Robot Vacuum Cleaner

Abstract

The present application relates to a sweeping robot, which includes a main body, an anti-collision plate, a first collision switch and a second collision switch. The anti-collision plate includes a main body portion and a side body portion extending longitudinally along a first direction, the first collision switch corresponds to the main body portion, and the second collision switch corresponds to the side body portion; the anti-collision plate defines a first median plane perpendicular to the first direction and a second median plane parallel to the first direction, and the distance value between the center of the first collision switch of the adjacent side body portion and the first median plane is a; the distance between the first section of the first median plane and the second section is defined as b, and a and b meet the conditions: 1 / 6≤a / b≤3 / 10, and the center of the second collision switch of the adjacent main body portion is located on the side of the second median plane away from the main body portion. The sweeping robot provided by the present application has more than seven collision areas of the anti-collision plate, and the collision position is more subdivided and clear. When any position of the anti-collision plate is collided, the trigger sensitivity of the collision switch is good.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a sweeping robot. Background Art

[0002] When an existing sweeping robot cleans the floor, due to the complex surrounding environment, it often collides with surrounding obstacles when moving around, thereby causing damage to the sweeping robot.

[0003] In order to avoid the collision between the sweeping robot and the surrounding obstacles, an anti-collision plate and a collision switch connected to the anti-collision plate are usually installed around the sweeping robot body. When the sweeping robot collides with the surrounding obstacles, the anti-collision plate can play a good buffering role and transmit information to the main controller through the collision switch to control the rotation direction of the sweeping robot.

[0004] However, when the anti-collision plate of the existing sweeping robot is hit, the collision switch cannot be triggered sensitively, resulting in unclear collision position, which in turn easily leads to obstacle avoidance errors. Summary of the invention

[0005] Based on this, it is necessary to provide a sweeping robot that can improve the triggering sensitivity of the collision switch, make the collision position clear, and accurately avoid obstacles, in order to address the problem that the collision switch of the existing sweeping robot cannot be triggered sensitively after the anti-collision plate is hit, resulting in unclear collision position, which in turn easily leads to obstacle avoidance errors.

[0006] In one aspect of the present application, a sweeping robot is provided, comprising:

[0007] ontology;

[0008] An anti-collision plate is arranged on one side of the main body, and the anti-collision plate includes a main body portion extending longitudinally along a first direction and side body portions located at both ends of the main body portion;

[0009] at least two first collision switches are arranged at intervals along a first direction on a side of the body facing the main portion; and

[0010] A second collision switch is disposed on one side of the main body facing each of the side body parts;

[0011] Wherein, one of the side body parts has a first tangent plane perpendicular to the first direction and tangent to the outer side surface of the side body part; wherein the other side body part has a second tangent plane perpendicular to the first direction and tangent to the outer side surface of the side body part;

[0012] The distance between the center of the first collision switch adjacent to the side body portion and the first median plane between the first section and the second section is a; the distance between the first section and the second section is b, and a and b satisfy the condition: 1 / 6≤a / b≤3 / 10;

[0013] The main body portion has a third section parallel to the first direction and tangent to the outer side surface of the main body portion, and the side body portion has a fourth section parallel to the first direction and tangent to the farthest end of the side body portion compared to the main body portion;

[0014] The center of the second collision switch adjacent to the main body is spaced apart from the second median plane of the third section and the fourth section, and is located on a side of the second median plane away from the main body.

[0015] In one embodiment, the first collision switches include two.

[0016] In one embodiment, the at least two first collision switches are symmetrical with respect to the first mid-plane axis;

[0017] The second collision switches include at least two, and the at least two second collision switches are symmetrical with respect to the first median plane.

[0018] In one embodiment, the side body portion includes a main side body portion and a corner connecting portion, and the main side body portion is connected to the main body portion as a whole by means of the corner connecting portion.

[0019] In one embodiment, the second collision switch is disposed on a side of the main body facing each of the main side body portions.

[0020] In one embodiment, the cross-section of the corner connecting portion is fan-shaped.

[0021] In one embodiment, one end of the side portion facing away from the main body portion is suspended.

