Collision protection structure, movable device and cleaning equipment

Abstract

The invention provides a collision protection structure, a movable device and cleaning equipment, and the collision protection structure comprises an air bag, the air bag is provided with a mounting surface and a collision surface, the mounting surface is used for being matched with a mounting part of a to-be-protected part, and the collision surface is used for bearing the collision of an external object; and the air pressure sensor is used for detecting the air pressure in the air bag. According to the collision protection structure, the technical problem that the collision protection effect of the robot in the related technology is poor is solved.

Description

Technical Field

[0001] The present invention relates to the field of robot collision protection, and in particular, to a collision protection structure, a movable device, and a cleaning device. Background Art

[0002] With the progress of technology, more and more intelligent robot products have been popularized. These robot products (including but not limited to the roller movement form, the crawler movement form, and the multi-legged movement form) can usually move autonomously, so as to achieve flexible operations at different positions.

[0003] These robot products usually use components such as lidar and cameras to collect information about the surrounding environment, and then make a motion path plan based on this. However, currently, during the movement of the robot, it is still impossible to completely avoid collisions with external objects. In the related art, the collision protection effect of the robot is not good, and it is easy to be damaged by bumps or to damage external objects.

[0004] For example, the sweeper in the related art usually sets a front collision structure made of plastic, and the front collision structure often collides with objects such as furniture. Although a single collision of the robot does not cause great harm to the furniture, the accumulated collisions will form obvious collision marks and scratches at positions such as furniture legs and low edges.

[0005] It can be seen that there is a technical problem in the related art that the collision protection effect of the robot is not good. For the above problems, no effective solution has been proposed yet.

[0006] The above information disclosed in the background art part is only used to enhance the understanding of the background art of the technology described in this article. Therefore, the background art may contain certain information that is not known to those skilled in the art as the existing technology. Summary of the Invention

[0007] The main object of the present invention is to provide a collision protection structure, a movable device, and a cleaning device to solve the technical problem that the collision protection effect of the robot in the related art is not good.

[0008] To achieve the above object, according to one aspect of the present invention, a collision protection structure is provided, which includes: an airbag, the airbag has an installation surface and a collision surface, the installation surface is used to cooperate with the installation part of the component to be protected, and the collision surface is used to bear the impact of external objects; a pressure sensor, the pressure sensor detects the air pressure in the airbag.

[0009] Furthermore, the collision protection structure includes: a detection module, the detection module is used to obtain the shape information of the airbag and / or the surrounding environment information to determine the position where the airbag is collided.

[0010] Further, the collision protection structure includes: a controller, a pressure sensor and a detection module are both communicatively connected to the controller, and the controller is configured to: determine whether the airbag is collided according to the air pressure signal sent by the pressure sensor, and in the case that the airbag is collided, determine the position where the airbag is collided according to the shape information of the airbag and / or the environmental information around it sent by the detection module.

[0011] Further, the detection module is a vision detection module, and the vision detection module acquires the shape image of the airbag and / or the environmental image around it; the controller determines the position where the airbag is impacted by using AI recognition technology according to the shape image of the airbag and / or the environmental image around it.

[0012] Further, both the airbag and the pressure sensor are multiple, and the multiple pressure sensors are arranged in one-to-one correspondence with the multiple airbags to detect the air pressure in the multiple airbags correspondingly through the multiple pressure sensors.

[0013] Further, the multiple airbags are arranged at intervals in a preset direction in sequence; or, the multiple airbags are arranged in sequence in a preset direction, and any two adjacent airbags are connected to each other; or, the multiple airbags are arranged in sequence in a preset direction, wherein, along the preset direction, a part of at least two adjacent airbags is arranged in a staggered manner so that the airbags arranged in a staggered manner can bear the impact of an external object simultaneously.

[0014] Further, at least one airbag includes a plurality of sub-airbags and a communicating part, and the plurality of sub-airbags communicate with each other through the communicating part; and / or, at least one airbag has a pulling part, and the pulling part applies a pulling force in opposite directions to the mounting surface and the collision surface.

[0015] Further, a protective layer is provided on the collision surface, and at least one of the following properties of the protective layer is higher than that of the airbag: anti-collision performance, anti-puncture performance, lubrication performance.

[0016] Further, the component to be protected includes a camera, and at least one airbag is provided with an avoidance part to avoid the field of view of the camera through the avoidance part, and the avoidance part is a hole structure or a groove structure penetrating the mounting surface and the collision surface.

[0017] Further, the airbag includes a main body part and an extension part, the main body parts of two adjacent airbags are arranged at intervals, and the extension parts of two adjacent airbags are both connected to the main body part of the other to form a hole structure or a groove structure between two adjacent airbags.

[0018] Further, the collision protection structure further includes: a controller, and the multiple pressure sensors are both communicatively connected to the controller to transmit the air pressure signals detected by each of them to the controller.

[0019] Further, the component to be protected is a movable device, the movable device includes a driving structure, the driving structure can drive the movable device to move in multiple directions, wherein, the controller is communicatively connected to the driving structure to control the operation of the driving structure through the controller.

[0020] Further, the airbag has an inflation port, and the collision protection structure includes an inflation component, and the inflation component can inflate the airbag through the inflation port.

