Self-moving robot

Abstract

The application discloses a self-moving robot, which comprises a robot body, at least two touch switches, a front impact shell, a reset member and a control module; the touch switches are fixedly installed on the robot body at intervals; the front impact shell is installed on the robot body and is used for transmitting the impact force from the obstacle to trigger the touch switch; the reset member can reset the front impact shell to the initial position without external force; the control module is installed on the robot body and is electrically connected with the touch switch, and can send a control signal to the robot body according to the opening and closing of the touch switch. According to the above scheme, when the self-moving robot collides with the obstacle during movement, the impact force is transmitted by the front impact shell to trigger the touch switch, the control module sends a control signal according to the opening and closing of the touch switch, so that the self-moving robot turns around or turns to avoid the obstacle, and the front impact shell is reset to the initial position under the action of the reset member, thereby being high in reliability and low in cost.

Description

Technical Field

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

[0002] Currently, self-moving robots on the market, such as cleaning robots and transport robots, are equipped with forward collision sensors. Traditional self-moving robots use photoelectric switches, which utilize the obstruction or reflection of the light beam by the object being detected to connect the circuit through a synchronous loop, thereby detecting the presence or absence of obstacles.

[0003] However, photoelectric switches are expensive and require high parallelism between themselves and their mounting surface. In addition, in strong light environments, the infrared light from strong light can affect the normal operation of the receiving end of the self-moving robot, which may cause the self-moving robot to malfunction. Summary of the Invention

[0004] The main objective of this invention is to provide a self-moving robot that improves the reliability of self-moving robots in obstacle detection.

[0005] To achieve the above objectives, the present invention proposes a self-moving robot, comprising:

[0006] The robot itself;

[0007] At least two touch switches are fixedly installed in the inner cavity of the robot body at intervals;

[0008] A front impact housing is movably mounted on the front side of the robot body. The front impact housing is provided with a trigger part that extends into the inner cavity of the robot body. The front impact housing is used to transmit the impact force from the obstacle to trigger the touch switch through the trigger part.

[0009] A reset element for resetting the front impact housing to its initial position after the impact force of the obstacle is removed; and

[0010] The control module is installed on the robot body and electrically connected to the touch switches, and can control the robot body to avoid obstacles according to the trigger signals of each touch switch;

[0011] The trigger portion of the front impact housing includes a rib that extends along the height direction of the robot body into the inner cavity of the robot body, and the rib cooperates with the touch switch;

[0012] The robot body includes a bottom shell and a middle shell fixedly installed on top of the bottom shell, and each of the touch switches is fixedly installed in the cavity between the bottom shell and the middle shell;

[0013] The front impact housing is movably fitted onto the outside of the bottom shell and the middle shell on one side of the direction of travel. The middle shell has clearance channels corresponding to the positions of each of the touch switches to allow the ribs to pass through.

[0014] The robot body includes two drive wheels electrically connected to the control module to drive the robot body forward, turn, and move backward.

[0015] In some embodiments of the present invention, the trigger portion of the front impact housing includes at least two ribs, each of the at least two ribs corresponding to one of the at least two touch switches, and each of the ribs cooperating with each of the touch switches.

[0016] In some embodiments of the present invention, the middle shell has a rib extending vertically along the peripheral wall of the relief channel, and the rib protrudes from the upper surface of the middle shell.

[0017] In some embodiments of the present invention, the at least two touch switches include a first touch switch and a second touch switch, wherein the first touch switch is located on the left side of the robot body and the second touch switch is located on the right side of the robot body.

[0018] When the first touch switch is triggered by the impact of the front impact housing, while the second touch switch is in an untriggered state, the control module determines that the left side of the self-moving robot has encountered an obstacle;

[0019] When the second touch switch is triggered by the impact of the front impact housing, while the first touch switch is in an untriggered state, the control module determines that the right side of the self-moving robot has encountered an obstacle.

[0020] In some embodiments of the present invention, the first touch switch is inclined towards the left front of the robot body, and the triggering direction of the first touch switch is set at a first angle with the traveling direction of the robot body; the second touch switch is inclined towards the right front of the robot body, and the triggering direction of the second touch switch is set at a second angle with the traveling direction of the robot body.

[0021] When both the first and second touch switches are triggered by the impact of the front impact housing, the control module determines that the self-moving robot has encountered an obstacle directly in front of it.

