Self-moving robot

Abstract

This invention provides a self-moving robot, comprising a top cover, a base, and a pressure sensor assembly. The top cover includes an integrally formed top plate and a side plate, with a connecting portion formed between the top plate and the side plate, and the connecting portion being at least partially higher than the top plate. The base is located below the top plate. The pressure sensor assembly is disposed facing the side plate. The self-moving robot provided by this invention avoids the impact of floating impact plates on the positioning accuracy of optical components in traditional self-moving robots, thus improving the reliability of the self-moving robot during movement.

Description

Technical Field

[0001] This invention belongs to the field of intelligent device manufacturing technology, and in particular relates to a self-moving robot. Background Technology

[0002] With the advancement of science and technology and the improvement of people's quality of life, self-cleaning robots have entered the lives of more and more people.

[0003] Currently, most obstacle avoidance devices for self-moving sweeping robots on the market are floating bumpers. This floating bumper structure is located at the front of the machine in the direction of movement. The front of the machine generally needs to be equipped with high-precision optical components, which are placed on the floating bumper. Due to the moving characteristics of the floating bumper, the positioning accuracy of the optical components will inevitably be reduced, thus affecting the reliability of the self-moving robot during movement. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a self-moving robot, which includes a top cover, a base, and a pressure sensor assembly;

[0005] The upper cover includes an integrally formed top plate and a side plate, a connecting portion is formed between the top plate and the side plate, and the connecting portion is at least partially higher than the top plate;

[0006] The base is located below the top plate;

[0007] The pressure sensor assembly is positioned facing the side plate.

[0008] Furthermore, the connecting portion has an inverted V-shaped structure.

[0009] Furthermore, the side panel is made of rigid plastic.

[0010] Furthermore, a first gap exists between the end of the side plate near the base and the outer edge of the base.

[0011] Furthermore, the base is provided with a groove, the lower end of the side plate is inserted into the groove, and there is a second gap between the inner wall of the groove and the lower end of the side plate.

[0012] Furthermore, the thickness of the connecting portion is 1 to 2 mm.

[0013] Furthermore, the thickness of the side plate is 1 to 2 mm.

[0014] Furthermore, the pressure sensor assembly includes a sensor support layer and a sensor body layer that are attached to each other.

[0015] Furthermore, the sensor support layer is made of a rigid material.

[0016] Furthermore, the self-moving robot also includes a first fixed frame, which is mounted on the top plate. The pressure sensor assembly is disposed between the side plate and the first fixed frame. The end of the first fixed frame near the side plate abuts against the sensor support layer, and the end of the first fixed frame away from the side plate has a first preset distance from the side plate.

[0017] Furthermore, the minimum value of the first preset distance is 5mm.

[0018] Furthermore, the first preset distance is 14 to 17 mm.

[0019] Furthermore, the pressure sensor assembly includes at least one strain gauge pressure sensor;

[0020] Each strain gauge pressure sensor includes a sensor base and a sensor body. The sensor base is disposed on the top plate facing the base, and the sensor body is disposed on the sensor base, with the sensing surface of the sensor body facing the side plate.

[0021] Furthermore, the number of strain gauge pressure sensors is not less than two, wherein the included angle between two adjacent strain gauge pressure sensors is not greater than 45 degrees.

[0022] Furthermore, each of the strain gauge pressure sensors also includes a sensor cover, which is connected to the sensor base and moves relative to the sensor base. The side of the sensor cover facing away from the sensor base faces the side plate, and the side of the sensor cover facing the sensor base has a first sensing protrusion opposite to the sensor body.

[0023] Furthermore, the side plate has a second sensing protrusion opposite to the sensor body on the sensing surface side facing the sensor body.

[0024] Furthermore, the self-moving robot also includes a second fixed frame, which is mounted on the top plate facing the base, and the sensor is mounted on the second fixed frame facing the side plate; there is a second preset distance between the sensor body and the side plate.

[0025] Furthermore, the second preset distance is 15.5 to 17.5 mm.

[0026] Furthermore, the sensor cover on both sides of the first sensing protrusion is provided with a connecting rod facing the sensor seat, the end of the connecting rod is provided with a hook, and the sensor seat is provided with a connecting groove for the connecting rod to pass through at the position opposite to the connecting rod.

[0027] This invention also provides a self-moving robot, which includes a top cover, a base, and a pressure sensor assembly;

[0028] The upper cover includes an integrally formed top plate and a side plate, a connecting portion is formed between the top plate and the side plate, and the connecting portion is at least partially higher than the top plate;

[0029] The base is located below the top plate;

[0030] The pressure sensor assembly is positioned facing the side plate, and the preset distance between the mounting bracket of the pressure sensor assembly and the side plate is greater than 5mm.