[0021] According to another aspect of the present invention, there is provided a movable device, including: a host, the host includes a driving structure, the driving structure can drive the host to move in multiple directions; a collision protection structure, the collision protection structure is the above-mentioned collision protection structure, and the collision protection structure is arranged at the front end in the advancing direction of the host; a controller, the air pressure sensor of the collision protection structure is communicatively connected to the controller to transmit the detected air pressure signal to the controller; the controller is communicatively connected to the driving structure to control the operation of the driving structure through the controller.

[0022] Further, a computer program is stored in the controller, the collision protection structure is the collision protection structure according to any one of the claims, and a plurality of airbags of the collision protection structure are arranged in sequence along the circumferential direction of the host; when the controller runs the computer program, the following steps are executed: receiving a plurality of air pressure signals corresponding to a plurality of air pressure sensors; determining the collision state of the host according to the change conditions of each air pressure signal; controlling the operation of the driving structure according to the collision state of the host.

[0023] Further, determining the collision state of the host according to the change conditions of each air pressure signal includes: for each air pressure signal, judging whether the corresponding air pressure reaches a preset threshold; when the air pressure corresponding to the air pressure signal reaches the preset threshold, determining that the host is collided at the airbag corresponding to the air pressure signal; when the air pressure corresponding to the air pressure signal does not reach the preset threshold, determining that the host is not collided at the airbag corresponding to the air pressure signal.

[0024] Further, the collision protection structure is the above-mentioned collision protection structure, the avoidance part of the collision protection structure is arranged at the front end in the advancing direction when the host works, and two adjacent airbags are correspondingly arranged at the left front and the right front when the host works; wherein, determining the collision state of the host according to the change conditions of each air pressure signal further includes: when the change condition of the air pressure signal corresponding to the airbag at the left front satisfies a preset condition, determining that a collision occurs at the left front of the host; when the change condition of the air pressure signal corresponding to the airbag at the right front satisfies a preset condition, determining that a collision occurs at the right front of the host; when the change conditions of the air pressure signals corresponding to the airbags at the left front and the right front both satisfy the preset conditions, determining that a collision occurs at the front of the host.

[0025] Further, the movable device includes a base station, and the host of the movable device can be docked with and separated from the base station; the airbag has an inflation port, and the movable device includes an inflation component. When the host is docked with the base station, the inflation port is connected to the inflation component to inflate the airbag through the inflation component.

[0026] Further, the inflation component is communicatively connected to a controller, and a computer program is stored in the controller. When the controller runs the computer program, the following steps are performed: receiving a pressure signal from a pressure sensor; determining whether an inflation condition is met, where the inflation condition includes: the pressure corresponding to the pressure signal drops to a preset inflation pressure, and the host is in a docked state with the base station; and controlling the inflation component to inflate the airbag when the inflation condition is met.

[0027] According to another aspect of the present invention, a cleaning device is provided, which includes: a movable device, where the movable device is the above-mentioned movable device; and a cleaning device, where the cleaning device is arranged on the movable device to clean the nearby environment through the cleaning device.

[0028] The collision protection structure applying the technical solution of the present invention includes: an airbag, which has a mounting surface and a collision surface. The mounting surface is used to cooperate with the mounting part of the component to be protected, and the collision surface is used to bear the impact of an external object; a pressure sensor, which detects the air pressure inside the airbag. With the collision protection structure designed in this way, by installing the airbag at the mounting part of the component to be protected, when the component to be protected is impacted by an external object, the airbag can play a buffering and protecting role, and can prevent the direct contact between the external object and the component to be protected, achieving a good collision protection effect on the component to be protected. By designing a pressure sensor corresponding to the airbag, the air pressure inside the airbag can be detected. When the air pressure inside the airbag fluctuates, it can be known that the airbag has been collided. Then, according to the installation position of the airbag on the component to be protected, the position where the component to be protected is collided can be determined, facilitating subsequent operations or controls and reducing the collision risk. The collision protection structure of the present invention designed with the above structure can achieve a good buffering and protection effect on the component to be protected, and can provide timely and accurate collision feedback, improving the collision perception sensitivity, helping to identify the collision position, facilitating subsequent control operations to reduce the collision risk, and effectively improving the collision protection effect on the component to be protected, solving the technical problem of poor collision protection effect of robots in the related art. Description of the Drawings

[0029] The specification drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0030] Figure 1Schematic diagram of the structure of the collision protection structure of the present invention from the first perspective;

[0031] Figure 2 Schematic diagram of the structure of the collision protection structure of the present invention from the second perspective;

[0032] Figure 3 Schematic diagram of the structure of another embodiment of the collision protection structure of the present invention;

[0033] Figure 4 is Figure 3 Partial enlarged schematic diagram of the sectional structure of the collision protection structure in

[0034] Figure 5 Schematic diagram of the structure of an embodiment of the movable device of the present invention;

[0035] Figure 6 Schematic diagram of the first form of the avoidance part setting of the collision protection structure of the present invention;

[0036] Figure 7 Schematic diagram of the second form of the avoidance part setting of the collision protection structure of the present invention;

[0037] Figure 8 Schematic diagram of the third form of the avoidance part setting of the collision protection structure of the present invention;

[0038] Figure 9 Schematic diagram of the form of the collision protection structure of the present invention without an avoidance part.