[0022] In some embodiments of the present invention, the first included angle is 35 degrees to 55 degrees, and the second included angle is 35 degrees to 55 degrees.

[0023] In some embodiments of the present invention, the first included angle is equal to the second included angle.

[0024] In some embodiments of the present invention, the reset member includes a front spring and two side springs. The front spring is connected to the front side of the robot body, and the two side springs are connected to the left and right sides of the robot body. The front spring and the two side springs are elastically abutting against the front impact housing.

[0025] In some embodiments of the present invention, the touch switch includes a switch body and a drive rod, one end of the drive rod is connected to the switch body, and the other end of the drive rod cooperates with the trigger part.

[0026] The present invention, through the above-described scheme, transmits the impact force through the front impact shell and triggers a touch switch when the self-moving robot collides with an obstacle during its movement. The control module sends a control signal according to the opening and closing of the touch switch, causing the self-moving robot to turn around or change direction to avoid the obstacle. The front impact shell is reset to its initial position under the action of the reset component. This invention has high reliability and low cost. Attached Figure Description

[0027] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of an embodiment of the self-moving robot of the present invention;

[0029] Figure 2 for Figure 1 A schematic diagram of the bottom structure of the Zhongzi mobile robot;

[0030] Figure 3 This is a schematic diagram of the structure of a self-propelled mobile robot after the front impact shell has been removed according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the bottom shell structure of the self-moving robot of the present invention;

[0032] Figure 5 This is an exploded view of an embodiment of the mobile robot of the present invention;

[0033] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0034] Figure 7 This is a schematic diagram of the self-moving robot of the present invention when neither of the two microswitches is triggered;

[0035] Figure 8This is a schematic diagram of the self-moving robot of the present invention when both microswitches are triggered;

[0036] Figure 9 This is a schematic diagram of the structure of the self-propelled mobile robot when only the left micro switch is triggered;

[0037] Figure 10 This is an enlarged view of the micro switch in the self-moving robot of the present invention.

[0038] Explanation of icon numbers:

[0039] 100. Self-moving robot; 110. Robot body; 111. Bottom shell; 112. Middle shell; 113. Clearance channel; 114. Bone position; 115. Limiting groove; 116. Mounting platform; 117. First mounting hole; 118. Insertion post; 119. Enclosure; 120. Touch switch; 121. First touch switch; 121'. Second touch switch; 122. Switch body; 123. Second mounting hole; 124. Insertion hole; 125. Drive rod; 126. Electrical terminal; 130. Front impact shell; 131. Trigger part; 132. Rib; 140. Reset part; 141. Front spring; 142. Side spring; 150. Control module; 160. Cliff detection device; 170. Mop assembly; 180. Drive wheel.

[0040] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0043] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, the user should consider such a combination of technical solutions to be non-existent and not within the scope of protection claimed by this invention.

[0044] This invention proposes a self-moving robot 100, which can be a cleaning robot for cleaning the ground, such as a sweeping robot, a mopping robot, a sweeping and mopping robot, etc. The self-moving robot 100 can also be a transport robot for carrying goods, a toy car for children to drive, etc. There are many other specific applications of the self-moving robot 100, which will not be listed here.

[0045] Please see Figures 1 to 9 The self-moving robot 100 includes a robot body 110, at least two touch switches 120, a front impact housing 130, a reset member 140, and a control module 150. Each touch switch 120 is fixedly installed in the inner cavity of the robot body 110 at intervals. The front impact housing 130 is movably installed on the front side of the robot body 110. The front impact housing 130 is provided with a trigger part 131 extending into the inner cavity of the robot body 110. The front impact housing 130 is used to transmit the impact force from the obstacle to trigger the touch switch 120 through the trigger part 131. The reset member 140 is used to reset the front impact housing 130 to the initial position after the impact force of the obstacle is removed. The control module 150 is installed in the robot body 110 and electrically connected to the touch switches 120, and can control the robot body 110 to avoid obstacles according to the trigger signals of each touch switch 120.

[0046] The robot body 110 has a drive module, which can drive the robot body 110 to move forward, turn, and move backward through tires, tracks, mechanical legs, etc.

[0047] The above-mentioned at least two touch switches 120 are of various types. Each touch switch 120 can be one or more of the following types: spring switch, micro switch, limit switch, etc. Each touch switch 120 can be fixedly installed on the robot body 110 by one or more of the following methods: adhesive, snap-fit, welding, bolt fixing, etc. No specific limitation is made on the type and installation method of the touch switch 120 here.

