Touch sensor structure and sweeping robot

Abstract

The application relates to the technical field of intelligent household appliances, and discloses a touch sensor structure and a sweeping robot, the touch sensor structure comprising a supporting piece and a piezoelectric ceramic sheet; the supporting piece comprises a filtering part and a fixing part, and the touch sensor structure is installed on the inner side wall of the shell of the sweeping robot through the fixing part; the filtering part of the device is connected with the first section and the second section to form a cantilever beam structure, so that the energy generated by the collision of the sweeping robot is buffered through the cantilever beam structure and then transmitted to the piezoelectric ceramic sheet, the piezoelectric ceramic sheet is prevented from being damaged by the impact, the piezoelectric ceramic sheet can be firmly installed on the inner side wall of the shell, and the touch positioning failure caused by the falling of the piezoelectric ceramic sheet is avoided; in addition, the filtering part is in the form of a cantilever beam structure and can also play a filtering role, can filter the vibration signals generated by the operation of the sweeping robot, and further improves the touch positioning effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent household appliances, in particular to a touch sensor structure and a sweeping robot. BACKGROUND

[0002] With the increase of the types and quantity of furniture in the home environment, the ability of touch positioning of the sweeping robot is also constantly improved. At present, the main touch positioning scheme is to use the principle that piezoelectric ceramic stress deformation generates a signal, and a certain number of touch sensors are arranged on the inner wall of the shell of the sweeping robot to solve the positioning resolution problem.

[0003] However, the current installation method of the piezoelectric ceramic sheet is to directly paste the piezoelectric ceramic sheet on the inner wall of the shell through hard glue. This installation method is prone to piezoelectric ceramic sheet fracture due to improper pressing during the processing process, and is also prone to breakage or falling after collision with furniture during the working process. In addition, the glue is greatly affected by environmental factors, especially in temperature change environment and humid environment, the risk of glue quality change is great, thereby weakening the tight fitting degree between the sensor and the pasting surface, and affecting the touch positioning performance.

[0004] On the other hand, in the running process of the sweeping robot, the signals received by the piezoelectric ceramic sheet include not only the signals generated by the collision between the sweeping robot and the object, but also the vibration signals generated by the operation of the sweeping robot itself, such as the vibration signals of the wheel rolling, the vibration signals of the direct current motor running, the vibration signals of the fan, etc. The vibration signals generated by each part have different characteristics, especially different frequency characteristics. These superimposed reverberation signals are all received by the piezoelectric ceramic sheet without reservation, thereby increasing the difficulty of processing by the rear-end circuit. Incomplete processing may cause false positives or false negatives, further affecting the touch positioning performance. SUMMARY

[0005] The purpose of the present application is to provide a touch sensor structure and a sweeping robot, which not only has stable and reliable touch positioning ability, but also can filter the vibration signals generated by the operation of the sweeping robot itself, further improving the touch positioning effect.

[0006] In order to achieve the above-mentioned purpose, the present application provides a touch sensor structure, comprising: a support and a piezoelectric ceramic sheet;

[0007] The support comprises a filtering part and a fixed part, the filtering part comprises a first section extending along a first direction and a second section extending along a second direction, one end of the second section is connected with one end of the first section, and the other end is connected on the fixed part, and the fixed part extends along the first direction;

[0008] The piezoelectric ceramic sheet is installed on the first section away from the side of the fixed part.

[0009] Optionally, the filter part comprises two second sections, two second sections are connected to two ends of the first section respectively, by arranging two second sections, the filter part is in the shape of an arch bridge, so as to further improve the filtering effect, and two second ends are arranged on the fixing part, so that the piezoelectric ceramic sheet is more firmly installed, and the piezoelectric ceramic sheet is prevented from falling off due to shaking of the first section.

[0010] Optionally, the material of the filter part is a rigid material, and the rigid material is used to further enhance the filtering effect.