[0039] Among them, the above-mentioned drawings include the following reference numerals:

[0040] 1, airbag; 11, mounting surface; 12, collision surface; 131, sub-airbag; 132, communication part; 133, pulling part; 14, avoidance part; 15, main body part; 16, extension part; 17, inflation port; 2, pressure sensor; 10, host; 20, collision protection structure. Detailed implementation manners

[0041] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0042] Please refer to Figures 1 to 9, to solve the technical problems described in the background art section, an embodiment of the present invention provides a collision protection structure. The collision protection structure includes: an airbag 1, the airbag 1 having an installation surface 11 and a collision surface 12. The installation surface 11 is used to cooperate with the installation part of the component to be protected, and the collision surface 12 is used to bear the impact of an external object; a pressure sensor 2, the pressure sensor 2 detecting the air pressure inside the airbag 1. With the collision protection structure designed in this way, by installing the airbag 1 at the installation part of the component to be protected, when the component to be protected is impacted by an external object, the airbag 1 can play a buffering and protecting role, and can avoid the direct contact between the external object and the component to be protected, achieving a good collision protection effect on the component to be protected. By designing the pressure sensor 2 corresponding to the airbag 1, the air pressure inside the airbag 1 can be detected. When the air pressure inside the airbag 1 fluctuates, it can be known that the airbag 1 has been collided. Furthermore, according to the installation position of the airbag 1 on the component to be protected, the position where the component to be protected is collided can be determined, thus facilitating subsequent operations or controls and reducing the collision risk. The collision protection structure of the present invention designed with the above structure can achieve a good buffering and protection effect on the component to be protected, and can provide timely and accurate collision feedback, improving the sensitivity of collision perception, helping to identify the collision position, facilitating subsequent control operations to reduce the collision risk, and effectively improving the collision protection effect on the component to be protected, solving the technical problem of poor collision protection effect of robots in the related art.

[0043] The collision protection structure of the embodiment of the present invention, by designing the airbag 1 with the installation surface 11 and the collision surface 12, directly conducts collision protection through the airbag 1. Compared with the collision protection structures in the related art, it also has advantages such as simple structure, low cost, and good collision protection effect, and has good practical application prospects. Moreover, compared with the robot collision protection structures in the related art, after the robots in the related art are bumped, they are not sensitive to collision perception, so they cannot adjust the action strategy in time, resulting in the aggravation of the collision. However, in the embodiment of the present invention, by using the pressure sensor 2 to detect the air pressure inside the airbag 1, the situation of the airbag 1 being impacted can be accurately known, effectively improving the sensitivity of collision perception, which is beneficial for more timely and effective intervention and control.

[0044] Among them, the installation surface 11 is the side close to the component to be protected, and it is used to cooperate with the component to be protected. The cooperation described here can be direct contact between the two, or connection and cooperation can be carried out using other auxiliary structures. Specifically, the connection method between the airbag 1 and the component to be protected can be flexibly selected according to the actual situation. For example, in a preferred embodiment, the airbag 1 is connected to the component to be protected through a buckle structure, facilitating the installation and replacement of the airbag 1. For another example, in another preferred embodiment, the airbag 1 is connected to the component to be protected through an adhesive structure such as Velcro, facilitating the installation and replacement of the airbag 1.

[0045] The component to be protected, i.e., the device with a protection requirement, can improve its protection effect by installing the collision installation structure on the component to be protected. The installation part of the component to be protected, i.e., the part for installing the airbag 1, can be flexibly selected during actual implementation. For example, a part with more collisions or more vulnerable parts can be selected as the installation part.

[0046] For the setting of the air pressure sensor 2, there can be different forms. For example, the air pressure sensor 2 is set inside the airbag 1, and the air pressure signal is transmitted in a wired or wireless manner. For another example, the part of the air pressure sensor 2 for sensing air pressure is set inside the airbag 1, and the rest is set outside the airbag 1. For still another example, the air pressure sensor 2 is set outside the airbag 1, and the airbag 1 is connected to the air pressure sensor 2 through a conduit to transmit air pressure.

[0047] When the air pressure sensor 2 detects a fluctuating change in the air pressure inside the airbag 1 (such as a sudden increase in air pressure, the air pressure rising to a threshold, etc.), it indicates that the airbag 1 has been impacted. At this time, in order to reduce or avoid subsequent impacts, effective intervention control is required. During actual implementation, when the position where the airbag 1 is impacted is different, the control strategies to be adopted are often different. In this embodiment, in order to improve the subsequent control accuracy, the collision protection structure includes: a detection module, and the detection module is used to obtain the shape information of the airbag 1 and / or the environmental information around it to determine the position where the airbag 1 is impacted. When the position where the airbag 1 is impacted is obtained through the detection module, subsequent intervention control can be carried out more pertinently to reduce the subsequent collision risk.

[0048] During actual implementation, the specific form of the detection module can be various, and correspondingly, the information collected by it can also be in various forms. For example, image information of the airbag 1 and / or its surrounding environment is collected through an image acquisition device. For another example, the point cloud data information of the airbag 1 and / or its surrounding environment is scanned by a lidar. For still another example, a mechanical / infrared and other sensors are used to detect the deformation information of a specific position of the airbag 1, etc.