[0048] The aforementioned front impact housing 130 can be installed on the robot body 110 in a fixed installation, sliding installation, or rotating installation manner. The front impact housing 130 can be installed on the entire periphery of the robot body 110, or it can be installed only on the front side of the robot body 110. In some application scenarios, the self-moving robot 100 needs to face uneven road sections, and the front impact housing 130 can also be installed on the bottom of the robot body 110 to detect chassis impacts. The method and position of the front impact housing 130 installed on the robot body 110 are not specifically limited here.

[0049] The front impact housing 130 can trigger the touch switch 120 by deforming itself to transmit the impact force from the obstacle to the touch switch 120. For example, the front impact housing 130 is made of rubber and is fixedly installed on the front side of the robot body 110. When the robot body 110 receives an impact on the left front, the rubber is compressed and deformed, pressing the touch switch 120.

[0050] The front impact housing 130 can also trigger the touch switch 120 by moving relative to the robot body 110. For example, the front impact housing 130 can be slidably mounted on the robot body 110. When the front impact housing 130 is hit by an obstacle, it slides relative to the robot body 110, thereby triggering the touch switch 120. Similarly, the front impact housing 130 can also be rotatably mounted on the robot body 110. No specific limitations are made on the material and mounting method of the front impact housing 130.

[0051] The aforementioned reset component 140 can be of various types. It can be an elastic material such as a spring or an elastic metal sheet, or it can be a magnet assembly. For example, the reset component 140 includes a nested inner ring magnet and an outer ring magnet. The inner ring magnet is fixedly installed on the side of the front impact housing 130 facing the robot body 110, and the outer ring magnet is correspondingly fixedly installed on the robot body 110, with a gap between them. When the front impact housing 130 slides relative to the robot under the pressure of an obstacle, it overcomes the repulsive force between the inner and outer ring magnets to trigger the touch switch 120. After the front impact housing 130 loses the pressure from the obstacle, it resets under the repulsive force between the inner and outer ring magnets. There are many other types of reset components 140, which will not be listed here.

[0052] The aforementioned control module 150 can be a microcontroller, PWM controller, or other electronic components capable of receiving and transmitting signals. The control module 150 sends control signals to the robot body 110 according to the opening and closing of the touch switch 120. Specifically, the control module 150 can output control signals after the touch switch 120 is turned on, or after the touch switch 120 is turned off, or when the touch switch 120 switches between open and closed states, without any specific limitations.

[0053] The present invention, through the above-described scheme, when the self-moving robot 100 collides with an obstacle during its movement, transmits the impact force through the front impact housing 130 and triggers the touch switch 120. The control module 150 sends a control signal according to the opening and closing of the touch switch 120, causing the self-moving robot 100 to turn around or change direction to avoid the obstacle. The front impact housing 130 is reset to its initial position under the action of the reset member 140. This method has high reliability and low cost.

[0054] Please see Figures 5 to 9 In some embodiments of the present invention, the triggering part 131 of the front impact housing 130 includes at least two ribs 132. The at least two ribs 132 extend along the height direction of the robot body 110 into the inner cavity of the robot body 110. The at least two ribs 132 correspond one-to-one with at least two touch switches 120, and each rib 132 cooperates with each touch switch 120. With this configuration, when the self-moving robot 100 collides with an obstacle, the front impact housing 130 drives the ribs 132 to move relative to the robot body 110 to trigger the touch switches 120, avoiding direct collision between the front impact housing 130 and the touch switches 120, which would damage the touch switches 120 and the connection structure between the touch switches 120 and the robot body 110.

[0055] The material of the aforementioned front impact housing 130 can be ABS, aluminum alloy, or other materials that can withstand large impact forces and have low density. The shape of the aforementioned front impact housing 130 is diverse, such as bumper shape, flat shape, corrugated shape, etc. The front impact housing 130 is movably installed on the robot body 110 in various ways. For example, the front impact housing 130 is fixed to one end of the spring, and the other end of the spring is fixed to the robot body 110. Another example is that the robot body 110 has a slide rail extending along the direction of travel, and the front impact housing 130 is slidably installed in the slide rail. There are many other ways in which the front impact housing 130 is movably installed on the robot body 110, which will not be listed here.