[0031] This invention also provides a self-moving robot, which includes a housing and a pressure sensor assembly;

[0032] The housing includes an integrally formed base plate and a side plate, and a connecting portion is formed between the base plate and the side plate, wherein the angle formed by the connecting portion is an acute angle;

[0033] The sensing surface of the pressure sensor assembly faces the side plate.

[0034] Furthermore, the acute angle is less than 30 degrees.

[0035] The self-moving robot provided in this embodiment of the invention includes a top cover, a base, and a pressure sensor assembly. A connecting portion is formed between the top plate and the side plate of the top cover, and the connecting portion is at least partially higher than the top plate. The sensing surface of the pressure sensor assembly faces the side plate, which avoids the impact of floating collision plates used in traditional self-moving robots on the positioning accuracy of optical components and improves the reliability of the self-moving robot during movement. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0038] Figure 1 This is a partial cross-sectional view of a self-moving robot provided in the first embodiment of the present invention;

[0039] Figure 2This is another partial structural cross-sectional schematic diagram of a self-moving robot provided in the first embodiment of the present invention;

[0040] Figure 3 This is an exploded view of a three-dimensional structure of a self-moving robot provided in the first embodiment of the present invention;

[0041] Figure 4 A cross-sectional structural diagram of a capacitive pressure sensor and its support for a self-moving robot provided in the first embodiment of the present invention;

[0042] Figure 5 This is another partial structural cross-sectional schematic diagram of a self-moving robot provided in the first embodiment of the present invention;

[0043] Figure 6 This is another three-dimensional exploded view of a self-moving robot provided in the first embodiment of the present invention;

[0044] Figure 7 This is another partial structural cross-sectional schematic diagram of a self-moving robot provided in the first embodiment of the present invention;

[0045] Figure 8 This is an exploded three-dimensional structural diagram of a strain gauge pressure sensor for a self-moving robot, provided in the first embodiment of the present invention. Detailed Implementation

[0046] The following will describe in detail the implementation of the present invention with reference to the accompanying drawings and embodiments, so as to fully understand how the present invention uses technical means to solve technical problems and achieve technical effects and to implement it accordingly.

[0047] Certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components by differences in name, but by differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Substantially" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error. Furthermore, the terms "coupled" or "electrically connected" herein include any direct and indirect electrical coupling means. Therefore, if a first device is described as coupled to a second device, it means that the first device can be directly electrically coupled to the second device, or indirectly electrically coupled to the second device through other devices or coupling means. The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of illustrating the general principles of the invention and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0048] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes said element. Specific Implementation

[0050] Currently, all self-moving robots on the market have obstacle avoidance structures. Taking a self-moving sweeping robot as an example, a floating or moving bumper is generally set at the front of the machine's direction of travel, and sensors, such as limit switches, are placed between the bumper and the machine body. The bumper can move relative to the machine body. When the bumper encounters an obstacle, it is collided with and moves in the opposite direction of the machine's direction of travel, thus coming into contact with its internal sensors, thereby triggering the sensors to generate electrical signals. The sensors transmit this electrical signal to the machine's MCU, and the machine's MCU controls the movement device to make adjustments based on the electrical signal to complete obstacle avoidance. However, with the advancement of science and technology, most autonomous mobile robots have added AI and / or Time-of-Flight (TOF) functions. This requires fixing high-precision optical components directly in front of the robot body. Floating bumpers cannot provide these optical components with a high positioning reference, thus affecting the reliability of the autonomous mobile robot during movement. Furthermore, because the floating bumper displaces relative to the robot body after hitting an obstacle, the overall size of the robot is relatively large. Moreover, the overall appearance of this type of autonomous mobile robot with a floating bumper is limited by the structure of the bumper, resulting in a limited and monotonous design, less refined lines, and a lower overall product quality. Additionally, some existing autonomous mobile robots use gyroscopes / accelerometers to implement fixed bumpers, but changes in the robot's acceleration can cause collision signals that misjudge collisions with obstacles, leading to poor obstacle avoidance reliability.

[0051] First Embodiment

[0052] To address the above technical problems, this invention provides a self-moving robot, please refer to... Figure 1 This is a partial cross-sectional schematic diagram of a self-moving robot provided in the first embodiment of the present invention. The self-moving robot includes an upper cover 10, a base 20, and a pressure sensor assembly 30.

