Self-moving device

Abstract

The invention relates to self-moving equipment which comprises a machine body, a collision plate, a detection device and a control unit. The collision plate is arranged on one side of the machine body and is configured to be movably connected with the machine body; the detection device comprises a plurality of sensing parts and a triggering part, one of the sensing parts and the triggering part is arranged on the collision plate and moves in the movement range of the collision plate, and the other one of the sensing parts and the triggering part is arranged on the machine body; and the position relationship between the triggering part and the plurality of sensing parts is constructed as follows: when the triggering part or the sensing parts move in any direction within the movement range, at least one sensing part is triggered by the triggering part. And the control unit is in communication connection with the detection device and is used for judging the collision direction of the collision plate according to the sensing part triggered by the triggering part. According to the self-moving equipment disclosed by the invention, through mutual cooperation of the machine body, the collision plate and the detection device, the direction of the obstacle colliding with the collision plate can be accurately obtained, so that the self-moving equipment can avoid conveniently, and normal work of the self-moving equipment is ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of household machinery, and more precisely, particularly to a self - moving device. Background Art

[0002] With the development of technology and the increase in labor costs, the application scope of self - moving devices such as floor - sweeping robots and mopping robots is becoming wider and wider.

[0003] Currently, on existing self - moving devices, a bumper and an induction part cooperate one by one to detect the collision direction. Currently, self - moving devices on the market can usually only detect two directions or at most four directions. If more directions need to be detected, a large number of cooperating bumpers and induction parts need to be set up. In this way, not only is the structure complex, but also a large amount of space is occupied, and there are many drawbacks. Summary of the Invention

[0004] The present disclosure provides a self - moving device to solve the problems existing in the prior art.

[0005] According to a first aspect of the present disclosure, there is provided a self - moving device, including:

[0006] A body;

[0007] A bumper, which is arranged on one side of the body and is configured to be movably connected to the body;

[0008] A detection device, the detection device includes a plurality of induction parts and a trigger part, one of the induction part and the trigger part is arranged on the bumper and is configured to move within the movement range of the bumper, and the other is arranged on the body; the positional relationship between the trigger part and the plurality of induction parts is configured as follows: when the trigger part or the induction part moves in any direction within the movement range, at least one of the induction parts is triggered by the trigger part;

[0009] A control unit, which is communicatively connected to the detection device and is configured to judge the collision direction of the bumper according to the induction part triggered by the trigger part.

[0010] In an embodiment of the present disclosure, the induction part has an induction area, and when the trigger part or the plurality of induction parts are configured to be acted upon by the bumper and move in any direction, the trigger part enters the induction area of at least one of the induction parts; the size of the corresponding position of the trigger part is configured to be greater than the distance between adjacent two induction areas.

[0011] In an embodiment of the present disclosure, the plurality of induction parts are configured to be spaced apart along the extension direction of an arc segment, the trigger part is located within the space enclosed by the arc segment, and the distance from the corresponding position of the trigger part to each induction part is less than a threshold value.

[0012] In one embodiment of the present disclosure, when in the initial position, the distance between each of the sensing parts and the corresponding position of the triggering part is equal.

[0013] In one embodiment of the present disclosure, the triggering part is provided with avoidance grooves corresponding to the positions of the respective sensing parts, and the avoidance grooves are configured to avoid other sensing parts when the triggering part moves in the direction of a certain sensing part.

[0014] In one embodiment of the present disclosure, at least three sensing parts are provided, and the respective sensing parts are arranged in a circular shape on the circumferential outer side of the triggering part. The triggering part is configured to be located within the circle formed by the respective sensing parts and move within the circular range.

[0015] In one embodiment of the present disclosure, the forward direction of the self - moving device is denoted as the front, and the backward direction is denoted as the rear; the bumper is arranged on the front side of the body and is configured to move when encountering an obstacle during forward movement; and / or, the bumper is arranged on the rear side of the body and is configured to move when encountering an obstacle during backward movement.

[0016] In one embodiment of the present disclosure, the forward direction of the self - moving device is denoted as the front, and the backward direction is denoted as the rear; the rear side of the body is rectangular, the bumper is arranged on the rear side of the body, and its shape is adapted to the contour of the rear side of the body, and is configured to move when encountering an obstacle during backward movement.

[0017] In one embodiment of the present disclosure, it further includes a housing, the housing is movably arranged above the body, and serves as a bumper to move when encountering an obstacle during the movement of the self - moving device in any direction.