[0022] In one embodiment, both the first collision switch and the second collision switch are contact type collision switches.

[0023] In one embodiment, the first collision switch is in contact with the main body portion, and the second collision switch is in contact with the corresponding side body portion.

[0024] In one embodiment, the first collision switch and the second collision switch both include:

[0025] a photoelectric switch configured to generate a collision signal in response to being triggered;

[0026] a moving member, located at one side of the photoelectric switch and in contact with the anti-collision plate, the moving member being configured to move along a preset direction in response to a force applied by the anti-collision plate; and

[0027] A triggering member connected to the moving member, wherein the moving member can drive the triggering member to move between a first position and a second position along the preset direction;

[0028] The triggering member is constructed to have a moving path that can continuously trigger the photoelectric switch during the movement process before reaching the first position and the second position.

[0029] In one embodiment, the first collision switch and the second collision switch each further include a housing and an elastic reset member;

[0030] The photoelectric switch and the trigger member are arranged in the housing, the moving member is arranged in the housing, and the elastic reset member is connected between the moving member and the housing;

[0031] The elastic restoring member is used to provide an elastic restoring force for causing the moving member and the anti-collision plate to move along the preset direction and in a direction away from the photoelectric switch.

[0032] In one embodiment, the side portion extends along a second direction, and an angle between the first direction and the second direction is greater than 90 degrees.

[0033] In one embodiment, the main body portion and the side body portion are integrally formed.

[0034] In one embodiment, the anti-collision plate is arranged on one side of the body along the forward direction of the sweeping robot;

[0035] The anti-collision plate is configured to be able to move closer to or farther from the body.

[0036] The above-mentioned sweeping robot can make the first collision switch as close to the side parts as possible by setting the first collision switch at a position satisfying 1 / 6≤a / b≤3 / 10, so that the main body is subjected to balanced force in its extension direction, thereby improving the trigger sensitivity.

[0037] Secondly, since the second collision switch is located on the side away from the main body part in the second median plane β3, that is, the distance is farther than the connection between the main body part and the side body part, when the side body part is subjected to an external collision force, the displacement of the side body part on the side of the second median plane β3 away from the main body part is greater than the displacement of the side body part on the side of the second median plane β3 close to the main body part, and the second collision switch is easier to be triggered, thereby improving the trigger sensitivity.

[0038] Therefore, the sweeping robot of the present application has more than seven collision areas of the anti-collision plate, and the collision position of the anti-collision plate is more subdivided and clear. Moreover, when the anti-collision plate is collided at any position, the trigger sensitivity of the collision switch is good, so that the main controller of the sweeping robot can clearly know the collision position of the anti-collision plate, thereby enabling the main controller to accurately control the main body to make corresponding turning movements to avoid obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the three-dimensional structure of a sweeping robot in one embodiment of the present application;

[0040] Figure 2 for Figure 1 A three-dimensional schematic diagram of a partial structure of the sweeping robot shown;

[0041] Figure 3 for Figure 2 A schematic top view of a partial structure of the sweeping robot shown;

[0042] Figure 4 for Figure 3 A schematic diagram of the collision area distribution of a partial structure of the sweeping robot shown;

[0043] Figure 5 for Figure 1 A schematic front view of a partial structure of the sweeping robot shown;

[0044] Figure 6 This is a schematic diagram of the three-dimensional structure of a first collision switch in one embodiment of the present application;

[0045] Figure 7 for Figure 6 The exploded structural diagram of the first collision switch shown;

[0046] Figure 8 for Figure 6 The cross-sectional structural schematic diagram of the first collision switch in the initial state is shown;

[0047] Fig. 9 for Figure 6 The cross-sectional structure diagram of the first collision switch in the triggered state is shown. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0050] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0055] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the elements in the drawings are drawn only as examples and not necessarily according to the true scale.

[0056] In order to facilitate understanding of the technical solution of the present application, before a detailed description is given, the conventional sweeping robot is first described.