[0053] The upper cover 10 includes an integrally formed top plate 110 and a side plate 120. The side plate 120 is connected to the top plate 110 facing the base 20, and a connecting portion 130 is formed between the top plate 110 and the side plate 120. Specifically, the connecting portion 130 is formed at the junction of the top plate 110 and the side plate 120. The connecting portion 130 is at least partially higher than the top plate 110. It should be noted that the connecting portion 130 is not a typical corner, as typical corners are usually flush with or within the corner's sides, and do not extend above one side of the corner. Specifically, the connecting portion 130 can be various shapes such as a zigzag, sawtooth, or wavy shape. The term "integrated design" here refers to the top plate 110 and the side plate 120 being a single, integral structure. That is, the top plate 110 and the side plate 120 are interconnected to form the upper cover 10. Here, the upper cover 10 can be integrally molded, such as through injection molding, or it can be manufactured through welding. The top plate 110 is the top outer shell of the machine, and the side plate 120 is a side extending from the edge of the top plate 110 towards the base 20. The side plate 120 can be arranged around the top plate 110 or along a portion of the top plate 110, such as along the front end of the machine in the direction of travel. It should be noted that one end of the side plate 120 is connected to the top plate 110, and the other end extends towards the base 20. The side plate 120 is in the 0 direction, but it is not fixed to the base 20. Instead, it is a free end that can move relative to the base 20. For example, when the self-moving robot is moving, obstacles in its path may come into contact with the side plate 120 and compress it, causing the side plate 120 to deform into the body. The top cover 10 has undergone rigorous CAE analysis, especially the connection 130 between the side plate 120 and the top plate 110. To improve the strength of the top cover 10, reinforcing ribs are also provided inside the top cover 10. For example, the reinforcing ribs are provided on the side of the top plate 110 facing the base 20 and on the side plate 120 facing the inside of the body.

[0054] The base 20 is located below the top plate 110 and connected to the top plate 110. Here, the base 20 can be fixedly connected to the top plate 110 inside the body by screws, or the top plate 110 and the base 20 can be fixedly connected by a snap-fit. The base 20, the top plate 110 and the side plate 120 constitute the outer shell structure of the self-moving robot. The side plate 120 is located at the front end of the outer shell structure of the self-moving robot in the direction of travel.

[0055] The pressure sensor assembly 30 is disposed within the body, such as inside or on the inner side of the connection structure formed by the side plate 120 and the top plate 110. It is important to emphasize that the sensing surface of the pressure sensor assembly 30 faces the side plate 120. Specifically, in one embodiment of the present invention, the pressure sensor assembly 30 is fixedly connected to the top plate 110, and the sensing surface of the pressure sensor assembly 30 is located below the connecting portion 130 and opposite to the side plate 120. Here, the connection method of the pressure sensor assembly 30 within the upper cover 10 includes, but is not limited to, bonding, welding, and screw connection.

[0056] In the self-moving robot provided in this embodiment of the invention, by partially positioning the connecting portion 130 above the top plate 110, the included angle of the connecting portion 130 toward the interior of the robot body is obtained, denoted here as interior angle α. The interior angle α being less than 90 degrees ensures that when an obstacle is relatively high, such as directly contacting the upper side of the side plate 120 (i.e., directly contacting the connecting portion 130), the side plate 120 can have a range of motion toward the interior of the robot body. For example, when an obstacle near the height of the top plate 110 collides with the side plate 120, the side plate 120 can move toward the interior of the robot body. That is, the interior angle α is set to an acute angle, which is more conducive to the side plate 120 moving toward the interior of the robot body. Specifically, the acute angle is less than 30 degrees.

[0057] In use, if the self-moving robot encounters an obstacle during its movement, the side plate 120 or the connecting part 130 will first contact the obstacle and directly squeeze the side plate 120 to deform inwards into the body, or squeeze the connecting part 130. Due to the specific structure of the connecting part 130, the side plate 120 has a movement amount inwards into the body, that is, indirectly causes the side plate 120 to deform inwards into the body. After deformation, the side plate 120 contacts the sensing surface of the pressure sensor assembly 30 and squeezes the pressure sensor assembly 30, causing the pressure sensor assembly 30 to generate an impact signal. The impact signal is transmitted to the host MCU of the self-moving robot. The host MCU generates a corresponding obstacle avoidance operation command based on the impact signal to control the self-moving robot's movement device to execute the obstacle avoidance operation command to move and complete the obstacle avoidance.

[0058] Furthermore, in other preferred embodiments of the present invention, in order to ensure that when a high obstacle collides with the top position of the side plate 120, i.e. the connecting portion 130, the side plate 120 has a movement toward the interior of the machine body in the horizontal direction of the machine's movement, i.e., the side plate 120 deforms toward the interior of the machine body, it is necessary to design the connection between the side plate 120 and the top plate 110, i.e., the connecting portion 130, to have an inverted V-shaped structure.

[0059] Furthermore, as long as the angle α is less than 90 degrees, it ensures that when a tall obstacle collides with the top of the side plate 120, the side plate 120 will have a horizontal movement towards the interior of the fuselage. However, its specific size depends on the molding method of the top cover 10. In principle, the smaller the angle α, the greater the horizontal movement allocated to the pressure sensor assembly 30 inside, that is, the higher the detection sensitivity of the pressure sensor assembly 30. Generally, if the top cover 10 is machined, the angle α can be less than 10 degrees; if the top cover 10 is injection molded, the angle α is generally greater than 15 degrees.