[0018] In one embodiment of the present disclosure, the triggering part is an occlusion member, and the sensing part is an opposed photoelectric sensor; or, the triggering part is a magnetic member, and the sensing part is a Hall sensor.

[0019] In one embodiment of the present disclosure, the self - moving device is one of a self - moving floor - sweeping robot, a self - moving floor - mopping robot, or a self - moving floor - sweeping and mopping integrated robot.

[0020] In one embodiment of the present disclosure, the control unit is configured to determine that the relative movement direction of the triggering part is located on the extension direction of the mid - line of the directions where the respective sensing parts triggered by the triggering part are located.

[0021] Through the cooperation among the body, the bumper, and the detection device of the self - moving device of the present disclosure, the direction of the obstacle that collides with the bumper can be accurately obtained, facilitating the self - moving device to avoid it, ensuring that the self - moving device can work properly, and preventing the self - moving device from being damaged. Moreover, since only one triggering part is provided in the triggering part, the number of triggering parts can be greatly reduced, thereby simplifying the structure of the self - moving device and reducing the processing cost of the self - moving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings incorporated in and forming a part of this specification illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0023] Figure 1 is a schematic structural diagram of the triggering device provided by an embodiment of the present disclosure when the triggering part is in the initial position;

[0024] Figure 2 is a schematic structural diagram of the triggering device provided by an embodiment of the present disclosure when the triggering part is moving;

[0025] Figure 3 is a schematic structural diagram of another triggering device provided by an embodiment of the present disclosure when the triggering part is in the initial position;

[0026] Figure 4 is a schematic structural diagram of another triggering device provided by an embodiment of the present disclosure when the triggering part is moving.

[0027] Figures 1 to 4 The corresponding relationships between the names of the components and the reference numerals in are as follows:

[0028] 1. Induction part; 11. First induction part; 12. Second induction part; 13. Third induction part; 14. Fourth induction part; 2. Triggering part; 21. First extension part; 22. Second extension part. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Now, various exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. It should be noted that: Unless otherwise specifically stated, the relative arrangements of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure.

[0030] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or its use.

[0031] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be regarded as part of the specification.

[0032] It should be noted that like reference numerals and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof in subsequent figures is not required.

[0033] The following describes specific embodiments of the present disclosure with reference to the accompanying drawings.

[0034] In this document, "upper", "lower", "front", "rear", "left", "right", etc. are only used to represent the relative positional relationship between relevant parts, rather than limiting the absolute positions of these relevant parts.

[0035] In this document, "first", "second", etc. are only used for distinction from each other, rather than indicating importance, order, and the prerequisite for each other's existence, etc.

[0036] In this document, "equal", "same", etc. are not strict mathematical and / or geometric restrictions, and also include errors that can be understood by those skilled in the art and are allowed in manufacturing or using, etc.

[0037] Unless otherwise specified, the numerical ranges in this document include not only the entire range between its two endpoints, but also several sub-ranges included therein.

[0038] The present disclosure provides a self-moving device, which at least includes a body, a bumper, a detection device, and a control unit. Among them, the bumper is disposed on one side of the body and is configured to be movably connected to the body; the detection device includes a plurality of sensing parts and a triggering part, and one of the sensing part and the triggering part is disposed on the bumper and is configured to move within the movement range of the bumper, and the other is disposed on the body; the positional relationship between the triggering part and the plurality of sensing parts is configured as follows: when the triggering part or the sensing part moves in any direction within the movement range, at least one sensing part is triggered by the triggering part. The control unit is communicatively connected to the detection device and is configured to judge the collision direction of the bumper according to the sensing part triggered by the triggering part.

[0039] During the working process of the self-moving device of the present disclosure, when the bumper collides with an obstacle, the bumper will shift relative to the body in the direction of the force. In this way, the bumper can drive the sensing part or the triggering part to move within the movement range, and at least one sensing part is triggered by the triggering part. Furthermore, the control unit of the self-moving device of the present disclosure can judge the collision direction according to the triggered sensing part.

[0040] It can be seen that through the cooperation among the body, the bumper, and the detection device of the self - moving device of the present disclosure, the direction of the obstacle that collides with the bumper can be accurately obtained, facilitating the self - moving device to avoid it, ensuring that the self - moving device can work properly, and preventing the self - moving device from being damaged. Moreover, since only one trigger part is provided in the trigger part, the number of trigger parts can be greatly reduced, thereby simplifying the structure of the self - moving device and reducing the processing cost of the self - moving device.