[0011] Optionally, the material of the filter part is copper or iron, and the rigid material of copper or iron is used, so that the filtering effect is ensured, and the strength of the filter part is also ensured.

[0012] Optionally, the fixing part and the filter part are integrally formed, so as to ensure the strength of the support.

[0013] Optionally, the first section and the second section are connected in an arc, and the second section and the fixing part are connected in an arc, so as to further improve the buffering of the energy generated by the collision of the sweeping robot.

[0014] Optionally, the piezoelectric ceramic sheet is installed on the first section by using glue, and the piezoelectric ceramic sheet is attached to the side of the first section away from the fixing part, so as to ensure the accuracy of the touch positioning.

[0015] In order to achieve the same purpose, the application also provides a sweeping robot, which comprises a shell, a control device and a plurality of touch sensor structures as described above, the plurality of touch sensor structures are uniformly distributed on the inner side wall of the shell, the fixing part is installed on the inner side wall of the shell, and the control device is electrically connected with the piezoelectric ceramic sheet through a wire harness.

[0016] Optionally, the inner side wall of the shell is uniformly distributed with a plurality of clamping grooves, the plurality of clamping grooves correspond to the plurality of touch sensor structures one by one, the fixing part is clamped in the clamping groove, so that the support is more firmly installed on the inner side wall of the shell.

[0017] Compared with the prior art, the touch sensor structure and the sweeping robot have the beneficial effects that: the device installs the piezoelectric ceramic sheet on the inner side wall of the shell through the support, and the filter part is connected to form a cantilever beam structure through the first section and the second section, so that the energy generated by the collision of the sweeping robot is first buffered through the cantilever beam structure and then transmitted to the piezoelectric ceramic sheet, avoiding damage to the piezoelectric ceramic sheet due to impact, and also enabling the piezoelectric ceramic sheet to be firmly installed on the inner side wall of the shell, thereby avoiding touch positioning failure caused by the piezoelectric ceramic sheet falling off, in addition, the filter part in the cantilever beam structure can also play a filtering role, and can filter the vibration signals generated by the operation of the sweeping robot, further improving the touch positioning effect. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic diagram of the main structure of the touch sensor structure of the embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the installation of the touch sensor structure of the embodiment of the present application;

[0020] Figure 3 is a signal effect diagram of the comparative example one of the present application;

[0021] Figure 4 is a signal effect diagram of the first embodiment of the present application.

[0022] In the figure, 1, touch sensor structure; 11, support; 111, filter part; 1111, first section; 1112, second section; 112, fixed part; 12, piezoelectric ceramic sheet; 2, shell; 21, clamping groove; 3, wire harness. DETAILED DESCRIPTION

[0023] The specific embodiments of the present application will be further described in detail below in combination with the drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0024] At the same time, relevant comparative examples are listed for comparison.

[0025] In the description of the present application, it should be understood that the terms "first", "second" used in the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0026] Example one

[0027] As Figure 1As shown, a preferred embodiment of the present invention, a touch sensor structure 1, includes: a support member 11 and a piezoelectric ceramic sheet 12;

[0028] The support member 11 includes a filtering part 111 and a fixing part 112. The filtering part 111 includes a first segment 1111 extending along a first direction and a second segment 1112 extending along a second direction. One end of the second segment 1112 is connected to one end of the first segment 1111, and the other end is connected to the fixing part 112. The fixing part 112 extends along the first direction. The material of the filtering part 111 is a rigid material.

[0029] The piezoelectric ceramic sheet 12 is installed on the side of the first section 1111 away from the fixing part 112.