[0060] According to one embodiment of the present invention, the side plate 120 is made of rigid plastic, which includes, but is not limited to, rigid plastics such as ABS (e.g., PVC plastic). By making the side plate 120 of the rigid plastic, the side plate 120 can quickly transmit the impact force to the pressure sensor assembly 30 when the side plate 120 comes into contact with an obstacle, thereby enabling it to generate obstacle detection and thus improve the obstacle avoidance sensitivity of the self-moving robot.

[0061] In addition, in order to ensure that the side plate 120 and the connecting part 130 deform inwards when hit by an obstacle, so as to trigger the pressure sensor assembly 30 to perform obstacle avoidance detection, the thickness of the side plate 120 and the connecting part 130 should not be too thick. Generally, the thickness of the connecting part 130 and / or the side plate 120 is controlled between 1 and 2 mm. In a preferred embodiment, the thickness of the connecting part 130 and / or the side plate 120 is 1.5 mm.

[0062] Furthermore, in order to ensure that the side plate 120 has a movement into the fuselage when it collides with an obstacle, so as to trigger the pressure sensor assembly 30 to perform obstacle avoidance detection, a first gap D1 is separated between the end of the side plate 120 near the base 20 and the outer edge of the base 20.

[0063] Specifically, the side plate 120, at its free end near the base 20, is designed to move when it collides with an obstacle, allowing it to move inwards towards the body, thereby triggering the pressure sensor assembly 30 to perform obstacle avoidance detection. In this embodiment, the free end is designed to be separated from the outer edge of the base 20 by a first gap D1. In a preferred embodiment, a baffle extending towards the top plate 110 is also provided on the outer edge of the base 20. The side plate 120, at its free end near the base 20, is separated from the baffle by the first gap D1. The specific size of the first gap D1 is not specifically limited here and can be set according to the sensitivity of the pressure sensor assembly 30 and the deformation coefficient of the top cover 10.

[0064] Furthermore, please combine Figure 2 In order to limit the amount of movement of the free end and avoid damage to the internal structure of the machine body due to excessive movement of the free end when the impact force is too large, a groove 210 is provided in the base 20, the lower end of the side plate 120 is inserted into the groove 210, and there is a second gap D2 between the inner wall of the groove 210 and the lower end of the side plate 120.

[0065] Specifically, the groove 210 is composed of two baffles provided on the side of the base 20 facing the top plate 110. The end of the side plate 120 near the base 20, i.e. the free end, is located between the two baffles. The free end and the baffle near the interior of the body are separated by the second gap D2.

[0066] In addition, in other preferred embodiments of the present invention, the side panel 120 is provided with a viewing window 140 on the side opposite to the interior of the fuselage.

[0067] Specifically, the viewing window 140 is generally located at the foremost end of the self-moving robot's direction of travel, that is, on the outside of the side plate 120. The viewing window 140 may contain, but is not limited to, devices such as a positioning module, an infrared emitter, and a ranging device, which are used to accurately position the self-moving robot. The viewing window 140 has light-transmitting properties so that the optical devices inside it can emit visible light rays outward.

[0068] Here, the connection method between the viewing window 140 and the side plate 120 includes, but is not limited to, bonding, bolting, etc.; in a preferred embodiment, the viewing window 140 is provided with a buckle on the side facing the side plate 120, and the side plate 120 is provided with a slot. The viewing window 140 and the side plate 120 are movably connected by the slot and the buckle to facilitate quick installation and maintenance of the optical device.

[0069] In addition, regarding the placement of the viewing window 140 on the side plate 120, one implementation of the present invention is that the size of the viewing window 140 is smaller than the size of the side plate 120, and the viewing window 140 is located in the middle region of the side plate 120. In this case, the free end of the side plate 120 near the base 20 is separated from the outer edge of the base 20 by the first gap D1, or the lower end of the side plate 120 is inserted into the groove 210, and the inner wall of the groove 210 has a second gap D2 with the lower end of the side plate 120. Normally, the first gap D1 is equal to the second gap D2. Another implementation is that the lower end of the viewing window 140 is located below the lower end of the side plate 120, such as... Figure 2 As shown, at this time, the end of the viewing window 140 near the base 20 is separated from the outer edge of the base 20 by a third gap D3. Here, the end of the viewing window 140 near the base 20 is a free end. By designing the free end to be separated from the base 20 by a third gap D3, it can be ensured that the side plate 120 and / or the viewing window 140 have a movement amount into the fuselage when colliding with an obstacle, so as to trigger the pressure sensor assembly 30 to make a corresponding obstacle avoidance detection.

[0070] Please combine Figures 3-5 In one embodiment of the present invention, the pressure sensor assembly 30 includes a sensor support layer 310 and a sensor body layer 320, the sensor support layer 310 and the sensor body layer 320 being attached to each other; the sensor support layer 310 is disposed on the top plate 110 facing the base 20, the sensor body layer 320 is disposed on the sensor support layer 310, and the sensing surface of the sensor body layer 320 faces the side plate 120.