[0041] For the sake of easy understanding, hereinafter, with reference to Figures 1 to 4 , a specific structure and working principle of the self - moving device of the present disclosure will be described in detail in combination with an embodiment.

[0042] The present disclosure provides a self - moving device, which can be one of a self - moving floor - sweeping robot, a self - moving floor - mopping robot, or a self - moving floor - sweeping and mopping integrated robot.

[0043] The self - moving device of the present disclosure at least includes a body, a bumper, a detection device, and a control unit. Among them, a motion mechanism is provided on the body, and the motion mechanism is used to drive the body to move so that the self - moving device can perform corresponding work.

[0044] The bumper is arranged on one side of the body and is configured to be movably connected to the body. Specifically, the bumper can be movably connected to the body through an elastic member such as a spring, and the elastic member can also elastically buffer the bumper after the bumper collides with an obstacle.

[0045] Specifically, taking the forward direction of the self - moving device as the front and the backward direction as the rear; in an embodiment of the present disclosure, the bumper is arranged on the front side of the body and is configured to move when encountering an obstacle during forward movement. In this way, when the body encounters an obstacle during forward movement, the bumper can be triggered in time. In another embodiment of the present disclosure, the bumper is arranged on the rear side of the body and is configured to move when encountering an obstacle during backward movement. In this way, when the body encounters an obstacle during backward movement, the bumper can be triggered in time.

[0046] Among them, the overall contour of the body can be circular or rectangular. When the overall contour of the body is circular, the bumper plate can be arc-shaped as a whole to fit the circular body contour; when the overall contour of the body is rectangular, the bumper plate can be linear as a whole to fit the rectangular body contour. In another embodiment of the present disclosure, the forward direction of the self-moving device is defined as the front, and the backward direction is defined as the rear; the rear side of the body is rectangular, the bumper plate is arranged on the rear side of the body, and its shape is adapted to the contour of the rear side of the body, and is configured to move when encountering an obstacle during backward movement. In this way, it can be effectively ensured that when the body encounters an obstacle during backward movement, the bumper plate can be triggered in time, and then the body can be controlled to avoid; moreover, the rear side of the body is rectangular, the bumper plate is arranged on the rear side of the body, and is linear as a whole. In this way, the movement direction of the bumper plate after collision can be basically consistent with the actual direction of the obstacle, thereby effectively improving the accuracy between the collision direction of the obtained bumper plate and the direction where the obstacle is located.

[0047] As Figure 1 shown, the detection device includes a plurality of sensing parts 1 and a triggering part 2. One of the sensing part 1 and the triggering part 2 is arranged on the bumper plate and is configured to move within the movement range of the bumper plate, and the other is arranged on the body; the positional relationship between the triggering part 2 and the plurality of sensing parts 1 is configured as follows: when the triggering part 2 or the sensing part 1 moves in any direction within the movement range, at least one sensing part 1 is triggered by the triggering part 2.

[0048] That is, in an embodiment of the present disclosure, the triggering part 2 is arranged on the bumper plate and is configured to move within the movement range of the bumper plate, and each sensing part 1 is arranged on the body. When the triggering part 2 moves in any direction within the movement range, at least one sensing part 1 is triggered by the triggering part 2.

[0049] In this way, during the working process of the self-moving device of the present disclosure, when the bumper plate collides with an obstacle, the bumper plate will shift relative to the body in the direction of the force. In this way, the bumper plate can drive the triggering part 2 to move within the movement range, and at least one sensing part 1 is triggered by the triggering part 2. Furthermore, the self-moving device of the present disclosure can judge the collision direction according to the triggered sensing part 1.

[0050] In another embodiment of the present disclosure, each sensing part 1 is arranged on the bumper plate and is configured to move within the movement range of the bumper plate, and the triggering part 2 is arranged on the body. When each sensing part 1 moves in any direction within the movement range, at least one sensing part 1 is triggered by the triggering part 2.

[0051] The control unit is communicatively connected to the detection device and is configured to judge the collision direction of the bumper plate according to the sensing part 1 triggered by the triggering part 2.