[0057] Existing sweeping robots are usually circular in shape as a whole. The sweeping robots include a main body and an anti-collision plate. The anti-collision plate is installed in an arc shape in front of the main body. Therefore, no matter which direction the anti-collision plate is hit by a collision, the two components of force it receives in the horizontal and vertical directions are both large, and the collision plate is easily moved by the force. In addition, traditional collision switches are all Hall elements, which generate different magnetic induction quantities by the displacement of the anti-collision plate. Therefore, the collision switch is also easily triggered.

[0058] However, a round sweeping robot may not be able to clean the ground when it is close to a wall or a corner. Therefore, a sweeping robot with an overall D-shape has appeared on the market, referred to as a D-type sweeping robot. The anti-collision plate of the D-type sweeping robot is roughly D-shaped, specifically including a main body part and side parts arranged on both sides of the main body part, so that the bottom surface close to the wall or the corner can be cleaned.

[0059] The inventors of the present application have discovered that, although the cleaning ability of the existing D-type sweeping robot is improved, it is limited by the structure of the D-shaped anti-collision plate. The collision switches need to be distributed in the main body and the side body to correspond to the sensing collision position. However, the position distribution of the existing collision switches is unreasonable, resulting in the inability to sensitively trigger the collision switch of the sweeping robot after the anti-collision plate is collided, resulting in unclear collision position, which can easily lead to obstacle avoidance errors.

[0060] Therefore, it is necessary to provide a sweeping robot that can sensitively trigger a collision switch after a D-shaped anti-collision plate is hit, so that the collision position is clear and the robot can accurately avoid obstacles.

[0061] Figure 1 A schematic diagram of the three-dimensional structure of a sweeping robot in an embodiment of the present application is shown; Figure 2 Shows Figure 1 A three-dimensional schematic diagram of a partial structure of the sweeping robot shown; Figure 3 for Figure 2 The schematic top view of the partial structure of the sweeping robot shown in the figure. For the convenience of description, the figure only shows the structure related to the embodiment of the present application.

[0062] Referring to the drawings, a cleaning robot 100 provided in one embodiment of the present application includes a body 10, an anti-collision plate 20, at least two first collision switches 30 and a second collision switch 40. In the embodiment of the present application, the cleaning robot 100 is a cleaning robot with an overall D-shaped shape, referred to as a D-shaped cleaning robot.

[0063] The anti-collision plate 20 is disposed at one side of the body 10. Specifically, it is located in front of the body 10 along the traveling direction of the cleaning robot 100, and the anti-collision plate 20 can move toward or away from the body 10. Therefore, when the anti-collision plate 20 collides with surrounding obstacles, it can move toward the body 10, and then trigger the collision switch to sense the collision and the collision position.

[0064] The anti-collision plate 20 includes a main body portion 21 extending longitudinally along a first direction and side body portions 22 located at both ends of the main body portion 21. In some embodiments, the side body portion 22 includes a main side body portion 221 and a corner connection portion 222, and the main side body portion 221 is connected to the main body portion 21 as a whole by means of the corner connection portion 222. Specifically, the first direction is Figure 1 In the left and right directions shown. Further, the main side body portion 221 extends along the second direction, and the angle between the first direction and the second direction is not less than 90 degrees. Preferably, the angle between the first direction and the second direction is greater than 90 degrees. In this way, the side body portion 22 can be expanded outward, and the displacement of the side body portion 22 after being hit is larger, making it easier for the corresponding collision switch to be triggered sensitively.

[0065] At least two first collision switches 30 are arranged at intervals along the first direction on one side of the body 10 facing the main body portion 21 , and the second collision switch 40 is arranged on one side of the body 10 facing each side portion 22 . It can be understood that the cleaning robot 100 of the present application includes at least two second collision switches 40 .

