Autonomous mobile device and intelligent robot system

Abstract

The utility model provides an autonomous mobile device and an intelligent robot system. The autonomous mobile device includes a housing, a charging sheet, and a protective door. The housing is provided with a slot. The slot is used for receiving a charging arm of the charging pile, and an opening for the charging arm to be inserted into the slot is formed between the slot and the space outside the shell. The charging piece is fixedly arranged in the slot, and the contact surface of the charging piece is exposed to the inner surface of the slot and faces the inner space of the slot. The contact surface can abut against the charging contact of the charging arm so as to be electrically connected with the charging contact. The protection door is arranged at the opening of the slot and can move between an open position and a closed position. In the open position, the protective door is configured to expose the opening such that the charging arm can be inserted into the slot. In the closed position, the protective door is configured to cover the opening. In this way, the charging piece is protected by the slot and the protection door from being damaged by the external environment, so that the autonomous mobile device has higher reliability and safety.

Description

Technical Field

[0001] The present disclosure relates to an autonomous mobile device and an intelligent robot system. Background Art

[0002] Autonomous mobile devices refer to intelligent mobile devices that can autonomously perform preset tasks. Currently, autonomous mobile devices generally include but are not limited to cleaning robots (such as intelligent sweepers, intelligent floor scrubbers, window cleaning robots), companion mobile robots (such as intelligent electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.), and security robots (such as home or commercial intelligent guard robots).

[0003] Existing autonomous mobile devices are provided with an exposed charging sheet, which is usually arranged at the bottom or outer side of the autonomous mobile device. The charging pile charges the autonomous mobile device by making the charging sheet electrically contact with the charging contacts on the charging pile. However, the exposed charging sheet will inevitably be damaged by the external environment, such as being stained with water, dust, scratched by foreign objects, corroded, etc., so that the surface of the charging sheet has the hidden danger of losing conductivity or short-circuiting the charging circuit. The longer the autonomous mobile device is used, the higher the risk of damage to the charging sheet. Utility Model Content

[0004] Based on the above problems of the prior art, one object of the present disclosure is to provide an autonomous mobile device whose charging sheet is not easily damaged. Another object of the present disclosure is to provide an intelligent robot system including the above autonomous mobile device.

[0005] In order to achieve the above objectives, the present disclosure may adopt the following technical solutions.

[0006] The present disclosure provides an autonomous mobile device as follows, comprising: a shell, on which a slot is provided, the slot is used to receive a charging arm of a charging pile, and an opening is provided between the slot and the space outside the shell for the charging arm to be inserted into the slot; a charging sheet, which is fixedly arranged in the slot, the charging sheet comprising a contact surface, the contact surface is exposed to the inner surface of the slot and faces the internal space of the slot, and when the charging arm of the charging pile is fully inserted into the slot, the contact surface can abut against the charging contacts of the charging arm, thereby being electrically connected to the charging contacts; and a protective door, which is supported on the shell, the protective door is arranged at the opening of the slot, and can move between an open position and a closed position; in the open position, the protective door is configured to expose the opening so that the charging arm can be inserted into the slot; in the closed position, the protective door is configured to cover the opening.

[0007] In an optional solution, the protective door is configured to move from the closed position to the open position under the push of the charging arm.

[0008] In another optional solution, the protection door is configured to move from the open position to the closed position under the action of elastic deformation and / or gravity.

[0009] In another optional solution, in the open position, the protective door is located in the slot.

[0010] In another optional solution, in the open position, the protective door is configured to abut against the charging arm.

[0011] In another optional solution, the protection door is connected to the housing via a hinge or a rotating shaft, so that the protection door can rotate between the open position and the closed position.

[0012] In another optional solution, a torsion spring is further included, wherein the torsion spring is configured to bias the protection door toward the closed position.

[0013] In another optional solution, the shell is provided with a receiving groove, which is used to guide the sliding of the protection door. In the open position, the protection door is configured to be received in the receiving groove; and in the closed position, the protection door is configured to extend from the receiving groove.