[0071] Specifically, the sensor in the pressure sensor assembly 30 is the sensor body layer 320, which includes, but is not limited to, a capacitive pressure sensor. For example, the sensor body layer 320 may consist of an elastic body sandwiched between two electrode plates. When the sensor body layer 320 is subjected to force, the distance between the two electrode plates changes, and consequently, the capacitance value of the sensor body layer 320 changes. The sensor body layer 320 uses an algorithm to convert the changed capacitance value into an ADC signal and sends it to the host MCU of the self-moving robot. The sensor body layer 320 is disposed on the sensor support layer 310, which is made of a rigid material. The rigid material of the sensor support layer 310 has high hardness and is not easily deformed under force. This can avoid reducing the deformation of the sensor body layer 320 due to the pressure buffering effect of the sensor body layer 320, thereby improving the detection sensitivity of the sensor body layer 320. When the side plate 120 moves inward into the body, it squeezes the sensor body layer 320, which in turn squeezes the elastic body between the two electrode plates in the sensor body layer 320, causing the distance between the two electrode plates to change, thereby changing its capacitance value. The sensor body layer 320 then uses an algorithm to convert the changed capacitance value into an ADC signal and sends it to the host MCU of the self-moving robot.

[0072] Furthermore, the self-moving robot also includes a first fixing frame 1101, which is disposed on the top plate 110. The pressure sensor assembly 30 is disposed between the side plate 120 and the first fixing frame 1101. The end of the first fixing frame 1101 near the side plate 120 abuts against the sensor support layer 310, and the end of the first fixing frame 1101 away from the side plate 120 has a first preset distance from the side plate 120.

[0073] Specifically, the top plate 110 has a first fixing frame 1101 on the side facing the base 20. The pressure sensor assembly 30 is sandwiched between the side plate 120 and the first fixing frame 1101, such that the end of the first fixing frame 1101 near the side plate 120 abuts against the sensor support layer 310. The sensor body layer 320 is located between the sensor support layer 310 and the side plate 120, forming a stacked arrangement of the first fixing frame 1101, the sensor support layer 310, and the sensor body layer 320, so that the sensor body... The sensing surface of the body layer 320 faces the side plate 120, ensuring that the sensor body layer 320 can effectively receive the pressure of the side plate 120 deforming into the body, so as to complete the sensing of obstacles in front of the side plate 120 by the sensor body layer 320; wherein, the first preset distance refers to the distance between the end of the first fixing frame 1101 away from the side plate 120 and the side plate 120, that is, the first preset distance here is the sum of the dimension of the first fixing frame 1101 in the deformation direction of the side plate 120 into the body and the thickness of the pressure sensor assembly 30.

[0074] Regarding the size of the first preset distance, in order to avoid the first preset distance being too small, that is, the size of the first fixing frame 1101 in the deformation direction of the side plate 120 toward the inside of the body being too small, so that the first fixing frame 1101 deforms toward the inside of the body together with the pressure sensor assembly 30 when subjected to force, thereby preventing the pressure sensor assembly 30 from being squeezed and deformed, thus causing the obstacle avoidance detection to fail, the minimum value of the first preset distance is generally limited to 5mm.

[0075] Furthermore, the size of the first preset distance should not be too large. Considering the internal space of the machine body and the need for product miniaturization, in other preferred embodiments of the present invention, the first preset distance is 14-17mm.

[0076] It should also be noted here that the number of sensor support layers 310 and sensor body layers 320 in the pressure sensor assembly 30 can be determined according to the length of the side plate 120 and the size of the sensor. When there is more than one sensor support layer 310 and sensor body layer 320, the sensor support layers 310 are arranged sequentially along the length of the side plate 120, and the sensor body layers 320 are correspondingly disposed on each of the sensor support layers 310.

[0077] Please combine Figures 6-8In another embodiment of the present invention, the pressure sensor assembly 30 includes at least one strain gauge pressure sensor 330; each strain gauge pressure sensor 330 includes a sensor base 3301 and a sensor body 3302, the sensor base 3301 is disposed on the top plate 110 facing the base 20, the sensor body 3302 is disposed on the sensor base 3301, and the sensing surface of the sensor body 3302 faces the side plate 120.