[0066] Among them, one side body part 22 has a first section α1 perpendicular to the first direction and tangent to the outer side surface of the side body part 22, and the other side body part 22 has a second section α2 perpendicular to the first direction and tangent to the outer side surface of the side body part 22. The distance value between the center of the first collision switch 30 of the adjacent side body part 22 and the first median plane α3 of the first section α1 and the second section α2 is a, and the distance between the first section α1 and the second section α2 is b, and a and b meet the condition: 1 / 6≤a / b≤3 / 10. It should be pointed out that the first median plane α3 of the first section α1 and the second section α2 refers to,

[0067] The main body portion 21 has a third tangent plane β1 parallel to the first direction and tangent to the outer side surface of the main body portion 21, and the side portion 22 has a fourth tangent plane β2 parallel to the first direction and tangent to the farthest end of the side portion 22 compared to the main body portion 21. The center of the second collision switch 40 of the adjacent main body portion 21 is arranged at intervals from the second median plane β3 of the third tangent plane β1 and the fourth tangent plane β2, and is located on the side of the second median plane β3 away from the main body portion 21.

[0068] So, like Figure 4 As shown, the anti-collision plate 20 can be divided into at least seven collision areas, namely the front area A corresponding to the main body 21, the first side area B1 and the second side area B2 corresponding to the two side body parts 22, and the first corner area C1 and the second corner area C2 corresponding to the corner connection part 222, wherein the front area A includes at least three collision areas. The front area A is triggered by the first collision switch 30, the first side area B1 and the second side area B2 are triggered by the corresponding second collision switch 40, and the first corner area C1 and the second corner area C2 can be triggered by the adjacent first collision switch 30 and the second collision switch 40 at the same time. In some embodiments, in order to make the first corner area C1 and the first side area B1 and the second side area B2 and the second corner area C2 have a clear trigger reaction, a second collision switch 40 is set on the side of the body 10 facing each main side body part 221.

[0069] By setting the first collision switch 30 at a position satisfying 1 / 6≤a / b≤3 / 10, the first collision switch 30 can be placed as close as possible to the side body portions 22 on both sides, so that the main body portion 21 is subjected to balanced force in its extending direction, thereby improving the trigger sensitivity.

[0070] Secondly, since the second collision switch 40 is set on the side away from the main body part 21 in the second mid-plane β3, that is, the distance is farther than the connection between the main body part 21 and the side body part 22, when the side body part 22 is subjected to an external collision force, the displacement of the side body part 22 on the side of the second mid-plane β3 away from the main body part 21 is greater than the displacement of the side body part 22 on the side of the second mid-plane β3 close to the main body part 21, and the second collision switch 40 is more easily triggered, thereby improving the trigger sensitivity.

[0071] Therefore, the sweeping robot 100 of the present application has more than seven collision areas of the anti-collision plate 20, and the collision position of the anti-collision plate 20 is more subdivided and clear. Moreover, when any position of the anti-collision plate 20 is collided, the triggering sensitivity of the collision switch is good, so that the main controller of the sweeping robot 100 can clearly identify the collision position of the anti-collision plate 20, thereby enabling the main controller to accurately control the main body 10 to make corresponding turning movements to avoid obstacles.

[0072] Please refer again Figure 3 and Figure 4 In a preferred embodiment, the first collision switches 30 include two. In this way, the front area A corresponding to the main part 21 of the anti-collision plate 20 can be divided into three collision areas, namely the first front area A1 of the main part 21 between the two first collision switches 30 and the second front area A2 and the third front area A3 located on both sides of the first front area. Specifically, when the first front area A1 is subjected to an external collision force, both first collision switches 30 are triggered. When the second front area A2 or the third front area A3 is subjected to an external collision force, a corresponding first collision switch 30 is triggered. Therefore, the anti-collision plate 20 has as many as seven collision areas, and the collision position of the anti-collision plate 20 is more subdivided and clear. After receiving the corresponding trigger signal, the main controller of the sweeping robot 100 can make a more accurate judgment on steering and obstacle avoidance, further improving the obstacle avoidance effect.

[0073] In addition, it should be pointed out that, limited by the overall size of the cleaning robot 100, the size of the anti-collision plate and cost control, preferably, the cleaning robot 100 includes two first collision switches 30 and two second collision switches 40. In other embodiments, the cleaning robot 100 may also include more than two first collision switches 30 or more than two second collision switches 40, which is not limited here.