[0052] Specifically, when the trigger unit 2 is disposed on the collision plate and the sensing unit 1 is disposed on the body, the direction of the obstacle is the opposite direction of the movement direction of the trigger unit 2. When one of the sensing units 1 is triggered, the control unit can determine that the movement direction of the trigger unit 2 is in the direction of the sensing unit 1 based on the position and orientation of the sensing unit 1; when two adjacent sensing units 1 are triggered, the control unit can determine that the collision direction of the collision plate is in the direction between the two sensing units 1 based on the position and orientation of the two sensing units 1.

[0053] Similarly, when the triggering part 2 is arranged on the machine body and the sensing part 1 is arranged on the collision plate, the direction of the obstacle is the moving direction of the triggering part 2. When one of the sensing parts 1 is triggered, the control unit can determine that the moving direction of the sensing part 1 is located in the opposite direction of the sensing part 1 relative to the triggering part 2 based on the position and orientation of the sensing part 1; when two adjacent sensing parts 1 are triggered, the control unit can determine that the collision direction of the collision plate is located in the opposite direction of the direction between the two sensing parts 1 based on the position and orientation of the two sensing parts 1.

[0054] With Figure 2 For example, when the third sensing part 13 is triggered, the control unit can determine that the relative movement direction of the trigger part 2 is the direction of the third sensing part 13. Then, the collision direction of the collision plate can be determined according to the setting position of the trigger part 2 and the collision plate.

[0055] The collision direction of the collision plate is determined by the two triggered triggering parts 2, which can improve the positioning accuracy of the direction. Figure 1 Taking the trigger device shown in as an example, the trigger device disclosed in the present invention can obtain up to 7 collision direction results, thereby greatly improving the positioning accuracy of the direction.

[0056] Thus, during the operation of the self-moving device disclosed in the present invention, when the collision plate collides with an obstacle, the collision plate will deviate relative to the body in the direction of the force, so that the collision plate can drive each sensing part 1 to move within the range of motion, and at least one sensing part 1 is triggered by the triggering part 2, and then the self-moving device disclosed in the present invention can determine the collision direction according to the triggered sensing part 1.

[0057] It can be seen that the self-moving device disclosed in the present invention can accurately obtain the direction of the obstacle that collides with the collision plate through the cooperation between the body, the collision plate, and the detection device, so as to facilitate the self-moving device to avoid the obstacle, ensure that the self-moving device can work normally, and avoid damage to the self-moving device. Moreover, since only one trigger part 2 is provided, the number of trigger parts 2 can be greatly reduced, thereby simplifying the structure of the self-moving device and reducing the processing cost of the self-moving device.

[0058] ​Further, in an embodiment of the present disclosure, the control unit is configured to issue a control signal for controlling the self - moving device to change its current moving direction after determining the relative moving direction of the triggering part 2. Specifically, the control unit can control the self - moving device to move in the opposite direction of the obstacle, or control the self - moving device to turn to avoid the obstacle, so that the self - moving device can continue to work.

[0059] It can be understood that, in order to ensure that when the triggering part 2 or the sensing part 1 moves in any direction within the movement range, at least one sensing part 1 is triggered by the triggering part 2, there should be no blind area for the sensing part 1 within the relative movement range of the triggering part 2. That is, when the triggering part 2 or the sensing part 1 moves in any direction within the movement range, at least one sensing part 1 is triggered by the triggering part 2, and there will be no situation where when the triggering part 2 or the sensing part 1 moves in any direction within the movement range, no sensing part 1 is triggered by the triggering part 2.

[0060] Specifically, in an embodiment of the present disclosure, the triggering part 2 is an occlusion member, and the sensing part 1 is an opposed - type photoelectric sensor. That is, the opposed - type photoelectric sensor includes a transmitting end and a receiving end. During the operation of the opposed - type photoelectric sensor, the transmitting end continuously emits light to the receiving end. When the light is blocked by the occlusion member, the opposed - type photoelectric sensor can trigger a signal.

[0061] In another embodiment of the present disclosure, the triggering part 2 is a magnetic member, and the sensing part 1 is a Hall sensor. During the operation of the Hall sensor, the magnetic member can generate a Hall voltage within the Hall sensor. The value of this Hall voltage is related to the distance between the magnetic member and the Hall sensor. The smaller the distance between the magnetic member and the Hall sensor, the larger the Hall voltage value. When the Hall voltage value is greater than the voltage threshold, the Hall sensor can trigger a signal.

[0062] Of course, in another embodiment of the present disclosure, the sensing part 1 can also be other forms of sensors such as a collision sensor, which is not limited herein.