[0049] In this embodiment, the collision protection structure further includes: a controller. Both the air pressure sensor 2 and the detection module are communicatively connected to the controller. The controller is used for: determining whether the airbag 1 has been impacted according to the air pressure signal sent by the air pressure sensor 2, and determining the position where the airbag 1 is impacted according to the shape information of the airbag 1 and / or the environmental information around it sent by the detection module when the airbag 1 has been impacted.

[0050] In a specific embodiment, the detection module is a vision detection module, and the vision detection module acquires the external shape image of the airbag 1 and / or the environmental image around it; the controller determines the position where the airbag 1 is impacted by using AI recognition technology according to the external shape image of the airbag 1 and / or the environmental image around it. In this embodiment, when the air pressure signal sent by the air pressure sensor 2 indicates that the airbag 1 is impacted, image recognition technology is used to recognize the image acquired by the vision detection module, and then the position where the airbag 1 is impacted is determined, which is convenient for subsequent precise intervention control and reduces the collision risk.

[0051] In a series of preferred embodiments, both the airbag 1 and the air pressure sensor 2 are multiple, and the multiple air pressure sensors 2 are arranged in one-to-one correspondence with the multiple airbags 1 to detect the air pressure inside the multiple airbags 1 correspondingly through the multiple air pressure sensors 2. By designing multiple airbags 1 and the corresponding multiple air pressure sensors 2, the air pressure fluctuations inside the multiple airbags 1 can be detected through the multiple air pressure sensors 2, which can not only improve the collision protection effect, but also determine the airbag 1 corresponding to the air pressure sensor 2 with fluctuating air pressure signals, so as to determine which airbag 1 is impacted, which is beneficial to helping determine the collision position and facilitating subsequent intervention control.

[0052] In specific implementation, there can be various different choices for the arrangement form among the multiple airbags 1:

[0053] For example, in an optional form, the multiple airbags 1 are arranged at intervals in sequence along a preset direction;

[0054] For another example, in another optional form, the multiple airbags 1 are arranged in sequence along a preset direction, and any two adjacent airbags 1 are connected to each other;

[0055] For a third example, in a third optional form, the multiple airbags 1 are arranged in sequence along a preset direction, wherein, along the preset direction, a part of at least two adjacent airbags 1 is arranged in a staggered manner so that the airbags 1 arranged in a staggered manner can bear the impact of an external object simultaneously.

[0056] Among them, the above-mentioned preset direction can be flexibly selected according to the actual collision situation, and it can be any direction, such as the horizontal direction, the vertical direction, the circumferential direction of the component to be protected, etc.

[0057] It should be noted that in the embodiment where the multiple airbags 1 are arranged in sequence along a preset direction, and along the preset direction, a part of at least two adjacent airbags 1 is arranged in a staggered manner, such as Figure 3As shown, by offsetting a part of two adjacent airbags 1, the two adjacent airbags 1 can be partially overlapped. When an external object impacts the collision protection structure from the offset direction, the overlapping parts of the two adjacent airbags 1 will be squeezed simultaneously, so that the corresponding pressure sensors 2 of the two airbags 1 can both detect the pressure change. At this time, it can be known that the part between the two airbags 1 has been collided, which is beneficial to more accurately know the impact position, and the detection of more collision directions can be realized with fewer airbags 1.

[0058] In actual implementation, the number of airbags 1 and pressure sensors 2 can be flexibly selected according to actual needs. For example, it can be two, three or more.

[0059] In a preferred embodiment, at least one airbag 1 includes a plurality of sub-airbags 131 and a communication part 132, and the plurality of sub-airbags 131 are communicated with each other through the communication part 132; and / or, at least one airbag 1 has a pulling part 133, and the pulling part 133 applies an opposite pulling force to the mounting surface 11 and the collision surface 12.

[0060] As Figure 3 and Figure 4 As shown, in this embodiment, the airbag 1 is designed with a structure in which a plurality of sub-airbags 131 are communicated through the communication part 132, and / or a pulling part 133 is designed to pull the mounting surface 11 and the collision surface 12 of the airbag 1 in opposite directions. This is beneficial to controlling the thickness of a single airbag 1 and avoiding excessive expansion of a single airbag 1. Thus, while ensuring a small space occupation, the protection area of a single airbag 1 can be made larger, improving the protection effect of the collision protection device. Among them, the above-mentioned pulling part 133 is a structure that applies an opposite pulling force to the mounting surface 11 and the collision surface 12. For example, in an alternative embodiment, the pulling part 133 is a heat fusion layer, which connects the mounting surface 11 and the collision surface 12, thereby applying an opposite pulling force to both of them and avoiding an increase in space occupation caused by excessive expansion of the airbag 1. For another example, in another alternative embodiment, the pulling part 133 is an adhesive layer, which bonds the mounting surface 11 and the collision surface 12, thereby applying an opposite pulling force to both of them.

[0061] To further improve the collision protection effect, a protective layer is provided on the collision surface 12, and at least one of the following properties of the protective layer is higher than that of the airbag 1: collision resistance, puncture resistance, lubrication performance.