[0074] In some embodiments, the first collision switch 30 near the corner connection 222 and the second collision switch 40 adjacent thereto are symmetrically distributed with respect to the angular bisector of the corner connection portion 222. Since the first collision switch 30 and the second collision switch 40 are symmetrically arranged with respect to the angular bisector of the corner connection portion 222, when the corner connection portion 222 is subjected to an external collision force, two components of force that stably trigger the first collision switch 30 and the second collision switch 40 can be generated.

[0075] In some embodiments, at least two first collision switches 30 are symmetrical with respect to the first median plane α3, and at least two second collision switches 40 are symmetrical with respect to the first median plane α3. In this way, when all regions are subjected to external collision forces, the collision switches are subjected to balanced forces, thereby improving the accuracy of collision triggering and the accuracy of subsequent obstacle avoidance. It can be understood that when there are an odd number of second collision switches 40, the center of the middle second collision switch 40 coincides with the first median plane α3.

[0076] In some embodiments, the cross-sectional shape of the corner connecting portion 222 is fan-shaped. Thus, when the corner connecting portion 222 is touched, two component forces for triggering the first collision switch 30 and the second collision switch 40 can be more accurately generated, making the triggering more sensitive.

[0077] In some embodiments, the end of the side body portion 22 away from the main body portion 21 is suspended. In this way, when the second collision switch 40 is set at the side away from the main body portion 21 on the second mid-plane β3, that is, it is set close to the suspension end, the resistance of the suspension end is small, the displacement of the side body portion 22 after collision is larger, the second collision switch 40 is more easily triggered, and the trigger sensitivity is further improved.

[0078] In some embodiments, the main body 21 and the side body 22 are integrally formed. The integrally formed main body 21 and side body 22 have a more stable structure and higher structural strength. After being subjected to an external collision force, the first collision switch 30 and the second collision switch 40 can be given a more reliable triggering condition to improve the triggering stability.

[0079] like Figure 6 and Figure 7 As shown, in the embodiment of the present application, the first collision switch 30 and the second collision switch 40 are both contact-type collision switches. Compared with the traditional Hall element, the contact-type collision switch has lower cost and higher stability.

[0080] Furthermore, the first collision switch 30 maintains contact with the main body portion 21, and the second collision switch 40 maintains contact with the corresponding side body portion 22. Maintaining contact means that the first collision switch 30 and the second collision switch 40 are maintained in contact in the initial state of the anti-collision plate 20 and in the process of movement after the collision force is applied, thereby improving the collision response of the collision switch to the anti-collision plate 20, and the triggering after the collision is more timely and sensitive.

[0081] Specifically in one embodiment, the first collision switch 30 and the second collision switch 40 each include a photoelectric switch 31, a moving member 32 and a trigger member 33. The photoelectric switch 31 is configured to generate a collision signal in response to a trigger, the moving member 32 is located on one side of the photoelectric switch 31 and maintains contact with the anti-collision plate 20, the moving member 32 is configured to be able to move along a preset direction in response to the force of the anti-collision plate 20, the trigger member 33 is connected to the moving member 32, the moving member 32 can drive the trigger member 33 to move between the first position and the second position along a preset direction, wherein the trigger member 33 is configured to have a moving path that can continuously trigger the photoelectric switch 31 during the movement process before reaching the first position and the second position. Specifically, the preset direction of the moving member 32 of the first collision switch 30 is Figure 3 In the up and down direction shown, the preset direction of the moving member 32 of the second collision switch 30 is Figure 3 Left and right directions shown.

[0082] In this way, by setting up the photoelectric switch 31, the trigger member 33 does not need mechanical collision to trigger the collision switch, and after the anti-collision plate 20 is hit, the trigger member 33 moves backward along the preset direction. After the trigger member 33 triggers the photoelectric switch 31, the trigger member 33 can continue to move backward to continue triggering, making the triggering more accurate and stable, and improving the triggering sensitivity.

