. Its circuit control principle is the same as the existing photoelectric switch principle. It should be understood that the infrared pair tube as a photoelectric switch should also have a switch circuit. Specifically, light is an electromagnetic ray, and its characteristics are like radio waves and X-rays. The transmission speed is about 300,000 kilometers per second, so it can be received at the moment of emission. The infrared photoelectric switch uses near-infrared and infrared rays that are invisible to the human eye (wavelength is 780nm-1mm) to detect and identify objects. The weak light beam emitted instantly by the photoelectric device can be safely, reliably and accurately emitted and received.

[0029] Photoelectric switch is a kind of sensor, which converts the strong photoelectric switch weak change of light between the transmitting end and the receiving end into the change of current to achieve the purpose of detection and switch control. The important role of infrared photoelectric switch is to be able to handle the change of light intensity, use optical elements to change the light beam in the middle of the propagation medium, use the light beam to reflect the object, and make the light beam return instantly after a long distance. In the working process, the transmitting end aims at the ground to emit the light beam, and the light beam is emitted continuously. The radiation intensity of the pulse-modulated light beam is selected many times during the emission and runs towards the ground without indirection; the above-mentioned receiving end is a photodiode or a phototransistor, and optical elements such as lenses and apertures can be installed in front of the receiving end. The receiving end is electrically connected to the above-mentioned switch circuit. The switch circuit includes an input circuit and an output circuit, and the output circuit and the input circuit are electrically isolated (i.e., electrically insulated). After the modulated pulse generated by the oscillation circuit passes through the reflection circuit, the interference is eliminated by a digital integral photoelectric switch or an RC integral method, and finally the driver is triggered to output the photoelectric switch control signal according to the light intensity. When the infrared baffle 1 is removed and the infrared beam is unblocked, the light intensity is strong and a high-level signal is emitted, the control switch is closed, the robot circuit is turned on, and it is in normal working condition; when the infrared baffle 1 blocks the infrared beam, the light intensity becomes weak and a low-level signal is emitted, the control switch is disconnected, the robot circuit is disconnected, and the bottom wheel stops.

[0030] During operation, if the robot leaves the ground, the bottom wheel of the robot will move down under the action of gravity. Since the infrared baffle 1 is connected to the axle of the bottom wheel, when the bottom wheel moves down, the end of the infrared baffle 1 fixed to the axle will move down accordingly. The middle part of the infrared baffle 1 is rotatably connected to the shell of the sweeping robot through a rotating shaft, and the end of the infrared baffle 1 away from the axle will rotate around the rotating shaft, thereby blocking the infrared beam between the infrared pair tube and the ground to cut off the infrared signal. According to the working principle of the infrared pair tube, when the infrared signal is cut off, a lift-off command will be issued to the central control unit of the robot. In this way, by adding the lift-off sensor, the optical signal can be cut off in hardware, thereby quickly stopping the motor from working and avoiding idling of the bottom wheel, thereby improving safety performance and avoiding power waste. At the same time, the use of a mechanical structure to cut off the infrared signal will not cause the wear and failure of electronic components, and the service life will be longer and the functional stability will be better.

[0031] In order to facilitate installation and ensure shielding ability while reducing the cost of consumables, the infrared baffle 1 includes a connecting rod 11 and a baffle 12 located at the end of the connecting rod 11, the width of the connecting rod 11 is smaller than the width of the baffle 12, the connecting rod 11 is rotatably connected to the housing through the rotating shaft, and the baffle 12 blocks or releases the infrared beam between the infrared tube and the ground.

[0032] The off-the-ground sensor also includes a fixed seat 2, which is fixed to the outer shell of the sweeping robot, and the connecting rod 11 is rotatably connected to the fixed seat 2. Specifically, the rotating shaft is installed on the fixed seat 2, and a mounting ring is fixed to the connecting rod 11, and the mounting ring can be movably sleeved on the rotating shaft. The main structure of the off-the-ground sensor is integrated into a sled through the fixed seat 2, which significantly improves the space utilization rate, and can avoid interference and collision with other parts, improve the safety of use, and ensure the performance of the relevant structure. In theory, the connecting rod 11 can also be directly hinged on the outer shell of the robot, and the above-mentioned rotating shaft and the fixed seat can be an integrally formed structure, or the rotating shaft can be fixed to the fixed seat by bonding, welding, etc. Alternatively, the rotating shaft can be detachably mounted on the fixed seat. Since the rotating shaft is often subjected to force and is a vulnerable part, the use of a detachable method can effectively reduce the difficulty of repairing and replacing parts. The rotating shaft can also be in the form of a retractable sleeve shaft, so that the length of the rotating shaft can be adjusted as needed.