[0062] By designing a protective layer on the collision surface 12, the performance of the collision surface 12 is improved, making it have better anti-collision performance, puncture resistance performance, lubrication performance, etc., so that the airbag 1 has a longer service life, or reduces the damage to external objects during the collision. In actual implementation, the protective layer can be made of various materials according to actual needs, such as a fine-dense material similar to the surface material of a windbreaker, so as to improve the puncture resistance effect and reduce the risk of air leakage after the airbag 1 is punctured. For another example, a hair-planting structure can be set on the protective layer, so that the surface of the collision protection structure is softer and smoother. When a collision occurs, it can effectively reduce the damage to external objects (such as furniture). For another example, the protective layer can be a rubber layer, so as to have better anti-collision and puncture resistance effects and improve the protection effect on the airbag 1.

[0063] In a specific embodiment, the component to be protected includes a camera, and at least one airbag 1 is provided with an avoidance portion 14 to avoid the field of view of the camera through the avoidance portion 14. The avoidance portion 14 is a hole structure or a groove structure penetrating the mounting surface 11 and the collision surface 12.

[0064] In this embodiment, the component to be protected includes a camera, that is, it has the function of taking pictures (for example, the component to be protected is a sweeping robot, and a camera for observing the environment is provided at the front of the sweeping robot). By designing an avoidance portion 14 with a hole structure or a groove structure on at least one airbag 1, the field of view of the camera can be avoided, and the interference of the collision protection structure to the operation of the camera can be avoided.

[0065] As Figures 6 to 9 shown, in actual implementation, the specific form of the avoidance portion 14 can be various. In the embodiment shown in Figure 6 , the avoidance portion 14 is a hole structure, that is, a window structure. In the embodiments shown in Figure 7 and Figure 8 , the avoidance portion 14 is a groove structure, and the opening direction of the groove structure is not limited. For example, in Figure 7 it is an upper opening, and in Figure 8 it is a lower opening. This can further increase the avoidance effect on the field of view of the camera and can be flexibly selected according to the actual shooting requirements of the camera.

[0066] In the embodiment shown in Figure 9 , no avoidance portion 14 is provided on the airbag 1. For a component to be protected without a camera (such as a sweeping robot that partially uses an infrared sensor and does not have a camera), the avoidance portion 14 can be not provided, so as to provide a larger collision protection area and achieve a more comprehensive collision protection effect.

[0067] As Figure 3As shown, the airbag 1 includes a body portion 15 and an extension portion 16. The body portions 15 of two adjacent airbags 1 are spaced apart, and the extension portions 16 of two adjacent airbags 1 are both connected to the body portion 15 of the other, so as to form a hole structure or a groove structure between two adjacent airbags 1.

[0068] In this embodiment, by designing the extension portion 16 on the body portion 15 of the airbag 1, the extension portions 16 of two adjacent airbags 1 extend towards each other and are connected to the body portion 15 of the other, so that a hole structure or a groove structure can be conveniently formed to avoid the field of view of the camera. Figure 3 There is a certain distance between the two extension portions 16, forming a hole structure. In other embodiments, the two extension portions 16 can be in contact with each other (equivalent to translating one of the extension portions 16 up / down to make it in contact with the other extension portion 16), and at this time, a groove structure will be formed. Moreover, after adopting this structural design, a part of two adjacent airbags 1 can be misaligned, that is, two adjacent airbags 1 partially overlap. When an external object impacts the collision protection structure from the misaligned direction, the overlapping parts of the two adjacent airbags 1 will be simultaneously squeezed, so that the corresponding pressure sensors 2 of the two airbags 1 can both detect the pressure change. At this time, it can be known that the collision position is the overlapping area of the two airbags 1, which is beneficial to more accurately know the impact site, and the detection of more collision directions can be realized with fewer airbags 1.

[0069] In this embodiment, the collision protection structure further includes: a controller, and multiple pressure sensors 2 are all communicatively connected to the controller to transmit the respective detected pressure signals to the controller.

[0070] By designing the controller and communicatively connecting multiple pressure sensors 2 to the controller, the controller can conveniently obtain the pressure signals of each pressure sensor 2, and further facilitate accurately and timely obtaining the impact states of each position of the component to be protected, facilitating subsequent control and reducing the impact risk.

[0071] Specifically, the component to be protected is a movable device, and the movable device includes a driving structure, and the driving structure can drive the movable device to move in multiple directions. Among them, the controller is communicatively connected to the driving structure to control the operation of the driving structure through the controller.

[0072] On the basis of designing that the controller receives the air pressure signals of each air pressure sensor 2, in this embodiment, the controller is also communicatively connected to the driving structure of the component to be protected, and then the working state of the driving structure is controlled by the controller, that is, the moving direction of the component to be protected is controlled. When the controller obtains the air pressure signals of each air pressure sensor 2, it can conveniently judge whether each current direction is subjected to knocking and collision, and then can more specifically control the moving direction of the component to be protected to achieve more accurate obstacle avoidance. For example, when one of the multiple air pressure signals received by the controller significantly increases, and the air pressure sensor 2 and the airbag 1 corresponding to this air pressure signal are arranged at the left front of the component to be protected, it can be known that a knock occurs at the left front of the device. At this time, the controller can control the component to be protected to retreat a certain distance and then turn right, so as to avoid colliding with the object at the left front again and improve the obstacle avoidance effect.

[0073] In addition, the airbag 1 has an inflation port 17, and the collision protection structure includes an inflation component, and the inflation component can inflate the airbag 1 through the inflation port 17.