[0078] Here, the strain gauge pressure sensor 330 is mounted on the top plate 110 of the upper cover 10, with its sensing surface facing the side plate 120 of the upper cover 10. Specifically, the sensor base 3301 is fixedly connected to the top plate 110 to provide a mounting base for the sensor body 3302. The sensor body 3302 has a layer of strain material printed on a PCB substrate. When the sensor body 3302 is subjected to force, it causes the strain material on the PCB substrate to deform, thereby changing the output voltage value of the sensor body 3302. The sensor body 3302 converts the changing voltage value into an ADC signal and sends it to the host MCU of the self-moving robot through an algorithm. The sensor body 3302 is fixedly connected to the sensor base 3301 with its sensing surface facing the side plate 120. When the side plate 120 moves inward into the body, it squeezes the sensor body 3302, causing the strain material on its PCB substrate to deform and output a change in voltage value. The algorithm then converts the changing voltage value into an ADC signal and transmits it to the host MCU of the self-moving robot.

[0079] Furthermore, each strain gauge pressure sensor 330 also includes a sensor cover 3303, which is connected to the sensor base 3301 and moves relative to the sensor base 3301. The side of the sensor cover 3303 facing away from the sensor base 3301 faces the side plate 120, and the side of the sensor cover 3303 facing the sensor base 3301 is provided with a first sensing protrusion 3304 opposite to the sensor body 3302.

[0080] Specifically, the sensor cover 3303 is connected to the sensor base 3301, and the sensor body 3302 is located between the two. The sensor cover 3303 protects the sensor body and can move relative to the sensor base 3301. A first sensing protrusion 3304 is provided on the side of the sensor cover facing the sensor body 3302. When the sensor cover 3303 moves toward the sensor body 3302, the first sensing protrusion 3304 quickly contacts the sensor body 3302 and squeezes the sensor body 3302, triggering the sensor body 3302 to complete the sensing detection. Since the cross-sectional area of ​​the first sensing protrusion 3304 is small, the sensing sensitivity of the sensor body 3302 can be improved.

[0081] Alternatively, the side plate 120 may have a second sensing protrusion (not shown in the figure) opposite to the sensor body 3302 on the sensing surface side facing the sensor body 3302. The above embodiments describe a case where a sensor cover 3303 is provided between the strain gauge pressure sensor 330 and the side plate. This embodiment does not include the sensor cover 3303, but a second sensing protrusion is provided on the side plate 120 facing the sensing surface of the sensor body 3302. This second sensing protrusion can serve the same function as the first sensing protrusion 3304, namely, it can improve the sensing sensitivity of the sensor body 3302.

[0082] Furthermore, the sensor cover 3303 on both sides of the first sensing protrusion 3304 is provided with a connecting rod 3305 facing the sensor seat 3301. The end of the connecting rod 3305 is provided with a hook 3306. The sensor seat 3301 and the connecting rod 3306 are provided with a connecting groove 3307 for the connecting rod 3305 to pass through.

[0083] Here, a specific structural form of the strain gauge pressure sensor 330 is provided. The sensor base 3301 has connecting grooves 3307 on both sides, and the sensor cover 3303 has connecting rods 3305 on both sides. The connecting rods 3305 are inserted into the connecting grooves 3307, and the two are movably engaged by the hooks 3306. The connecting rods 3305 can move towards the sensor body 3302 within the connecting grooves 3307 to ensure that when the sensor cover 3303 is subjected to external pressure, the first sensing protrusion 3304 contacts the sensor body 3302 to trigger the sensor body 3302 to complete the sensing detection.

[0084] Additionally, the self-moving robot also includes a second mounting frame 1102, which is disposed on the top plate 110 facing the base 20. The sensor base 3301 is disposed on the second mounting frame 1102 facing the side plate 120. A second preset distance exists between the sensor body 3302 and the side plate 120. Here, the second mounting frame 1102 provides a mounting platform for the strain gauge pressure sensor 330. Specifically, the sensor base 3301 is disposed on the second mounting frame 1102 facing the side plate 120. Specific connection methods include, but are not limited to, welding, snap-fit ​​connection, bonding, and screw connection; for example, the second mounting frame 1102 and the sensor base 3301 are integrally formed. The second preset distance refers to the distance between the sensor body 3302 and the side plate 120.

[0085] Furthermore, the second preset distance is 15.5 to 17.5 mm, and in a preferred embodiment, the second preset distance is 16.5 mm. By setting the second preset distance to the above value, it is possible to prevent the sensor base 3301 and the sensor body 3302 from deforming together with the side plate 120 into the body when the side plate 120 presses the sensor body 3302 inward. This prevents the sensor body 3302 from being deformed under pressure, thus causing obstacle avoidance detection to fail and improving the reliability of obstacle avoidance detection of the self-moving robot.

[0086] Furthermore, the number of strain gauge pressure sensors 330 is not less than two, wherein the included angle between two adjacent strain gauge pressure sensors 330 is not greater than 45 degrees. Specifically, since the side plate 120 is generally arranged along the front half of the self-moving robot's forward direction, in order to increase the obstacle avoidance detection range, two or more strain gauge pressure sensors 330 are generally arranged along the length of the side plate 120. At the same time, in order to avoid the existence of detection vacuum zones between two strain gauge pressure sensors 330, which would reduce the reliability of obstacle avoidance detection of the self-moving robot, the included angle between two adjacent strain gauge pressure sensors 330 is generally set not to exceed 45 degrees, so as to ensure that any position where an obstacle contacts the side plate 120 can be detected by the strain gauge pressure sensor 330.