[0014] In another optional solution, a motor is further included, and the motor is connected to the protection door to drive the protection door to slide along the storage groove.

[0015] The present disclosure also provides the following intelligent robot system, comprising: the autonomous mobile device described in any one of the above technical solutions; and a charging pile, which includes the charging arm.

[0016] By adopting the above technical solution, by arranging the charging piece in the slot and providing a protective door at the opening, the charging piece is protected from damage from the external environment by the slot and the protective door, thereby making the autonomous mobile device more reliable and safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of a cleaning system according to a first embodiment of the present disclosure, wherein an autonomous mobile device is parked at a charging station.

[0018] Figure 2 yes Figure 1 Schematic diagram of the partial structure of the autonomous mobile device.

[0019] Figure 3yes Figure 2 Exploded view of part of the structure.

[0020] Figure 4 yes Figure 2 A sectional view of a portion of the structure in which the protective door is in a closed position.

[0021] Figure 5 yes Figure 2 A sectional view of a portion of the structure in which the protective door is in an open position.

[0022] Figure 6 yes Figure 1 A partial enlarged view of the cleaning system.

[0023] Figure 7 yes Figure 1 A partial enlarged view of some structures of the autonomous mobile device.

[0024] Figure 8 is a partially enlarged view of a partial structure of an autonomous mobile device according to a second embodiment of the present disclosure, in which a protective door is omitted.

[0025] Fig. 9 yes Figure 8 A partial enlarged view of some structures in which the protective door is in the closed position.

[0026] Fig.10 yes Figure 8 A partial enlarged view of some structures in which the protective door is in the open position.

[0027] Description of Reference Numerals

[0028] 30—cleaning system; 32—autonomous mobile device; 34—charging pile; 36—housing; 38—container; 40—charging arm; 42—first retaining element; 44—second retaining element; 46—charging sheet; 48—protective door; 50—support element; 51—gap; 52—slot; 54—opening; 56—contact surface; 58—upper edge; 60—lower edge; 62—positioning portion; 64—installation portion; 66—storage slot; C—circumferential direction. DETAILED DESCRIPTION

[0029] The following describes the embodiments of the present disclosure with reference to the accompanying drawings. For ease of understanding, the elements shown in the drawings may include elements whose sizes and scales are different from the actual sizes and scales.

[0030] In the specific embodiments of the present disclosure, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are all relative to the working state of the autonomous mobile device according to the present disclosure. Specifically, "front (front side)", "rear (rear side)" refer to the front side and rear side of the autonomous mobile device in the normal forward direction when the autonomous mobile device according to the present disclosure is in a normal working state on the ground where the task is performed, "left (left side)", "right (right side)" refer to the left side and right side when viewed from the front side of the normal forward direction, and "upper (upper side)", "lower (lower side)" refer to the upper side and lower side in the height direction perpendicular to the ground when the autonomous mobile device according to the present disclosure is in a normal working state on the ground where the task is performed. Here, "normal working state" refers to the state of the autonomous mobile device when the task is normally performed, which is distinguished from the abnormal state of the autonomous mobile device such as retreating and swinging in the escape mode. The autonomous mobile device according to the present disclosure can move autonomously according to a preset control scheme and perform set tasks during autonomous movement. In an embodiment where the autonomous mobile device is an intelligent cleaning device, the intelligent cleaning device can perform cleaning operations on the surface to be cleaned according to a preset cleaning scheme. The surface to be cleaned can be a plane or a curved surface with a large radius of curvature, typically the floor of each room in a building. In addition, the cleaning operations include but are not limited to sweeping, mopping, vacuuming, etc.

[0031] The following combination Figures 1 to 7 The structure of the cleaning system according to the first embodiment of the present disclosure is described.