[0056] The aforementioned rib 132 is generally made of elastic material to mitigate the collision between the front impact housing 130 and the touch switch 120, while ensuring the trigger sensitivity of the touch switch 120. The aforementioned rib 132 and the touch switch 120 can cooperate in various ways. The rib 132 can trigger the touch switch 120 by means of insertion, abutment, etc., and no specific limitation is made here.

[0057] Furthermore, considering that when the self-moving robot 100 is moving and is hit on the left front of the front impact housing 130, during the process of turning right to avoid the obstacle, there may be a situation where the left side of the robot body rubs against the obstacle. In order to avoid the above-mentioned problem, in some embodiments of the present invention, the width of the front impact housing 130 is greater than the width of the robot body. With this configuration, when the self-moving robot 100 is hit on one side of the front impact housing 130, there is a certain gap between the robot body and the obstacle when it turns, thereby avoiding the collision between the robot body and the obstacle.

[0058] In some embodiments of the present invention, the robot body 110 includes a bottom shell 111 and a middle shell 112 fixedly installed above the bottom shell 111. Each trigger switch 120 is fixedly installed in the cavity between the bottom shell 111 and the middle shell 112. The front impact shell 130 is movably fitted outside the bottom shell 111 and the middle shell 112 on the side of the travel direction. The middle shell 112 has clearance channels 113 corresponding to the positions of each trigger switch 120 to allow the ribs 132 to pass through. With this arrangement, the trigger switches 120 are sandwiched between the bottom shell 111 and the middle shell 112, and the front impact shell 130 provides protection for the robot body 110 from above and in front, providing stronger protection. When the self-moving robot 100 collides with an obstacle, the robot ribs 132 can move within the clearance channels 113 under the drive of the front impact shell 130 and can trigger the trigger switches 120.

[0059] The bottom shell 111 and the middle shell 112 can be fixed by plugging, snapping, welding, bonding, etc. The clearance channel 113 can be opened in multiple ways corresponding to each rib 132, or one clearance channel 113 can be set for multiple ribs 132. No specific limitation is made here.

[0060] Further, please refer to Figure 3 and Figure 5Considering that when there are water stains or dust on the upper surface of the middle shell 112, the debris is very likely to flow from the middle shell 112 between the middle shell 112 and the bottom shell 111 through the clearance channel 113, affecting the internal electronic components, in some embodiments of the present invention, the middle shell 112 has a rib 114 extending vertically along the peripheral wall of the clearance channel 113, and the rib 114 protrudes from the upper surface of the middle shell 112. With this arrangement, the protruding rib 114 can act as a barrier against debris. When water stains or dust flow through the rib 114, they can flow away along the outer wall of the protrusion of the rib 114 without entering the clearance channel 113, effectively solving the above-mentioned problem. In addition, the structural strength of the middle shell 112 located at the clearance channel 113 is higher, making it less prone to cracking of the peripheral wall of the clearance channel 113.

[0061] Please see Figures 3 to 9 In some embodiments of the present invention, the reset member 140 includes a front spring 141 and two side springs 142. The front spring 141 is connected to the front side of the robot body 110, and the two side springs 142 are connected to the left and right sides of the robot body 110. The front spring 141 and the two side springs 142 are all elastically abutting against the front impact housing 130. This configuration is simple in structure, convenient in manufacturing, and low in cost. Moreover, the vibration effect generated after the reset member 140 is reset is small, avoiding the front impact housing 130 from vibrating violently after reset, which would cause the rib 132 to repeatedly trigger the touch switch 120 under the action of the front impact housing 130, causing the control module 150 to send an incorrect signal.

[0062] The reset component 140 can be connected to the robot body 110 and the front impact shell 130 in various ways. For example, one end of the reset component 140 can be fixedly installed around the bottom shell 111, and the other end can elastically abut against the inner surface of the front impact shell 130. With this configuration, during the reset process of the front impact shell 130, the end of the reset component 140 that elastically abuts against the front impact shell 130 will slide against the inner surface of the front impact shell 130, providing a damping effect. Alternatively, both ends of the reset component 140 can be fixedly connected to the bottom shell 111 and the front impact shell 130 respectively, resulting in higher structural strength. There are many other ways in which the two ends of the reset component 140 can be connected to the robot body 110 and the front impact shell 130, which will not be listed here.

