An obstacle-avoiding sweeping robot

Abstract

This invention relates to the field of obstacle-avoiding robotic vacuum cleaners, and discloses an obstacle-avoiding robotic vacuum cleaner, including a main body and a base, a top cover, and a protective sleeve respectively disposed outside the robot. The protective sleeve has a mounting groove, and a collision shell is snapped onto the outer surface of the protective sleeve via a snap-fit ​​assembly. An impact-absorbing assembly is fixedly connected to the collision shell. The base has at least two inflatable assemblies, and an airbag assembly is disposed at the lower part of the protective sleeve. When the acceleration of the protective sleeve is greater than or equal to a preset acceleration by an acceleration sensor, the inflatable assemblies open, and the internal high-pressure gas causes the airbag assembly to quickly inflate and deploy. This invention enables the collision assembly to effectively absorb impacts during obstacle avoidance, extending its service life and reducing replacement frequency. Simultaneously, it automatically takes active protective measures when the robotic vacuum cleaner falls, preventing serious damage to the robot.

Description

Technical Field

[0001] This invention relates to the field of obstacle avoidance robotic vacuum cleaner technology, specifically to an obstacle avoidance robotic vacuum cleaner. Background Technology

[0002] Currently, the main structural components of a robotic vacuum cleaner include the main frame, walking mechanism, lidar module, cleaning device, and obstacle avoidance device. The obstacle avoidance device mainly includes a collision sensing mechanism and an infrared sensing module. The collision sensing mechanism is generally installed at the lower end of the front wall of the main frame to sense collisions.

[0003] Existing conventional obstacle avoidance robotic vacuum cleaners, in actual use, employ collision feedback obstacle avoidance measures. Because the collision feedback components frequently collide with furniture or walls, the lifespan of these components is often short, and the requirements for the materials used in their manufacturing are relatively high. Additionally, while there are some measures to prevent robotic vacuum cleaners from falling down stairs when used in rooms above the second floor, there is a lack of protective measures during the fall process to reduce the extent of damage to the robotic vacuum cleaner after it falls from the stairwell. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides an obstacle-avoiding robotic vacuum cleaner, which solves the problems of existing obstacle-avoiding robotic vacuum cleaners having easily damaged collision components and high processing material costs during obstacle avoidance; and the lack of active protection measures after the robot falls from a stairwell, making the robot susceptible to serious damage.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: an obstacle-avoiding sweeping robot, comprising a sweeping robot body and a base, a top cover, and a protective sleeve respectively disposed outside the sweeping robot. The protective sleeve is provided with a mounting groove, and a photoelectric limit switch and an acceleration sensor are disposed in the mounting groove. A collision shell is attached to the outer surface of the protective sleeve by a snap-fit ​​assembly, and an impact absorption assembly is fixedly connected to the collision shell. The base is provided with no fewer than two pressurization assemblies, each filled with high-pressure gas. The pressurization assemblies are connected to an airbag assembly, which is disposed at the lower part of the protective sleeve. When the acceleration of the protective sleeve is greater than or equal to the preset acceleration of the acceleration sensor, the pressurization assembly opens, and the internal high-pressure gas causes the airbag assembly to quickly inflate and deploy.

[0008] Preferably, the impact absorption assembly includes an impact absorption strip and an arc-shaped shell. The impact absorption strip is fixedly connected to the outer arc-shaped surface of the impact shell through the arc-shaped shell. The arc-shaped shell is fixedly connected to the impact shell by screws. The impact absorption strip is filled with a non-Newtonian fluid.

[0009] Preferably, the airbag assembly is an annular airbag tube filled with a rigid arc-shaped strip. The lower part of the protective sleeve is provided with a protective groove that cooperates with the airbag assembly. The airbag assembly is provided with a number of bent portions that are the same as the number of protective grooves. A connecting hole is provided on the bent portion. The air outlet end of the pressurization assembly is connected to the connecting hole. The rigid arc-shaped strip is filled on the side of the airbag assembly near the body of the sweeping robot.

[0010] Preferably, the pressurization assembly includes a fixed base plate, a solenoid valve, a pressure tank, and a connecting pipe fixed on the base. The solenoid valve is fixedly connected to the fixed base plate, the air inlet end of the solenoid valve is connected to the pressure tank, the air outlet end of the solenoid valve is connected to the connecting pipe, the connecting pipe is fixedly connected to the connecting hole, and the pressure tank is filled with high-pressure gas.