[0087] Furthermore, when the pressure sensor assembly 30 includes a plurality of strain gauge pressure sensors 330, the plurality of strain gauge pressure sensors 330 are arranged along the periphery of the side plate 120.

[0088] Specifically, since the side plate 120 generally surrounds half of the outer contour of the self-moving robot, that is, the length of the side plate 120 is generally relatively long, and the sensing range of a single strain pressure sensor 330 is limited, in a preferred embodiment, multiple strain pressure sensors 330 are generally provided inside the upper cover 10 to ensure that the pressure sensor assembly 30 can detect obstacles in all directions of the self-moving robot and improve the obstacle avoidance integrity of the self-moving robot. Specifically, multiple strain gauge pressure sensors 330 are arranged along the periphery of the side plate 120, which can be done by arranging them at equal intervals along the length of the side plate 120. Alternatively, depending on the movement characteristics of the self-moving robot, such as the fact that it frequently encounters obstacles at the front of its movement direction while the probability of encountering obstacles on the sides of its movement direction is lower, a larger number of strain gauge pressure sensors 330 can be provided on the side plate 120 at the front of the self-moving robot's movement direction, while the number of strain gauge pressure sensors 330 on the side plates 120 on both sides of the self-moving robot's movement direction can be appropriately reduced. In one embodiment of the present invention, the number of strain gauge pressure sensors 330 is not less than 5.

[0089] Second Embodiment

[0090] The present invention also provides a self-moving robot, which includes a top cover, a base, and a pressure sensor assembly. The top cover includes an integrally formed top plate and a side plate, with a connecting portion formed between the top plate and the side plate, and the connecting portion being at least partially higher than the top plate. The base is located below the top plate. The pressure sensor assembly is positioned facing the side plate, and a preset distance greater than 5mm is maintained between the mounting bracket of the pressure sensor assembly and the side plate. In this embodiment, by setting the preset distance between the mounting bracket of the pressure sensor assembly and the side plate to be greater than 5mm, the mounting bracket of the pressure sensor assembly can be prevented from deforming inward along with the pressure sensor assembly when encountering an obstacle, thus preventing the pressure sensor assembly from being deformed and causing obstacle avoidance detection to fail. This improves the reliability of obstacle avoidance detection for the self-moving robot.

[0091] Third Embodiment

[0092] This invention also provides a self-moving robot, comprising a housing and a pressure sensor assembly. The housing includes an integrally formed base plate and a side plate, with a connecting portion formed between the base plate and the side plate, the angle of which is an acute angle. The sensing surface of the pressure sensor assembly faces the side plate. In this embodiment, when the self-moving robot encounters a high suspended obstacle (e.g., the bottom of a sofa) or a low obstacle (e.g., a balcony sliding door navigation) during its movement and comes into contact with the connecting portion, it squeezes the connecting portion inwards. During the squeezing process, due to the acute angle structure of the connecting portion between the base plate and the side plate, the side plate can be guaranteed to have an inward movement in the horizontal direction of the robot's movement. That is, the side plate will deform inwards, thereby contacting and deforming the pressure sensor assembly, causing the pressure sensor assembly to generate a squeezing deformation signal, thus completing the obstacle avoidance detection of the self-moving robot.

[0093] Here, the connection portion with an acute angle is more conducive to the side plate moving towards the interior of the fuselage. In other preferred embodiments of the present invention, the angle of the acute angle is less than 30 degrees.

[0094] Application scenarios

[0095] Xiao Ke, a robotic vacuum cleaner, is cleaning the living room. Following its preset cleaning route, it encounters a small block of building blocks belonging to the family's child. This block is relatively thin, and its top height is lower than Xiao Ke's own. Xiao Ke's front side panel collides with the block, causing it to deform inwards. The pressure sensor assembly on the top panel, opposite the side panel, is compressed by this deformation, generating an impact signal. This signal is transmitted to Xiao Ke's MCU (Microcontroller Unit). The MCU generates obstacle avoidance commands to control Xiao Ke's movement mechanism. Xiao Ke continues cleaning along the previously avoided path. It encounters the sofa. While there is some space underneath, it's not large enough for Xiao Ke to pass freely. The front side panel avoids collisions under the sofa, but the top of Xiao Ke is hit by the block. The lower edge of the sofa will collide with the connecting part between the side panel and the top panel at the front of the Xiao Ke's movement direction. This is because part of this connecting part is higher than the top panel of the Xiao Ke, and the inner angle of this connecting part is set as an acute angle. When a collision occurs, this connecting part will deform in the opposite direction. Due to the acute angle between the side panel and the top panel, the side panel will have a component of movement inward in the direction of the body. That is, the side panel will deform inward in the direction of the Xiao Ke's body. The pressure sensor assembly will be squeezed by the side panel that is deformed inward in the body, thus deforming and causing the pressure sensor to generate a corresponding impact signal. The impact signal is transmitted to the Xiao Ke's main MCU. The main MCU generates a corresponding obstacle avoidance operation command based on the impact signal to control the Xiao Ke's movement device to execute the obstacle avoidance operation command to move and complete the obstacle avoidance. During the cleaning process, the Xiao Ke may encounter obstacles continuously. Through the above structure and method, it can successfully complete obstacle avoidance and replan the cleaning route so that the Xiao Ke can complete the cleaning work of the master's living room according to the new cleaning route.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-moving robot, characterized in that, Includes the top cover, base, and pressure sensor assembly; The top cover includes an integrally formed top plate and side plate, with a connecting portion formed between the top plate and the side plate, and the connecting portion being at least partially higher than the top plate; the base is located below the top plate; The top plate is fixedly mounted on the base, and the end of the side plate away from the connecting part is a free end; the pressure sensor assembly is positioned facing the side plate.