[0063] Considering that when the self-moving robot 100 moves at a high speed, the impact force on the front impact housing 130 when colliding with obstacles is large, which may cause the reset member 140 to exceed its elastic limit and undergo plastic deformation, in some embodiments of the present invention, vertically extending limiting grooves 115 are correspondingly provided on the left and right sides of the robot body 110 and cooperate with the front impact housing 130, with a portion of the front impact housing 130 located within the limiting grooves 115. With this configuration, when the front impact housing 130 is subjected to an impact force, the reset member 140 preferentially provides a reaction force. When the impact force is large, the front impact housing 130 abuts against the groove wall of the limiting groove 115, further providing a reaction force and protecting the reset member 140 from deformation exceeding its elastic limit, thereby effectively avoiding the aforementioned problems.

[0064] Please see Figures 4 to 10 In some embodiments of the present invention, at least two touch switches 120 include a first touch switch 121 and a second touch switch 121'. The first touch switch 121 is located on the left side of the robot body 110, and the second touch switch 121' is located on the right side of the robot body. When the first touch switch 121 is triggered by an impact from the front impact housing 130, while the second touch switch 121' is in an untriggered state, the control module 150 determines that the left side of the mobile robot 100 has encountered an obstacle; when the second touch switch 121' is triggered by an impact from the front impact housing 130, while the first touch switch 121 is in an untriggered state, the control module 150 determines that the right side of the mobile robot 100 has encountered an obstacle. This configuration allows for detection using only two touch switches 120, further reducing costs.

[0065] Of course, the states of the first and second touch switches 121' when the front impact housing 130 is impacted from different directions can be set according to specific circumstances. Any one of the four impact conditions (impact from the left, impact from the right, impact from the front, and no impact) can correspond to any one of the four combined states of the first and second touch switches 121'. For example, the first and second touch switches 121' can be set to normally open when the front impact housing 130 is not impacted, and a detection signal can be sent to the control module 150 by the first and second touch switches 121' closing when the front impact housing 130 is impacted. There are many other corresponding combinations of the different impact conditions of the front impact housing 130 and the states of the first and second touch switches 121', which will not be described in detail here.

[0066] Preferably, to avoid differences in detection sensitivity between the first touch switch 121 and the second touch switch 121' due to differences in their installation positions, for example, the first touch switch 121 is located on the left front of the robot body 110 and is more sensitive to impacts on the left side of the front impact housing 130, while the second touch switch 121' is located on the right rear of the robot body 110 and is less sensitive to impacts on the right side of the front impact housing 130 compared to the first touch switch 121, resulting in a large difference in the sensitivity of the self-moving robot 100 to impacts on the left and right sides, in some embodiments of the present invention, the first touch switch 121 and the second touch switch 121' are symmetrically distributed on the left and right sides of the bottom shell 111. This arrangement avoids the above-mentioned problems.

[0067] Please continue reading. Figures 7 to 9 Considering that the movement direction of the rib 132 under the drive of the shell varies when the front impact shell 130 is impacted from different directions, when the movement direction of the rib 132 deviates from the direction of the effective pressing drive rod 125, it will cause the problem of invalid detection. For example, when the self-moving robot 100 is turning right, the left front side of the front impact shell 130 is impacted and the rib 132 moves to the right relative to the robot body 110, so that both ribs 132 avoid the corresponding drive rod 125, and the impact cannot be detected.

[0068] To address the aforementioned issues, in some embodiments of the present invention, the first touch switch 121 is arranged at an angle to the left front of the robot body 110, and the triggering direction of the first touch switch 121 is set at a first angle to the traveling direction of the robot body 110; the second touch switch 121' is arranged at an angle to the right front of the robot body 110, and the triggering direction of the second touch switch 121' is set at a second angle to the traveling direction of the robot body 110. When both the first touch switch 121 and the second touch switch 121' are triggered by the impact of the front impact housing 130, the control module 150 determines that the self-moving robot 100 has encountered an obstacle directly in front of it.

[0069] Furthermore, in some embodiments of the present invention, the first included angle is 35 degrees to 55 degrees, and the second included angle is 35 degrees to 55 degrees. With this configuration, when the front impact housing 130 is impacted from any direction in front, the touch switch 120 can be effectively triggered. Specifically, for example, when the self-moving robot 100 is turning right, the left front side of the front impact housing 130 is impacted, causing the rib 132 to move relative to the robot body 110 to the right and rear. The rib 132 can thus effectively trigger the touch switch 120 located on the left side.