[0011] Preferably, the accelerometer is a triaxial accelerometer, specifically the KS903.10 triaxial accelerometer.

[0012] Preferably, the snap-fit ​​assembly includes a fixed base, a sliding groove disposed in the fixed base, a T-shaped frame slidably connected to the sliding groove, and a T-shaped block fixed to the end face of the T-shaped frame. The T-shaped frame is fixedly connected to the front and rear groove walls of the sliding groove through an elastic element, and the collision shell is snap-fitted to the T-shaped block.

[0013] Preferably, the inner arc-shaped surface of the collision shell is symmetrically arranged with snap-fit ​​blocks that engage with the T-shaped block, and a trigger strip is fixedly connected to the middle of the inner arc-shaped surface of the collision shell through a connecting post.

[0014] (III) Beneficial Effects

[0015] The present invention has the following beneficial effects:

[0016] This obstacle-avoidance robotic vacuum cleaner effectively absorbs the impact force on the collision shell when avoiding obstacles by using an impact absorption component installed on the outside of the collision shell, thus protecting the collision shell and extending its service life. Through the inclusion of an acceleration sensor, a pressurization component, and an airbag component, when the robotic vacuum cleaner falls, the high-pressure gas in the pressurization component quickly fills the airbag component, causing the airbag to deploy. This effectively cushions the robot body during a fall, reducing the degree of damage to the robotic vacuum cleaner. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall structure of the collision shell of the present invention after disassembly;

[0019] Figure 3 This is a schematic diagram of the layout structure of the pressurization component of the present invention;

[0020] Figure 4 This is a schematic diagram of the installation structure of the inflator assembly and the airbag assembly of the present invention;

[0021] Figure 5 This is a schematic diagram of the installation structure of the accelerometer sensor and protective sleeve of the present invention;

[0022] Figure 6 This is a schematic cross-sectional view of the installation structure of the collision shell and protective sleeve of the present invention;

[0023] Figure 7 This is a schematic diagram of the internal structure of the collision shell of the present invention;

[0024] Figure 8 This is a schematic diagram of the installation structure of the impact absorption component of the present invention;

[0025] Figure 9 This is a schematic diagram of the airbag assembly and protective sleeve structure of the present invention;

[0026] Figure 10 This is a cross-sectional view of the airbag assembly of the present invention.

[0027] In the diagram: 1. Base; 2. Main body of the robot vacuum cleaner; 3. Protective cover; 30. Mounting slot; 31. Photoelectric limit switch; 32. Accelerometer sensor; 33. Protective slot; 4. Top cover; 5. Snap-fit ​​assembly; 51. Fixed base; 52. Sliding slot; 53. T-shaped frame; 54. T-shaped block; 55. Elastic element; 6. Collision shell; 61. Snap-fit ​​block; 62. Connecting post; 63. Trigger strip; 7. Impact absorption assembly; 71. Arc-shaped shell; 72. Impact absorption strip; 8. Pressurization assembly; 81. Fixed base plate; 82. Solenoid valve; 83. Pressure tank; 84. Connecting pipe; 9. Airbag assembly; 91. Bending part; 92. Connecting hole; 93. Rigid arc-shaped strip. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figure 1-3As shown, the present invention provides a technical solution: an obstacle avoidance type sweeping robot, including a sweeping robot body 2 and a base 1, a top cover 4 and a protective sleeve 3 respectively disposed outside the sweeping robot. The protective sleeve 3 is provided with a mounting groove 30, and a photoelectric limit switch 31 and an acceleration sensor 32 are disposed in the mounting groove 30. A collision shell 6 is attached to the outer surface of the protective sleeve 3 by a snap-fit ​​component 5. An impact absorption component 7 is fixedly connected to the collision shell 6. The base 1 is provided with no less than two pressurization components 8, which are filled with high-pressure gas. The pressurization components 8 are connected to an airbag component 9, which is disposed at the lower part of the protective sleeve 3. When the acceleration of the protective sleeve 3 is greater than or equal to the acceleration preset by the acceleration sensor 32, the pressurization components 8 open, and the high-pressure gas inside causes the airbag component 9 to quickly inflate and expand. This invention, through the impact absorption component 7 set outside the collision shell 6, can effectively absorb the impact force received by the robot vacuum cleaner 6 when avoiding obstacles, effectively protecting the collision shell 6 and improving its service life; through the set acceleration sensor 32, pressurization component 8 and airbag component 9, when the robot vacuum cleaner body falls, the high-pressure gas in the pressurization component 8 can quickly fill the airbag component 9, thereby causing the airbag to deploy, which can effectively buffer and protect the robot body when the robot vacuum cleaner falls, reducing the degree of damage to the robot vacuum cleaner body 2.