[0074] By designing the inflation port 17 and the inflation component, the gas in the airbag 1 can be replenished in time to ensure the collision protection effect of the airbag 1. In a preferred embodiment, the inflation port 17 is provided with a one-way valve to ensure that the gas can only be filled into the airbag 1 and will not leak out. In actual implementation, the inflation component and the inflation port 17 can be connected integrally, or can be designed as a structure that can be docked and disassembled.

[0075] The installation position of the inflation component can also have different selections.

[0076] For example, in an alternative embodiment, the inflation component is arranged on the component to be protected and connected to the inflation port 17, and moves together with the component to be protected, so that when the air pressure in the airbag 1 is insufficient, the airbag 1 can be replenished with air at any time.

[0077] For another example, in another alternative embodiment, the inflation component and the inflation port 17 are of a detachable structure, and the inflation component is arranged at other positions such as a base station. When the air pressure in the airbag 1 is insufficient, the component to be protected can move to the base station to dock the inflation component with the inflation port 17, and then inflate the airbag 1.

[0078] In addition, an embodiment of the present invention provides a movable device, which includes: a host 10, the host 10 includes a driving structure, and the driving structure can drive the host 10 to move in multiple directions; a collision protection structure 20, the collision protection structure 20 is the above-mentioned collision protection structure, and the collision protection structure 20 is arranged at the front end of the advancing direction of the host 10; a controller, the air pressure sensor 2 of the collision protection structure 20 is communicatively connected to the controller to transmit the detected air pressure signal to the controller; the controller is communicatively connected to the driving structure to control the operation of the driving structure through the controller.

[0079] For the movable device designed with this structure, by installing the collision protection structure 20 including the airbag 1 and the air pressure sensor 2 on the host 10, when the host 10 is impacted by an external object, the airbag 1 can play a buffering and protecting role, and can avoid the direct contact between the external object and the host 10, achieving a good collision protection effect on the host 10. Through the air pressure sensor 2 corresponding to the airbag 1, the air pressure in the airbag 1 can be detected. When the air pressure in the airbag 1 fluctuates, it can be known that the airbag 1 has been collided, and then according to the installation position of the airbag 1 on the host 10, the position where the host 10 is collided can be determined, so as to facilitate the subsequent operation or control of the controller and reduce the collision risk. The movable device designed with the above structure in the present invention can achieve a good buffering and protection effect on the host 10, and can provide collision feedback to help identify the collision position, facilitating subsequent control operations to reduce the collision risk, effectively improving the collision protection effect on the host 10, and solving the technical problem of poor collision protection effect of the movable device in the related art.

[0080] To ensure the collision protection effect on the host 10, the included angle between the edge of the collision protection structure 20 and the exact front when the host 10 moves is not less than 80°, that is, the collision protection structure 20 covers and protects at least a 160° range in front of the host 10.

[0081] Specifically, both the airbag 1 and the air pressure sensor 2 are multiple, and the multiple air pressure sensors 2 are arranged in one-to-one correspondence with the multiple airbags 1 to detect the air pressure in the multiple airbags 1 correspondingly through the multiple air pressure sensors 2. The multiple airbags 1 of the collision protection structure 20 are arranged in sequence along the circumferential direction of the host 10; a computer program is stored in the controller, and when the controller runs the computer program, the following steps are executed: receiving multiple air pressure signals corresponding to the multiple air pressure sensors 2; determining the collision state of the host 10 according to the change conditions of each air pressure signal; controlling the operation of the driving structure according to the collision state of the host 10.

[0082] In a specific embodiment, determining the collision state of the host 10 according to the changes in each air pressure signal includes: for each air pressure signal, determining whether the corresponding air pressure reaches a preset threshold; when the air pressure corresponding to the air pressure signal reaches the preset threshold, determining that the host 10 is collided at the airbag 1 corresponding to the air pressure signal; when the air pressure corresponding to the air pressure signal does not reach the preset threshold, determining that the host 10 is not collided at the airbag 1 corresponding to the air pressure signal.

[0083] Of course, determining the collision state of the host 10 according to the changes in each air pressure signal is not limited to the solution described in the above embodiment, and there may be other judgment methods. For example, in another alternative embodiment, determining the collision state of the host 10 according to the changes in each air pressure signal includes: for each air pressure signal, determining whether the corresponding air pressure change rate reaches a preset value. If so, determining that the host 10 is collided at the airbag 1 corresponding to the air pressure signal; if not, determining that the host 10 is not collided at the airbag 1 corresponding to the air pressure signal.

[0084] In this embodiment, the collision protection structure 20 is the above-mentioned collision protection structure. The avoidance part 14 of the collision protection structure 20 is arranged at the front end of the forward direction when the host 10 is working. Two adjacent airbags 1 are arranged at the left front and the right front of the host 10 when it is working respectively; wherein, determining the collision state of the host 10 according to the changes in each air pressure signal further includes: when the change situation of the air pressure signal corresponding to the airbag 1 at the left front meets a preset condition (which can be any preset condition, and meeting this condition can be recognized that a collision occurs at the corresponding airbag 1), determining that a collision occurs at the left front of the host 10; when the change situation of the air pressure signal corresponding to the airbag 1 at the right front meets a preset condition (the same as above, which can be the same as the previous preset condition or different), determining that a collision occurs at the right front of the host 10; when the change situations of the air pressure signals corresponding to the airbag 1 at the left front and the airbag 1 at the right front both meet the preset conditions, determining that a collision occurs at the front of the host 10.