[0070] Furthermore, in some embodiments of the present invention, the first included angle is equal to the second included angle. This arrangement further approximates the sensitivity of the two touch switches.

[0071] Please see Figures 7 to 9 In some embodiments of the present invention, the contact surface between the rib 132 and the drive rod 125 is configured as an arc shape with the arc opening facing the drive rod 125. This configuration further ensures that the rib 132 can effectively press against the drive rod 125.

[0072] In some embodiments of the present invention, the touch switch 120 includes a switch body 122 and a drive rod 125. One end of the drive rod 125 is connected to the switch body 122, and the other end of the drive rod 125 cooperates with the trigger part 131. With this configuration, the trigger part 131 can trigger the touch switch 120 by pressing the drive rod 125, resulting in high sensitivity.

[0073] Further, please refer to Figure 5 and Figure 6 In some embodiments of the present invention, the robot body 110 includes a bottom shell 111. The upper surface of the bottom shell 111 is provided with mounting platforms 116 corresponding to each touch switch 120. Each mounting platform 116 is provided with a first mounting hole 117 and a plug-in post 118. Each switch body 122 is provided with a second mounting hole 123 and a plug-in hole 124. The mounting platform 116 and the touch switch 120 are bolted together through the first mounting hole 117 and the second mounting hole 123. This arrangement secures the touch switch 120 with bolts and plug-in posts 118, restricting its vertical movement and horizontal rotation. Furthermore, one first mounting hole 117 on the mounting platform 116 corresponds to one second mounting hole 123 on the touch switch 120, and both are bolt holes, facilitating positioning during installation of the touch switch 120, avoiding the problem of reverse installation of the touch switch 120, and reducing the misinstallation rate.

[0074] In some embodiments of the present invention, the switch body 122 has electrical terminals 126 disposed opposite to the drive rod 125, and the mounting platform 116 is provided with enclosures 119 on both sides adjacent to the drive rod 125. This arrangement guides the user to apply pressure when installing the touch switch 120 or to apply pull force when removing the touch switch 120 as coaxially as possible with the plug post 118, avoiding improper force that could break the plug post 118.

[0075] Furthermore, the side panel 119 near the end where the drive rod 125 connects to the switch body 122 protrudes from the side closest to the drive rod 125, partially enclosing the drive rod 125. This design further prevents users from mistakenly installing the touch switch 120. When the end of the drive rod 125 used to abut against the reinforcing rib 132 is installed facing the protruding side panel 119, the protruding side panel 119 abuts against the drive rod 125, preventing the touch switch 120 from being incorrectly installed.

[0076] Further, please refer to Figure 2 Considering that the self-propelled robot 100 may encounter obstacles such as potholes and cliffs during its movement, to prevent damage to the chassis from potholes or falls and injuries to pedestrians from cliff sections (e.g., when the self-propelled robot 100 passes through the gap between a high-rise railing and the building floor), in some embodiments of the present invention, the self-propelled robot 100 also includes a cliff detection device 160 electrically connected to the control module 150. The cliff detection device 160 is used to detect whether there is a cliff in front of the self-propelled robot 100 and sends a sensing signal to the control module 150. This configuration effectively solves the above-mentioned problems.

[0077] The cliff detection device 160 described above has various structures. For example, the cliff detection device 160 includes a detection rod, one end of which is in contact with the ground, and the middle position of the detection rod is rotatably connected to the robot body 110. A push switch is fixed on the robot body 110 at a distance from the other end of the detection rod. The push switch is electrically connected to the control module 150. When the self-moving robot 100 encounters a road surface with a lower elevation, the end of the detection rod that is in contact with the ground will droop under the action of gravity, and the other end of the detection rod will tilt up and press against the push switch, thereby sending a detection signal.

[0078] For example, the cliff detection device 160 includes an infrared transmitter, an infrared receiver, and a timing unit fixedly installed on the robot body 110. The infrared transmitter can emit infrared rays at high frequency and is set towards the ground. The infrared receiver is used to receive the infrared rays emitted by the ground-based infrared transmitter. The timing unit is electrically connected to the infrared transmitter, the infrared receiver, and the control module 150, and can record the time difference between infrared emission and reception and send a detection signal to the control module 150. The distance between the cliff detection device 160 and the ground is determined by comparing two adjacent sets of data. There are many other structures for the cliff detection device 160, which will not be listed here.