[0083] Specifically, the photoelectric switch 31 includes a light emitting unit and a light receiving unit for receiving the light beam emitted by the light emitting unit, and the trigger 33 can be at least partially located on the propagation path of the light beam emitted by the light emitting unit to change the light beam amount of the light receiving unit. It should be pointed out that the strength or existence of the light beam should be a reflection of the light beam amount.

[0084] like Figure 8 and Fig. 9As shown, in some embodiments, the first collision switch 30 and the second collision switch 40 both further include a housing 34 and an elastic reset member 35, the photoelectric switch 31 and the trigger member 33 are disposed in the housing 34, the moving member 32 is disposed in the housing 34, the elastic reset member 35 is connected between the moving member 32 and the housing 34, and the elastic reset member 35 is used to provide an elastic restoring force that enables the moving member 32 and the anti-collision plate 20 to move in a preset direction and in a direction away from the photoelectric switch 31. Specifically, the elastic reset member 35 includes an elastic compression reset member or a torsion spring. More specifically, the elastic compression reset member includes a compression spring.

[0085] In this way, the photoelectric switch 31, the moving part 32, the trigger part 33, and the elastic reset part 35 are centrally installed in the housing 34. When the anti-collision plate 20 is subjected to an external collision force, the corresponding collision switch is triggered, and then the main controller controls the main body 10 to make a turn to avoid obstacles. The collision force of the anti-collision plate 20 disappears, and the anti-collision plate 20 can be reset with the moving part 32 under the action of the restoring force of the elastic reset part 35. The reset is fast and reliable, thereby improving the sensitivity of the next collision. In addition, due to the setting of the setting position of the first collision switch 30 and the second anti-collision switch 40 relative to the anti-collision plate 20, the position of the elastic reset part 35 relative to the anti-collision plate 20 is also set, so that the reset force of the anti-collision plate 20 is balanced.

[0086] Furthermore, the housing 34 has a housing cavity 341, and the photoelectric switch 31 and the trigger member 33 are disposed in the housing cavity 341. In some embodiments, the housing 34 includes a first housing 342 and a second housing 343, and the first housing 342 and the second housing 343 are configured to be able to be matched along a preset direction to form the housing cavity 341 of the housing 34. In this way, the photoelectric switch 31, the moving member 32, the trigger member 33, and the elastic reset member 35 can be installed more conveniently relative to the housing 34.

[0087] The cleaning robot 100 provided in the embodiment of the present application has the following beneficial effects:

[0088] By setting the first collision switch 30 at a position satisfying 1 / 6≤a / b≤3 / 10, the first collision switch 30 can be placed as close as possible to the side body portions 22 on both sides, so that the main body portion 21 is subjected to balanced force in its extending direction, thereby improving the trigger sensitivity.

[0089] Secondly, since the second collision switch 40 is located on the side away from the main body 21 in the second mid-plane β3, that is, the distance is farther than the connection between the main body 21 and the side body 22, when the side body 22 is subjected to an external collision force, the second collision switch 40 is subjected to a greater force, thereby improving the trigger sensitivity.

[0090] Therefore, the sweeping robot 100 of the present application has more than seven collision areas of the anti-collision plate 20, and the collision position of the anti-collision plate 20 is more subdivided and clear. Moreover, when any position of the anti-collision plate 20 is collided, the triggering sensitivity of the collision switch is good, so that the main controller of the sweeping robot 100 can clearly identify the collision position of the anti-collision plate 20, thereby enabling the main controller to accurately control the main body 10 to make corresponding turning movements to avoid obstacles.