[0063] Further, in an embodiment of the present disclosure, the sensing part 1 has a sensing area. When the triggering part 2 or multiple sensing parts 1 are configured to move in any direction under the action of the collision plate, the triggering part 2 enters the sensing area of at least one sensing part 1.

[0064] Specifically, for the opposed - type photoelectric sensor, the sensing area can be the area between the transmitting end and the receiving end. For the Hall sensor, the sensing area can be the area around the Hall sensor where the Hall voltage generated by the magnetic member is greater than the voltage threshold. Since the sensing part 1 has a sensing area, when the triggering part 2 enters the sensing area of at least one sensing part 1, the sensing part 1 is triggered, which can avoid direct collision between the triggering part 2 and the sensing part 1, thereby extending the service life of the detection device.

[0065] Such asFigure 1 As shown, in an embodiment of the present disclosure, a plurality of sensing parts 1 at least partially surround a triggering part 2, and the dimension of the position corresponding to the triggering part 2 is configured to be greater than the distance between two adjacent sensing areas. Since the plurality of sensing parts 1 at least partially surround the triggering part 2, in this way, the triggering part 2 can trigger different sensing parts 1 from different directions, and since the dimension of the position corresponding to the triggering part 2 is greater than the distance between two adjacent sensing areas, in this way, the triggering part 2 can at least trigger two sensing parts 1 simultaneously, so that the self - moving device can make the obtained direction result of the obstacle more accurate according to the signals of the two or more triggered sensors.

[0066] It can be understood that, in an embodiment of the present disclosure, the sensing areas of the respective sensing parts 1 may not overlap with each other; in the case where the dimension of the position corresponding to the triggering part 2 is greater than the distance between two adjacent sensing areas, the triggering part 2 can trigger two adjacent sensing parts 1 simultaneously when the sensing areas of the respective sensing parts 1 do not overlap with each other.

[0067] As Figure 1 shown, in an embodiment of the present disclosure, the plurality of sensing parts 1 are configured to be distributed at intervals along the extending direction of an arc segment, the triggering part 2 is located in the space enclosed by the arc segment, and the distance from the position corresponding to the triggering part 2 to each sensing part 1 is less than a threshold value. In this way, it is convenient for the triggering part 2 to trigger the sensing part 1, and it is also convenient for the triggering part 2 to trigger at most two sensing parts 1, better meeting the requirements.

[0068] Furthermore, as Figure 1 shown, in an embodiment of the present disclosure, when in the initial position, the distance from each sensing part 1 to the position corresponding to the triggering part 2 is equal. That is, the triggering part 2 is located at the center position of the arc segment. In this way, it is convenient for the triggering part 2 to move from the center position along the diameter to the arc segment to trigger the sensing part 1, and since the distances from the respective sensing parts 1 to the position corresponding to the triggering part 2 are equal, the moving distances of the triggering part 2 triggered by the respective sensing parts 1 can be equal, thus avoiding the situation that it is difficult to trigger some sensing parts 1.

[0069] Specifically, as Figure 1 shown, in an embodiment of the present disclosure, there are four sensing parts 1, which are respectively denoted as a first sensing part 11, a second sensing part 12, a third sensing part 13, and a fourth sensing part 14; among them, the first sensing part 11 and the fourth sensing part 14 form the bottom of a trapezoid, and the second sensing part 12 and the third sensing part 13 enclose the top of the trapezoid; the triggering part 2 is configured to be at least partially located inside the trapezoid and is configured to move within a semi - circle range.

[0070] Since at least a part of the triggering part 2 is located within the trapezoid and can move within the semicircle range, the angular range that the triggering part 2 can move can be greater than or equal to 180°, so that when the bumper on one side of the body is impacted at any angle, the sensing part 1 can be triggered. Moreover, since the four sensing parts 1 enclose a trapezoid and are all located on the arc segment, the impact angles that each sensor can cover can be relatively similar, so that the obtained result of the direction of the obstacle is more accurate.

[0071] In an embodiment of the present disclosure, the triggering part 2 is provided with avoidance grooves corresponding to the positions of the respective sensing parts 1, and the avoidance grooves are configured to avoid other sensing parts 1 when the triggering part 2 moves in the direction of a certain sensing part 1. By providing the avoidance grooves, when the triggering part 2 moves in the direction of a certain sensing part 1, other sensing parts 1 can be avoided, so as to prevent more triggering parts 2 from being triggered and causing the situation where the direction of the obtained obstacle cannot be accurately judged. It can be understood that when the triggering part 2 moves in the direction between two of the sensing parts 1, the avoidance grooves do not avoid these two sensing parts 1 at the same time.