[0079] Please see Figure 2 and Figure 3In some embodiments of the present invention, the self-moving robot 100 further includes a mop assembly 170, and the robot body 110 includes two drive wheels 180 electrically connected to the control module 150. The mop assembly 170 is located on one side of the travel direction of the two drive wheels 180. With this configuration, the self-moving robot 100 can mop the ground while moving. The two drive wheels 180 and the mop assembly 170 together provide support for the self-moving robot 100, and the control module 150 can achieve steering simply by controlling the forward and reverse rotation speeds of the two drive wheels 180.

[0080] Considering the weight and space occupied by the two drive wheels (180), please refer to [the relevant documentation]. Figures 2 to 5 In some embodiments of the present invention, the control module 150 is mounted on the bottom shell 111, and the mop assembly 170 is mounted on the side of the bottom shell 111 opposite to the control module 150. This arrangement results in a more uniform weight distribution and a more reasonable spatial arrangement.

[0081] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural transformations made using the contents of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A self-moving robot, characterized in that, include: The robot itself; At least two touch switches are fixedly installed in the inner cavity of the robot body at intervals; A front impact housing is movably mounted on the front side of the robot body. The front impact housing is provided with a trigger part that extends into the inner cavity of the robot body. The front impact housing is used to transmit the impact force from the obstacle to trigger the touch switch through the trigger part. A reset element for resetting the front impact housing to its initial position after the impact force of the obstacle is removed; as well as The control module is installed on the robot body and electrically connected to the touch switches, and can control the robot body to avoid obstacles according to the trigger signals of each touch switch; The trigger portion of the front impact housing includes a rib that extends along the height direction of the robot body into the inner cavity of the robot body, and the rib cooperates with the touch switch; The robot body includes a bottom shell and a middle shell fixedly installed on top of the bottom shell, and each of the touch switches is fixedly installed in the cavity between the bottom shell and the middle shell; The front impact housing is movably fitted onto the outside of the bottom shell and the middle shell on one side of the direction of travel. The middle shell has clearance channels corresponding to the positions of each of the touch switches to allow the ribs to pass through. The robot body includes two drive wheels electrically connected to the control module to drive the robot body forward, turn, and move backward.

2. The self-moving robot as described in claim 1, characterized in that, The trigger portion of the front impact housing includes at least two ribs, each of which corresponds to one of the at least two touch switches, and each rib cooperates with each of the touch switches.

3. The self-moving robot as described in claim 2, characterized in that, The middle shell has a rib extending vertically along the peripheral wall of the relief channel, and the rib protrudes from the upper surface of the middle shell.

4. The self-moving robot as described in claim 1, characterized in that, The at least two touch switches include a first touch switch and a second touch switch, with the first touch switch located on the left side of the robot body and the second touch switch located on the right side of the robot body. When the first touch switch is triggered by the impact of the front impact housing, while the second touch switch is in an untriggered state, the control module determines that the left side of the self-moving robot has encountered an obstacle; When the second touch switch is triggered by the impact of the front impact housing, while the first touch switch is in an untriggered state, the control module determines that the right side of the self-moving robot has encountered an obstacle.

5. The self-moving robot as described in claim 4, characterized in that, The first touch switch is tilted towards the front left of the robot body, and its triggering direction forms a first angle with the robot body's direction of travel; the second touch switch is tilted towards the front right of the robot body, and its triggering direction forms a second angle with the robot body's direction of travel. When both the first and second touch switches are triggered by the impact of the front impact housing, the control module determines that the self-moving robot has encountered an obstacle directly in front of it.

6. The self-moving robot as described in claim 5, characterized in that, The first included angle is 35 degrees to 55 degrees, and the second included angle is 35 degrees to 55 degrees.

7. The self-moving robot as described in claim 5, characterized in that, The first included angle is equal to the second included angle.

8. The self-moving robot as described in claim 1, characterized in that, The reset component includes a front spring and two side springs. The front spring is connected to the front side of the robot body, and the two side springs are connected to the left and right sides of the robot body. The front spring and the two side springs are elastically abutting against the front impact housing.

9. The self-moving robot as described in claim 1, characterized in that, The touch switch includes a switch body and a drive rod. One end of the drive rod is connected to the switch body, and the other end of the drive rod cooperates with the trigger part.

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