[0030] Based on the above scheme, the device uses the support member 11 to install the piezoelectric ceramic sheet 12 on the inner wall of the outer shell 2. The filter part 111 is connected by the first section 1111 and the second section 1112 to form a cantilever beam structure. This allows the energy generated by the robot vacuum cleaner when it is hit to be buffered by the cantilever beam structure before being transferred to the piezoelectric ceramic sheet 12. This avoids damage to the piezoelectric ceramic sheet 12 due to impact and also allows the piezoelectric ceramic sheet 12 to be firmly installed on the inner wall of the outer shell 2. This prevents the piezoelectric ceramic sheet 12 from falling off and causing touch positioning failure. In addition, the filter part 111 has a cantilever beam structure, which can also play a filtering role. It can filter the vibration signal generated by the operation of the robot vacuum cleaner itself, further improving the touch positioning effect.

[0031] like Figure 1 As shown, in order to make the piezoelectric ceramic sheet 12 more securely installed, the filter part 111 includes two second segments 1112. The two second segments 1112 are respectively connected to the two ends of the first segment 1111. By setting the two second segments 1112, the filter part 111 is in the shape of an arch bridge, which further improves the filtering effect. Furthermore, the two second ends are mounted on the fixing part 112, which makes the piezoelectric ceramic sheet 12 more securely installed and prevents the piezoelectric ceramic sheet 12 from falling off due to the shaking of the first segment 1111.

[0032] Optionally, the filter unit 111 is made of a rigid material, which further enhances the filtering effect.

[0033] Optionally, the filter part 111 is made of copper or iron. Using iron, a rigid material, can ensure both the filtering effect and the strength of the filter part 111.

[0034] Optionally, in order to enhance the strength of the support member 11, the fixing part 112 and the filtering part 111 are integrally formed to ensure the strength of the support member 11.

[0035] like Figure 1As shown, in order to further improve the buffering capacity of the support 11, the first section 1111 is connected with the second section 1112 in an arc, and the second section 1112 is connected with the fixed part 112 in an arc, further improving the buffering of the energy generated by the collision of the sweeping robot.

[0036] Optionally, in order to ensure the effect of touch positioning, the piezoelectric ceramic sheet 12 is mounted on the first section 1111 by glue, and the piezoelectric ceramic sheet 12 is attached to the side of the first section 1111 away from the fixed part 112, so as to ensure the accuracy of touch positioning.

[0037] As shown in the drawings, Figure 2 In order to achieve the same purpose, the embodiment of the present application preferably comprises a housing 2, a control device (not shown in the drawings) and a plurality of touch sensor structures 1 as described above, a plurality of said touch sensor structures 1 are uniformly distributed on the inner side wall of said housing 2, and the fixed part 112 is mounted on the inner side wall of said housing 2, and said control device is electrically connected with the piezoelectric ceramic sheet 12 through the wire harness 3.

[0038] As shown in the drawings, Figure 2 In order to make the support 11 more firmly installed, the inner side wall of the housing 2 is uniformly distributed with a plurality of clamping grooves 21, a plurality of said clamping grooves 21 correspond to a plurality of said touch sensor structures 1 one by one, and the fixed part 112 is clamped in the clamping groove 21, so that the support 11 is more firmly installed on the inner side wall of the housing 2.

[0039] Comparative Example One

[0040] The touch sensor structure and the sweeping robot of the present comparative example one are different from the embodiment one only in that the support 11 is not provided, and the piezoelectric ceramic sheet 12 is pasted on the inner side wall of the housing 2 by glue.

[0041] In order to evaluate the signal filtering effect of the touch sensor structure and the sweeping robot of the above-mentioned embodiment one and comparative example one, signal effect tests are respectively carried out on the embodiment one and comparative example one, and the specific experiments are as follows:

[0042] Experimental instrument: one RIGOL oscilloscope;

[0043] Experimental environment: set up an office table in a sealed space;

[0044] Experimental steps:

[0045] 1. Connect the probe of the oscilloscope with the wire harness 3 of the comparative example one, and place the probe of the oscilloscope on the top of the sweeping robot, so as to avoid the probe of the oscilloscope falling on the ground and being dragged by the sweeping robot, causing additional signal interference;

[0046] 2, Set the oscilloscope to single trigger mode, at a distance of 1m from the right side of the desk, start the robot vacuum cleaner and make it keep advancing until it hits the right side of the desk, record the waveform and spectrum at this time, repeat this step three times;

[0047] 3, Connect the probe of the oscilloscope to the wire harness 3 of Example 1, and place the probe on the top of the robot vacuum cleaner to avoid the probe falling to the ground and being dragged by the robot vacuum cleaner, causing additional signal interference;

[0048] 4, Repeat step 2 and record the corresponding waveform and spectrum.