[0072] As Figure 1 shown, in an embodiment of the present disclosure, the triggering part 2 has a first extension part 21 extending in the direction between the first sensing part 11 and the second sensing part 12 at the position corresponding to the first sensing part 11 and the second sensing part 12; the triggering part 2 has a second extension part 22 extending in the direction between the third sensing part 13 and the fourth sensing part 14 at the position corresponding to the third sensing part 13 and the fourth sensing part 14.

[0073] By providing the avoidance grooves, when the triggering part 2 moves in the direction of a certain sensing part 1, the extension part 21 can trigger the corresponding sensing part 1 in time, thereby reducing the detection difficulty of the detection device. It can be understood that when the triggering part 2 moves in the direction between two of the sensing parts 1, the corresponding two extension parts can trigger these two sensing parts 1 at the same time.

[0074] As Figure 3 and Figure 4 shown, in an embodiment of the present disclosure, at least three sensing parts 1 are provided, and the respective sensing parts 1 are arranged in a circular shape on the circumferential outer side of the triggering part 2. The triggering part 2 is configured to be located within the circle surrounded by the respective sensing parts 1 and move within the circular range. In this way, when the triggering part 2 moves in any direction relative to the sensing part 1, at least one sensing part 1 can be triggered, and when moving to the middle position between two sensing parts 1, two sensing parts 1 will be triggered simultaneously.

[0075] Among them, in an embodiment of the present disclosure, the self - moving device of the present disclosure further includes a housing, which is movably arranged above the body and serves as a bumper to move when the self - moving device encounters an obstacle during movement in any direction. In this way, when the housing encounters an obstacle during the movement of the self - moving device in any direction, it can move relative to the body, thereby driving the trigger part 2 or the sensing part 1 arranged on the housing to move. It can be understood that Figure 3 and Figure 4 the layout of the sensing part 1 and the trigger part 2 shown in can be applied to a self - moving device with a housing, wherein one of the sensing part 1 and the trigger part 2 is arranged on the housing, and the other is arranged on the body.

[0076] Furthermore, in an embodiment of the present disclosure, the control unit is configured to determine that the relative movement direction of the trigger part 2 is located on the extension direction of the mid - line of the directions where the respective sensing parts 1 triggered by the trigger part 2 are located. That is, when the trigger part 2 triggers two sensing parts 1, the control unit determines that the relative movement direction of the trigger part 2 is located on the extension direction of the mid - line of the directions where the two sensing parts 1 are located. In this way, the angles between the results of each collision direction can be made relatively close, thereby improving the direction positioning accuracy.

[0077] Furthermore, in an embodiment of the present disclosure, after the control unit is configured to determine the relative movement direction of the trigger part 2, it issues a control signal for controlling the self - moving device to change its current movement direction. Specifically, the control unit can control the self - moving device to move in the opposite direction of the obstacle, or control the self - moving device to turn to avoid the obstacle so that the self - moving device can continue to work.

[0078] Application scenario

[0079] The present disclosure provides a self - moving device, which at least includes a body, a bumper, a detection device, and a control unit. Among them, the bumper is arranged on one side of the body and is configured to be movably connected to the body; the detection device includes a plurality of sensing parts 1 and a trigger part 2, and one of the sensing part 1 and the trigger part 2 is arranged on the bumper and is configured to move within the movement range of the bumper, and the other is arranged on the body; the positional relationship between the trigger part 2 and the plurality of sensing parts 1 is configured as follows: when the trigger part 2 or the sensing part 1 moves in any direction within the movement range, at least one sensing part 1 is triggered by the trigger part 2. The control unit is communicatively connected to the detection device and is used to judge the collision direction of the bumper according to the sensing part triggered by the trigger part.

[0080] During the operation of the self - moving device of the present disclosure, when the bumper collides with an obstacle, the bumper will shift relative to the body in the direction of the applied force. In this way, the bumper can drive the sensing part 1 or the triggering part 2 to move within the movement range, and at least one sensing part 1 is triggered by the triggering part 2. Furthermore, the control unit of the self - moving device of the present disclosure can determine the collision direction based on the triggered sensing part 1.