2. The self-moving robot according to claim 1, characterized in that, The connecting part has an inverted V-shaped structure.

3. The self-moving robot according to claim 1, characterized in that, The side panels are made of rigid plastic.

4. The self-moving robot according to claim 1, characterized in that, The end of the side plate near the base is separated from the outer edge of the base by a first gap.

5. The self-moving robot according to claim 1, characterized in that, The base is provided with a groove, the lower end of the side plate is inserted into the groove, and there is a second gap between the inner wall of the groove and the lower end of the side plate.

6. The self-moving robot according to claim 1, characterized in that, The thickness of the connecting part is 1~2mm.

7. The self-moving robot according to claim 1, characterized in that, The thickness of the side plate is 1~2mm.

8. The self-moving robot according to any one of claims 1-7, characterized in that, The pressure sensor assembly includes a sensor support layer and a sensor body layer that are attached to each other.

9. The self-moving robot according to claim 8, characterized in that, The sensor support layer is made of a rigid material.

10. The self-moving robot according to claim 8, characterized in that, It also includes a first fixing frame, which is mounted on the top plate. The pressure sensor assembly is disposed between the side plate and the first fixing frame. The end of the first fixing frame near the side plate abuts against the sensor support layer. The end of the first fixing frame away from the side plate has a first preset distance from the side plate.

11. The self-moving robot according to claim 10, characterized in that, The minimum value of the first preset distance is 5mm.

12. The self-moving robot according to claim 11, characterized in that, The first preset distance is 14~17mm.

13. The self-moving robot according to any one of claims 1-7, characterized in that, The pressure sensor assembly includes at least one strain gauge pressure sensor; Each strain gauge pressure sensor includes a sensor base and a sensor body. The sensor base is disposed on the top plate facing the base, and the sensor body is disposed on the sensor base, with the sensing surface of the sensor body facing the side plate.

14. The self-moving robot according to claim 13, characterized in that, The number of strain gauge pressure sensors is not less than two, wherein the included angle between two adjacent strain gauge pressure sensors is not greater than 45 degrees.

15. The self-moving robot according to claim 13, characterized in that, Each strain gauge pressure sensor further includes a sensor cover, which is connected to the sensor base and movable relative to the sensor base. The side of the sensor cover facing away from the sensor base faces the side plate, and the side of the sensor cover facing the sensor base has a first sensing protrusion opposite to the sensor body.

16. The self-moving robot according to claim 13, characterized in that, The side plate has a second sensing protrusion opposite to the sensor body on the sensing surface side facing the sensor body.

17. The self-moving robot according to claim 13, characterized in that, It also includes a second fixing frame, which is installed on the top plate facing the base, and the sensor is mounted on the second fixing frame facing the side plate; there is a second preset distance between the sensor body and the side plate.

18. The self-moving robot according to claim 17, characterized in that, The second preset distance is 15.5~17.5mm.

19. The self-moving robot according to claim 15, characterized in that, The sensor cover on both sides of the first sensing protrusion is provided with a connecting rod facing the sensor seat. The end of the connecting rod is provided with a hook. The sensor seat is provided with a connecting groove for the connecting rod to pass through at a position opposite to the connecting rod.

20. A self-moving robot, characterized in that, Includes the top cover, base, and pressure sensor assembly; The upper cover includes an integrally formed top plate and a side plate, a connecting portion is formed between the top plate and the side plate, and the connecting portion is at least partially higher than the top plate; The base is located below the top plate; The pressure sensor assembly is positioned facing the side plate, and the preset distance between the mounting bracket of the pressure sensor assembly and the side plate is greater than 5mm; The top plate is fixedly mounted on the base, and the end of the side plate away from the connecting part is a free end.

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