[0085] In addition, the movable device includes a base station, which is used to charge or clean the host 10 or its accessories, etc. The host 10 of the movable device can be docked with and separated from the base station; the airbag 1 has an inflation port 17, and the movable device includes an inflation component. When the host 10 is docked with the base station, the inflation port 17 is connected to the inflation component to inflate the airbag 1 through the inflation component.

[0086] Specifically, the inflation component is communicatively connected to the controller. A computer program is stored in the controller. When the controller runs the computer program, the following steps are executed: receiving a plurality of air pressure signals corresponding to a plurality of air pressure sensors 2; determining whether the inflation condition is satisfied, where the inflation condition includes: the air pressure corresponding to any air pressure signal drops to a preset inflation air pressure, and the host 10 is in a docking state with the base station; and controlling the inflation component to inflate the corresponding airbag 1 when the inflation condition is satisfied.

[0087] Finally, an embodiment of the present invention further provides a cleaning device, which includes: a movable device, where the movable device is the above-mentioned movable device; and a cleaning device, where the cleaning device is disposed on the movable device to clean the nearby environment through the cleaning device. In actual implementation, according to different cleaning functions, the cleaning device can have various forms to choose from, such as sweeping, mopping, vacuuming, etc. For example, the cleaning device can be a floor cleaning robot, a washing robot, a vacuuming robot, etc.

[0088] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0089] The collision protection structure of the embodiment of the present invention includes: an airbag 1, where the airbag 1 has a mounting surface 11 and a collision surface 12. The mounting surface 11 is used to cooperate with the mounting part of the component to be protected, and the collision surface 12 is used to withstand the impact of an external object; an air pressure sensor 2, where the air pressure sensor 2 detects the air pressure inside the airbag 1. With this structural design of the collision protection structure, by installing the airbag 1 at the mounting part of the component to be protected, when the component to be protected is impacted by an external object, the airbag 1 can play a buffering and protecting role and can prevent the external object from directly contacting the component to be protected, achieving a good collision protection effect on the component to be protected. By designing the air pressure sensor 2 corresponding to the airbag 1, the air pressure inside the airbag 1 can be detected. When the air pressure inside the airbag 1 fluctuates, it can be known that the airbag 1 has been collided. Then, according to the installation position of the airbag 1 on the component to be protected, the position where the component to be protected is collided can be determined, facilitating subsequent operations or controls and reducing the collision risk. The collision protection structure of the present invention with the above structural design can achieve a good buffering and protection effect on the component to be protected, and can provide timely and accurate collision feedback, improving the collision perception sensitivity, helping to identify the collision position, facilitating subsequent control operations to reduce the collision risk, and effectively improving the collision protection effect on the component to be protected, solving the technical problem of poor collision protection effect of robots in the related art.

[0090] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is inverted, the device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding interpretations of the spatial relative descriptions used here will be made accordingly.

[0091] It should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used here, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they specify the presence of features, steps, operations, devices, components and / or combinations thereof.

[0092] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0093] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A collision protection structure, characterized in that, Including: An airbag (1), the airbag (1) having a mounting surface (11) and a collision surface (12), the mounting surface (11) being used to cooperate with the mounting part of the component to be protected, and the collision surface (12) being used to bear the impact of an external object; A pressure sensor (2), the pressure sensor (2) detecting the air pressure inside the airbag (1).

2. The collision protection structure according to claim 1, characterized in that, The collision protection structure includes: A detection module, the detection module being used to obtain the shape information of the airbag (1) and / or the environmental information around it to determine the position where the airbag (1) is collided.

3. The collision protection structure according to claim 2, wherein, The collision protection structure includes: A controller, both the pressure sensor (2) and the detection module are communicatively connected to the controller, and the controller is used for: determining whether the airbag (1) is collided according to the air pressure signal sent by the pressure sensor (2), and in the case where the airbag (1) is collided, determining the position where the airbag (1) is collided according to the shape information of the airbag (1) and / or the environmental information around it sent by the detection module.

4. The collision protection structure according to claim 3, wherein The detection module is a visual detection module, and the visual detection module obtains the shape image of the airbag (1) and / or the environmental image around it; The controller determines the position where the airbag (1) is impacted by using AI recognition technology according to the shape image of the airbag (1) and / or the environmental image around it.

5. The collision protection structure according to claim 1, characterized in that Both the airbag (1) and the pressure sensor (2) are multiple, and the multiple pressure sensors (2) are arranged in one-to-one correspondence with the multiple airbags (1) to detect the air pressure inside the multiple airbags (1) correspondingly through the multiple pressure sensors (2).

6. The collision protection structure according to claim 5, wherein The multiple airbags (1) are arranged at intervals in a preset direction in sequence; or, The multiple airbags (1) are arranged in sequence in the preset direction, and any two adjacent airbags (1) are connected to each other; or, The multiple airbags (1) are arranged in sequence in the preset direction, wherein, along the preset direction, at least a part of at least two adjacent airbags (1) is arranged in a staggered manner so that the airbags (1) arranged in a staggered manner bear the impact of the external object simultaneously.

7. The impact protection structure according to claim 5, characterized in that At least one of the airbags (1) includes a plurality of sub-airbags (131) and a communication part (132), and the plurality of sub-airbags (131) communicate with each other through the communication part (132); and / or, At least one of the airbags (1) has a pulling part (133), and the pulling part (133) applies an opposite pulling force to the mounting surface (11) and the collision surface (12).