[0091] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A sweeping robot (100), characterized in that: include: Ontology(10); An anti-collision plate (20) is arranged on one side of the main body (10), the anti-collision plate (20) comprising a main body portion (21) extending longitudinally along a first direction and side body portions (22) located at both ends of the main body portion (21); At least two first collision switches (30) are arranged at intervals along a first direction on a side of the body (10) facing the main portion (21); as well as A second collision switch (40) is disposed on a side of the main body (10) facing each of the side body parts (22); Wherein, one of the side body parts (22) has a first tangent plane (α1) perpendicular to the first direction and tangent to the outer side surface of the side body part (22); wherein the other side body part (22) has a second tangent plane (α2) perpendicular to the first direction and tangent to the outer side surface of the side body part (22); The distance value between the center of the first collision switch (30) adjacent to the side body portion (22) and the first median plane (α3) of the first section (α1) and the second section (α2) is a; the distance between the first section (α1) and the second section (α2) is b, and a and b satisfy the condition: 1 / 6≤a / b≤3 / 10; The main body portion (21) has a third tangent plane (β1) parallel to the first direction and tangent to the outer side surface of the main body portion (21), and the side portion (22) has a fourth tangent plane (β2) parallel to the first direction and tangent to the farthest end of the side portion (22) compared to the main body portion (21); The center of the second collision switch (40) adjacent to the main body (21) is arranged at intervals from the second median plane (β3) of the third section (β1) and the fourth section (β2), and is located on a side of the second median plane (β3) away from the main body (21).

2. The cleaning robot (100) according to claim 1, characterized in that: The first collision switches (30) include two.

3. The cleaning robot (100) according to claim 1, characterized in that: The at least two first collision switches are axially symmetrical with respect to the first mid-plane (α3); The second collision switches (40) include at least two, and at least the second collision switches (40) are symmetrical with respect to the first mid-plane (α3).

4. The cleaning robot (100) according to claim 1, characterized in that: The side body portion (22) comprises a main side body portion (221) and a corner connection portion (222), and the main side body portion (221) is connected to the main body portion (21) as a whole by means of the corner connection portion (222).

5. The cleaning robot (100) according to claim 4, characterized in that: The second collision switch (40) is arranged on a side of the main body (10) facing each of the main side body parts (221).

6. The cleaning robot (100) according to claim 4, characterized in that: The cross-sectional shape of the corner connection portion (222) is fan-shaped.

7. The cleaning robot (100) according to claim 1, characterized in that: One end of the side body portion (22) facing away from the main body portion (21) is suspended.

8. The cleaning robot (100) according to claim 1, characterized in that: The first collision switch (30) and the second collision switch (40) are both contact-type collision switches.

9. The cleaning robot (100) according to claim 8, characterized in that: The first collision switch (30) maintains contact with the main body portion (21), and the second collision switch (40) maintains contact with the corresponding side body portion (22).

10. The cleaning robot (100) according to claim 9, characterized in that: The first collision switch (30) and the second collision switch (40) both include: A photoelectric switch (31) configured to generate a collision signal in response to a trigger; a moving member (32) located at one side of the photoelectric switch (31) and in contact with the anti-collision plate (20), wherein the moving member (32) is configured to be able to move along a preset direction in response to the force of the anti-collision plate (20); and A trigger member (33) connected to the moving member (32), wherein the moving member (32) can drive the trigger member (33) to move between a first position and a second position along the preset direction; The trigger member (33) is constructed to have a moving path that can continuously trigger the photoelectric switch (31) during the movement process before reaching the first position and the second position.

11. The cleaning robot (100) according to claim 10, characterized in that: The first collision switch (30) and the second collision switch (40) both further include a housing (34) and an elastic reset member (35); The photoelectric switch (31) and the trigger member (33) are arranged in the housing (34), the moving member (32) is arranged in the housing (34), and the elastic reset member (35) is connected between the moving member (32) and the housing (34); The elastic restoring member (35) is used to provide an elastic restoring force for causing the moving member (32) and the anti-collision plate (20) to move along the preset direction and in a direction away from the photoelectric switch (31).

12. The cleaning robot (100) according to any one of claims 1 to 11, characterized in that: The side body portion (22) extends along a second direction, and an angle between the first direction and the second direction is greater than 90 degrees.

13. The cleaning robot (100) according to any one of claims 1 to 11, characterized in that: The main body portion (21) and the side body portion (22) are integrally formed.

14. The cleaning robot (100) according to any one of claims 1 to 11, characterized in that: The anti-collision plate (20) is arranged on one side of the body (10) along the forward direction of the cleaning robot (100); Furthermore, the anti-collision plate (20) is constructed to be able to move closer to or farther away from the body (10).

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