[0049] The experimental results are shown in the signal effect diagram of Comparative Example 1 Figure 3 and the signal effect diagram of Example 1 Figure 4 Since the vibration signal generated by the robot vacuum cleaner itself is in the frequency range of 300Hz, and the collision signal is a low-frequency deformation signal and a reverberation signal of vibration signal, the frequency is in the range of 160Hz, so by comparing Figure 3 and Figure 4 It can be judged that the touch sensor structure and the robot vacuum cleaner of Example 1 can effectively filter the vibration signal to avoid attenuation of the useful signal.

[0050] In summary, the touch sensor structure and the robot vacuum cleaner provided by the embodiment of the application install the piezoelectric ceramic sheet 12 on the inner side wall of the shell 2 through the support 11, and the cantilever beam structure formed by the connection of the first section 1111 and the second section 1112 of the filter part 111, so that the energy generated by the collision of the robot vacuum cleaner is first buffered through the cantilever beam structure and then transmitted to the piezoelectric ceramic sheet 12, avoiding damage to the piezoelectric ceramic sheet 12 due to impact, and also allowing the piezoelectric ceramic sheet 12 to be firmly installed on the inner side wall of the shell 2, thereby avoiding touch positioning failure caused by the piezoelectric ceramic sheet 12 falling off. In addition, the cantilever beam structure made of rigid material of the filter part 111 also has the function of filtering, which can filter the vibration signal generated by the operation of the robot vacuum cleaner, and further improve the effect of touch positioning.

[0051] The above is only the preferred embodiment of the application, and it should be noted that for ordinary skilled persons in the technical field, without departing from the technical principles of the application, several improvements and replacements can be made, which should also be considered as the protection range of the application.

Claims

1. A robot vacuum cleaner characterized in that: The application relates to a touch sensor structure, which comprises a shell, a control device and a plurality of touch sensor structures, wherein the plurality of touch sensor structures are uniformly distributed on the inner side wall of the shell. The touch sensor structure comprises a support and a piezoelectric ceramic sheet. The support comprises a filter part and a fixed part, the filter part comprises a first section extending along a first direction and a second section extending along a second direction, one end of the second section is connected with one end of the first section, the other end of the second section is connected with the fixed part, and the fixed part extends along the first direction; the fixed part is mounted on the inner side wall of the shell. The piezoelectric ceramic sheet is mounted on the first section on the side away from the fixed part; the control device is electrically connected with the piezoelectric ceramic sheet through a wire harness. The filter part comprises two second sections, and the two second sections are respectively connected with two ends of the first section. The first section is arcuately connected with the second section, and the second section is arcuately connected with the fixed part.

2. The robotic vacuum cleaner of claim 1, wherein, The material of the filter part is rigid material.

3. The robot vacuum of claim 1, wherein, The material of the filter part is copper or iron.

4. The robotic vacuum cleaner of claim 1, wherein, The fixed part and the filter part are integrally formed.

5. The robot vacuum of claim 1, wherein, The piezoelectric ceramic sheet is mounted on the first section through glue, and the piezoelectric ceramic sheet is attached to the side of the first section away from the fixed part.

6. The robotic vacuum cleaner of claim 1, wherein, The inner side wall of the shell is uniformly provided with a plurality of clamping grooves, the plurality of clamping grooves correspond to the plurality of touch sensor structures one by one, and the fixed part is clamped in the clamping grooves.

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