[0033] Since the ground lift sensor uses multiple optical elements, considering the sensitivity of the optical elements to dust, a dustproof structure needs to be provided. For example, the fixing seat 2 can be designed in the form of a box body. Since wiring is required, it is necessary to open wiring holes and other structures on the fixing seat 2, and a sealing ring is provided at the wiring hole to prevent dust. In addition, in order to prevent dust and limit the position, the ground lift sensor also includes a limit dustproof plate 3, which is located on the outside of the base box and is fixedly connected to the connecting rod. It is larger than the opening of the wiring hole opened on the base box to ensure that the connecting rod is in an extended state, and can block the wiring hole in the installed state to play a role in dust prevention.

[0034] Specifically, the fixing base 2 includes a bottom box 21 and a top cover detachably mounted on the bottom box 21, one end of the connecting rod 11 passes through the bottom box 21 and is connected to the wheel axle, and the baffle 12 is located in the accommodation space surrounded by the bottom box 21 and the top cover. In addition, the transmitting end and / or the receiving end are both provided with a dustproof structure, which is a sealing gasket.

[0035] In addition to the above-mentioned lift-off sensor, the present invention also provides a sweeping robot including the lift-off sensor. For the structures of other parts of the sweeping robot, please refer to the prior art and will not be described in detail here.

[0036] During the operation of the sweeping robot, if it leaves the ground, the bottom wheel of the robot will move down under the action of gravity. Since the infrared baffle is connected to the axle of the bottom wheel, when the bottom wheel moves down, the end of the infrared baffle fixed to the axle will move down accordingly, and the middle part of the infrared baffle is rotatably connected to the shell of the sweeping robot through the rotating shaft, and the end of the infrared baffle away from the axle will rotate around the rotating shaft, thereby blocking the infrared beam between the infrared pair tube and the ground to cut off the infrared signal. According to the working principle of the infrared pair tube, when the infrared signal is cut off, a lift-off command will be sent to the robot's central control unit. In this way, by adding the lift-off sensor, the optical signal can be cut off in hardware, thereby quickly stopping the motor from working and avoiding idling of the bottom wheel, thereby improving safety performance and avoiding power waste. At the same time, the use of a mechanical structure to cut off the infrared signal will not cause the wear and failure of electronic components, and the service life will be longer and the functional stability will be better.

[0037] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0038] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if these modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A ground-lift sensor for a sweeping robot, characterized in that: include: An infrared pair tube, the infrared pair tube comprising a transmitting end for transmitting infrared rays to the ground and a receiving end for receiving infrared rays reflected by the ground, the transmitting end and the receiving end are both arranged at the bottom of the housing of the sweeping robot; An infrared baffle (1), wherein the middle portion of the infrared baffle (1) is rotatably mounted on the housing via a rotating shaft, one end of the infrared baffle (1) is connected to the axle of the bottom wheel of the sweeping robot, and the other end of the infrared baffle (1) away from the axle blocks the infrared pair of tubes. The infrared baffle (1) is rotated to release the blocking of the infrared pair of tubes.

2. The ground lift sensor according to claim 1, characterized in that: The infrared baffle (1) comprises a connecting rod (11) and a baffle (12) located at the end of the connecting rod (11); the connecting rod (11) is rotatably connected to the housing via the rotating shaft; and the baffle (12) blocks or releases the infrared beam between the infrared pair tube and the ground.

3. The ground lift sensor according to claim 2, characterized in that: It also comprises a fixing seat (2), wherein the fixing seat (2) is fixedly connected to the outer shell, and the connecting rod (11) is rotatably connected to the fixing seat (2).

4. The ground lift sensor according to claim 3, characterized in that: The rotating shaft is mounted on the fixing seat (2), and a mounting ring is fixedly connected to the connecting rod (11), and the mounting ring can be movably sleeved on the rotating shaft.

5. The lift-off sensor according to claim 4, characterized in that: The rotating shaft and the fixing seat are an integrally formed structure.

6. The ground lift sensor according to claim 4, characterized in that: The fixing seat (2) comprises a bottom box (21) and a top cover detachably mounted on the bottom box (21); one end of the connecting rod (11) passes through the bottom box (21) and is connected to the wheel axle; and the blocking piece (12) is located in a containing space enclosed by the bottom box (21) and the top cover.

7. The ground lift sensor according to claim 6, characterized in that: It also includes a position-limiting dust-proof plate, which is located on the outside of the bottom box and is fixedly connected to the connecting rod.

8. The ground lift sensor according to claim 1, characterized in that: The transmitting end and / or the receiving end are both provided with a dustproof structure.

9. The ground lift sensor according to claim 8, characterized in that: The dustproof structure is a sealing gasket.

10. A sweeping robot, comprising a housing, characterized in that: It also includes a lift-off sensor installed at the bottom of the housing, and the lift-off sensor is the lift-off sensor according to any one of claims 1-9.

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