[0030] In this embodiment, the impact absorption assembly 7 includes an impact absorption strip 72 and an arc-shaped shell 71. The impact absorption strip 72 is fixedly connected to the outer arc-shaped surface of the impact shell 6 through the arc-shaped shell 71. The arc-shaped shell 71 is fixedly connected to the impact shell 6 by screws. The impact absorption strip 72 is filled with a non-Newtonian fluid. (Refer to...) Figure 8 As shown, the impact-absorbing strip 72 filled with non-Newtonian fluid effectively absorbs the slow collisions that occur between the collision shell 6 and furniture or cavity walls during the robot's movement. The non-Newtonian fluid provides better absorption of the impact from these slow collisions compared to anti-collision strips made of ordinary materials. This effectively reduces the impact during obstacle avoidance, thus minimizing its impact on the lifespan of the collision shell 6.

[0031] In this embodiment, the airbag assembly 9 is an annular airbag tube filled with a rigid arc-shaped strip 93. The lower part of the protective sleeve 3 is provided with a protective groove 33 that mates with the airbag assembly 9. The airbag assembly 9 has a number of bent portions 91 equal to the number of protective grooves 33. Each bent portion 91 has a connecting hole 92. The air outlet end of the pressurization assembly 8 communicates with the connecting hole 92. The side of the airbag assembly 9 closest to the robot body is filled with a rigid arc-shaped strip 93. (Refer to...) Figure 9 and 10As shown, the rigid strip allows high-pressure gas to be introduced into the airbag assembly 9 by the pressurizing component 8. At this time, due to the limiting effect of the rigid arc strip 93, the side of the airbag assembly 9 located in the protective groove 33 expands outward rapidly and extends to form a ring-shaped airbag tube filled with gas. When the protective sleeve 3 falls and rolls, it plays a protective role in absorbing the impact on the main body 2 of the sweeping robot.

[0032] In this embodiment, the pressurization assembly includes a fixed base plate 81 fixed on the base 1, a solenoid valve 82, a pressure tank 83, and a connecting pipe 84. The solenoid valve 82 is fixedly connected to the fixed base plate 81. The air inlet end of the solenoid valve 82 is connected to the pressure tank 83, and the air outlet end of the solenoid valve 82 is connected to the connecting pipe 84. The connecting pipe 84 is fixedly connected to the connecting hole 92. The pressure tank 83 is filled with high-pressure gas. (Refer to...) Figure 3 and 4 As shown, the acceleration of the sweeping robot in working condition differs from its acceleration when falling. When the robot's acceleration exceeds the normal value, it can be determined that the robot is in an abnormal working state. However, it's possible that someone might pick up the sweeping robot, so this action needs to be avoided to prevent further acceleration. Therefore, the preset trigger acceleration value can be based on gravitational acceleration, or it can be determined through specific experimental research. Through the solenoid valve 82, when the acceleration sensor 32 detects that the acceleration of the protective sleeve 3 is greater than or equal to the preset trigger acceleration, a signal is transmitted to the sweeping robot body 2. The control unit then controls the solenoid valve 82 to open, allowing high-pressure gas to quickly fill the airbag assembly 9 through the connecting pipe 84, causing the airbag assembly 9 to deploy and providing protection for the entire sweeping robot.

[0033] In this embodiment, the accelerometer 32 is a triaxial accelerometer 32, and the model of the accelerometer 32 is KS903.10 triaxial accelerometer 32.