8. The collision protection structure according to claim 5, characterized in that A protective layer is provided on the collision surface (12), and at least one of the following properties of the protective layer is higher than that of the airbag (1): anti-collision performance, anti-puncture performance, lubrication performance.

9. The impact protection structure according to claim 5, wherein, The component to be protected includes a camera. At least one of the airbags (1) is provided with an avoidance portion (14) for avoiding the field of view of the camera through the avoidance portion (14). The avoidance portion (14) is a hole structure or a groove structure penetrating through the mounting surface (11) and the collision surface (12).

10. The anti-collision protection structure according to claim 9, characterized in that, The airbag (1) includes a main body portion (15) and an extension portion (16). The main body portions (15) of two adjacent airbags (1) are spaced apart, and the extension portions (16) of two adjacent airbags (1) are both connected to the main body portion (15) of the other to form a hole structure or the groove structure between two adjacent airbags (1).

11. The collision protection structure according to any one of claims 5 to 10, characterized in that, The collision protection structure further includes: A controller. A plurality of the air pressure sensors (2) are all communicatively connected to the controller to transmit the air pressure signals detected by each of them to the controller.

12. The collision protection structure according to claim 11, characterized in that, The component to be protected is a movable device. The movable device includes a driving structure, and the driving structure can drive the movable device to move in multiple directions. Wherein, the controller is communicatively connected to the driving structure to control the operation of the driving structure through the controller.

13. The collision protection structure according to any one of claims 5 to 10, characterized in that, The airbag (1) has an inflation port (17). The collision protection structure includes an inflation component, and the inflation component can inflate the airbag (1) through the inflation port (17).

14. A movable device, characterized in that, Including: A host (10). The host (10) includes a driving structure, and the driving structure can drive the host (10) to move in multiple directions; A collision protection structure (20). The collision protection structure (20) is the collision protection structure according to any one of claims 1 to 10, and the collision protection structure (20) is arranged at the front end in the advancing direction of the host (10); A controller. The air pressure sensor (2) of the collision protection structure (20) is communicatively connected to the controller to transmit the detected air pressure signal to the controller; The controller is communicatively connected to the driving structure to control the operation of the driving structure through the controller.

15. The mobile device according to claim 14, wherein The collision protection structure (20) is the collision protection structure according to any one of claims 5 to 10. A plurality of airbags (1) of the collision protection structure (20) are arranged in sequence along the circumference of the host (10); a computer program is stored in the controller, and when the controller runs the computer program, the following steps are executed: Receiving a plurality of the air pressure signals corresponding to the plurality of the air pressure sensors (2); Determining the collision state of the host (10) according to the change conditions of each of the air pressure signals; Controlling the operation of the driving structure according to the collision state of the host (10).

16. The mobile device according to claim 15, characterized in that, Determining the collision state of the host (10) according to the change conditions of each of the air pressure signals includes: For each of the air pressure signals, determining whether the air pressure corresponding to it reaches a preset threshold; When the air pressure corresponding to the air pressure signal reaches the preset threshold, determining that the host (10) is collided at the airbag (1) corresponding to the air pressure signal; When the air pressure corresponding to the air pressure signal does not reach the preset threshold, it is determined that the airbag (1) corresponding to the host (10) at this air pressure signal is not collided.

17. The mobile device according to claim 15, characterized in that, The collision protection structure (20) is the collision protection structure described in claim 10. The avoidance part (14) of the collision protection structure (20) is arranged at the front end of the advancing direction when the host (10) works. Two adjacent airbags (1) are correspondingly arranged at the left front and right front when the host (10) works; wherein, determining the collision state of the host (10) according to the change conditions of each air pressure signal further includes: When the change condition of the air pressure signal corresponding to the airbag (1) at the left front meets the preset condition, it is determined that a collision occurs at the left front of the host (10); When the change condition of the air pressure signal corresponding to the airbag (1) at the right front meets the preset condition, it is determined that a collision occurs at the right front of the host (10); When the change conditions of the air pressure signals corresponding to the airbag (1) at the left front and the airbag (1) at the right front both meet the preset condition, it is determined that a collision occurs directly in front of the host (10).

18. The mobile device according to claim 14, wherein The movable device includes a base station. The host (10) of the movable device can be docked with and separated from the base station; the airbag (1) has an inflation port (17). The movable device includes an inflation component. When the host (10) is docked with the base station, the inflation port (17) is connected to the inflation component to inflate the airbag (1) through the inflation component.

19. The mobile device according to claim 18, wherein The inflation component is communicatively connected to the controller. The controller stores a computer program. When the controller runs the computer program, the following steps are performed: Receiving the air pressure signal of the air pressure sensor (2); Determining whether the inflation condition is met. The inflation condition includes: the air pressure corresponding to the air pressure signal drops to the preset inflation air pressure, and the host (10) is in a docked state with the base station; When the inflation condition is met, controlling the inflation component to inflate the airbag (1).

20. A cleaning device, characterized in that, The cleaning device includes: A movable device, which is the movable device described in any one of claims 14 to 19; A cleaning device, which is arranged on the movable device to clean the nearby environment through the cleaning device.

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