[0081] It can be seen that through the mutual cooperation among the body, the bumper, and the detection device of the self - moving device of the present disclosure, the direction of the obstacle that collides with the bumper can be accurately obtained, which is convenient for the self - moving device to avoid the obstacle, ensuring that the self - moving device can work normally and preventing the self - moving device from being damaged. Moreover, since only one triggering part 2 is provided, the number of triggering parts 2 can be greatly reduced, thereby simplifying the structure of the self - moving device and reducing the processing cost of the self - moving device.

[0082] The above has described the embodiments of the present disclosure. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other ordinary skill in the art in the technical field to understand the disclosed embodiments. The scope of the present disclosure is defined by the appended claims.

Claims

1. A self-propelled device, characterized in that: include: Body; A striker plate, which is disposed on one side of the body and is configured to be movably connected to the body; A detection device, the detection device comprising a plurality of sensing parts (1) and a trigger part (2), wherein one of the sensing parts (1) and the trigger part (2) is arranged on the impact plate and is configured to move within the range of motion of the impact plate, and the other is arranged on the machine body; the positional relationship between the trigger part (2) and the plurality of sensing parts (1) is configured as follows: when the trigger part (2) or the sensing part (1) moves in any direction within the range of motion, at least one of the sensing parts (1) is triggered by the trigger part (2); A control unit is communicatively connected with the detection device and is used to determine the collision direction of the collision plate according to the sensing part (1) triggered by the trigger part (2).

2. The self-moving device according to claim 1, characterized in that: The sensing part (1) has a sensing area, and the trigger part (2) or the plurality of sensing parts (1) are configured so that when the trigger part (2) or the plurality of sensing parts (1) are moved in any direction under the action of the collision plate, the trigger part (2) enters the sensing area of ​​at least one of the sensing parts (1); and the size of the corresponding position of the trigger part (2) is configured to be larger than the distance between two adjacent sensing areas.

3. The self-moving device according to claim 2, characterized in that: The plurality of sensing portions (1) are configured to be spaced apart and distributed along the extension direction of the arc segment, the trigger portion (2) is located in a space enclosed by the arc segment, and the distance from the corresponding position of the trigger portion (2) to each of the sensing portions (1) is less than a threshold value.

4. The self-moving device according to claim 3, characterized in that: When located at the initial position, the distance between each sensing part (1) and the corresponding position of the trigger part (2) is equal.

5. The self-moving device according to claim 3, characterized in that: The trigger part (2) is provided with an avoidance groove at a position corresponding to each sensing part (1), and the avoidance groove is configured to avoid other sensing parts (1) when the trigger part (2) moves in the direction of a sensing part (1).

6. The self-moving device according to claim 3, characterized in that: At least three sensing parts (1) are provided, and each of the sensing parts (1) is arranged in a circular shape on the circumferential outer side of the trigger part (2). The trigger part (2) is constructed to be located within the circle surrounded by each of the sensing parts (1) and to move within the circular range.

7. The self-moving device according to claim 1, characterized in that: The forward direction of the self-moving device is recorded as the front, and the backward direction is recorded as the rear; the collision plate is arranged at the front side of the body, and is configured to move when encountering an obstacle during the forward process; And / or, the striker is disposed at the rear side of the machine body and is configured to move when encountering an obstacle during the backward movement.

8. The self-moving device according to claim 1, characterized in that: The forward direction of the self-moving device is recorded as the front, and the backward direction is recorded as the rear; the rear side of the body is rectangular, and the collision plate is arranged on the rear side of the body, the shape of which is adapted to the rear side contour of the body, and is constructed to move when encountering an obstacle during the backward movement.

9. The self-moving device according to claim 1, characterized in that: It also includes a shell, which is movably arranged above the body and acts as a collision plate when the self-moving device encounters an obstacle during its movement in any direction.

10. The self-moving device according to any one of claims 1 to 9, characterized in that: The trigger part (2) is a shielding member, and the sensing part (1) is a through-beam photoelectric sensor; or, the trigger part (2) is a magnetic member, and the sensing part (1) is a Hall sensor.

11. The self-moving device according to any one of claims 1 to 9, characterized in that: The self-moving device is a self-moving sweeping robot, a self-moving scrubbing robot or a self-moving sweeping and mopping robot.

12. The self-moving device according to any one of claims 1 to 9, characterized in that: The control unit is configured to determine that the relative movement direction of the trigger portion (2) is located in the extension direction of the center line of the direction in which each of the sensing portions (1) triggered by the trigger portion (2) is located.

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