[0034] In this embodiment, the snap-fit ​​assembly 5 includes a fixed base 51, a sliding groove 52 disposed in the fixed base 51, a T-shaped frame 53 slidably connected to the sliding groove 52, and a T-shaped block 54 fixed to the end face of the T-shaped frame 53. The T-shaped frame 53 is fixedly connected to the front and rear walls of the sliding groove 52 through an elastic member 55, and the collision shell 6 is snap-fitted with the T-shaped block 54. (Refer to...) Figure 6 and 7 As shown, through the T-shaped frame 53 and the elastic element 55, when the collision shell 6 and the T-shaped shell are engaged and installed, when the collision shell 6 collides, the T-shaped frame 53 will slide in the sliding groove 52 and automatically reset under the elastic force of the elastic element 55.

[0035] In this embodiment, the inner arc-shaped surface of the collision shell 6 is symmetrically arranged with a snap-fit ​​block 61 that engages with the T-shaped block 54, and a trigger strip 63 is fixedly connected to the middle of the inner arc-shaped surface of the collision shell 6 via a connecting post 62. (Refer to...) Figure 6 As shown, the snap-fit ​​block 61 allows for quick snap-fit ​​installation of the collision shell 6 onto the protective sleeve 3, facilitating easy disassembly and maintenance of the collision shell 6 by personnel.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An obstacle-avoiding sweeping robot, comprising a sweeping robot body and a base, an upper cover and a protective sleeve arranged outside the sweeping robot body respectively, characterized in that: The protective sleeve is provided with a mounting groove, an optical-electricity limit switch and an acceleration sensor are arranged in the mounting groove, an impact shell is clamped and installed on the outer surface of the protective sleeve through a clamping assembly, and an impact absorbing assembly is fixedly connected to the impact shell; two or more than two pressure charging assemblies are arranged on the base, high-pressure gas is filled in the pressure charging assemblies, the pressure charging assemblies are communicated with air bag assemblies, and the air bag assemblies are arranged at the lower part of the protective sleeve; when the acceleration of the protective sleeve is greater than or equal to the preset acceleration of the acceleration sensor, the pressure charging assemblies are opened, and the internal high-pressure gas makes the air bag assemblies rapidly fill and expand; the air bag assembly is a ring-shaped air bag pipe filled with rigid arc-shaped strips, the lower part of the protective sleeve is provided with a protection groove matched with the air bag assembly, the air bag assembly is provided with a number of bending parts consistent with the protection groove, the bending parts are provided with communication holes, the gas outlet end of the pressure charging assembly is communicated with the communication holes, and the side of the air bag assembly close to the robot body is filled with the rigid arc-shaped strips.

2. The obstacle avoidance type sweeping robot according to claim 1, characterized in that: The impact absorbing assembly comprises an impact absorbing strip and an arc-shaped shell, the impact absorbing strip is fixedly connected to the outer arc-shaped surface of the impact shell through the arc-shaped shell, the arc-shaped shell is fixedly connected to the impact shell through screws, and the impact absorbing strip is filled with a non-Newtonian fluid.

3. The obstacle avoidance type sweeping robot according to claim 1, characterized in that: The pressure charging assembly comprises a fixed base plate fixed to the base, an electromagnetic valve, a pressure tank and a communication pipeline, the electromagnetic valve is fixedly connected to the fixed base plate, the gas inlet end of the electromagnetic valve is communicated with the pressure tank, the gas outlet end of the electromagnetic valve is communicated with the communication pipeline, the communication pipeline is fixedly connected to the communication hole, and the pressure tank is filled with high-pressure gas.

4. The obstacle avoidance type sweeping robot according to claim 3, characterized in that: The acceleration sensor is a three-axis acceleration sensor, and the model of the acceleration sensor is KS903.10 three-axis acceleration sensor.

5. The obstacle avoidance type sweeping robot according to claim 3, characterized in that: The clamping assembly comprises a fixed seat, a sliding groove arranged in the fixed seat, a T-shaped frame in sliding connection with the sliding groove and a T-shaped block fixed to the end face of the T-shaped frame, the T-shaped frame is fixedly connected to the front and rear groove walls of the sliding groove through elastic members, and the impact shell is clamped and connected to the T-shaped block.

6. The obstacle avoidance type sweeping robot according to claim 5, characterized in that: The inner arc-shaped surface of the impact shell is symmetrically provided with clamping blocks clamped with the T-shaped block, and a trigger strip is fixedly connected to the middle part of the inner arc-shaped surface of the impact shell through a connecting column.

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