[0032] Figure 1 is a schematic diagram of a cleaning system 30 as an embodiment of an intelligent robotic system.

[0033] In one embodiment, the cleaning system 30 is used as an example of an intelligent robot system. Figure 1 As shown, the cleaning system 30 may include an autonomous mobile device 32 and a charging station 34. For the cleaning system, the autonomous mobile device 32 may be an intelligent cleaning device or a so-called cleaning robot, such as an intelligent sweeper or an intelligent mopping machine. Figure 1 As shown, when the autonomous mobile device 32 is parked on the charging post 34, the charging post 34 can charge the autonomous mobile device, i.e., the smart cleaning device 32. When the surface to be cleaned needs to be cleaned, the smart cleaning device 32 can leave the charging post 34 to autonomously perform a preset cleaning task.

[0034] Exemplarily, the intelligent cleaning device 32 may include a housing 36 and a container 38. The housing 36 may be substantially disc-shaped, and the container 38 may be detachably mounted to the rear of the housing 36. The container 38 may include a water tank for containing a cleaning liquid (e.g., water or a mixed solution of water and detergent) or a dust box for collecting dust. Of course, the water tank and the dust box may also be integrated together.

[0035] The charging pile 34 may include a plurality of charging arms 40 , and free ends of the charging arms 40 may be provided with charging contacts.

[0036] Figure 2 and Figure 3 is a schematic diagram of a partial structure of an autonomous mobile device 32 .

[0037] The housing 36 may include a first holding element 42 and a second holding element 44. The first holding element 42 and the second holding element 44 may be disposed on an upper side of the container 38, and the second holding element 44 may be fixedly mounted on a lower portion of the first holding element 44.

[0038] The autonomous mobile device 32 may further include a plurality of charging sheets 46. The charging sheets 46 may be fixedly mounted on the second holding element 44, and the plurality of charging sheets 46 may be arranged side by side in the circumferential direction C of the housing 36. For example, in this embodiment, two charging sheets 46 may be arranged symmetrically.

[0039] The autonomous mobile device 32 may further include a plurality of protective doors 48 and a plurality of supporting elements 50. Each protective door 48 may be supported on a supporting element 50 and connected to the housing 36 via the supporting element 50. For example, in the present embodiment, the protective door 48 may be integrally formed with the supporting element 50, and the supporting element 50 may be confined between the first holding element 42 and the second holding element 44. The protective door 48 and the supporting element 50 may be made of an insulating material having elasticity, such as rubber or silicone.

[0040] In one example, the thickness of the protection door 48 may be less than the thickness of the support element 50. In another example, the protection door 48 may be separated from a portion of the support element 50 (particularly the mounting portion 64 described later) by a gap (e.g., a slit). Figure 7 Two slits 51 on both sides in the circumferential direction C are shown.

[0041] In other embodiments, the protective door 48 may also be rigid, for example, may be made of hard plastic.

[0042] In other embodiments, the protection door 48 may also be directly supported on the housing 36 without passing through the supporting element 50 . For example, the protection door 48 may be vulcanized and bonded to the first holding element 42 .

[0043] Figure 4 and Figure 5 is a cross-sectional view of a partial structure of the autonomous mobile device 32 .

[0044] The shell 36 may also include a plurality of slots 52. The slot 52 may have a slot body facing radially outward, with an opening 54 between the slot body and the space outside the shell, and the plurality of slots 52 may be arranged side by side and in parallel in the circumferential direction C. For example, in the present embodiment, the shell 36 is a left-right symmetrical cylinder having a left-right symmetry axis along the above-mentioned normal forward direction, and the two slots 52 may be symmetrically arranged on the left and right sides of the central axis of the shell with the left-right symmetry axis. The slot 52 may be defined by a first retaining element 42 and a second retaining element 44. The contact surface 56 on the charging sheet 46 may be exposed to the inner surface of the slot 52 and face the internal space of the slot 52. For example, in the present embodiment, the charging sheet 46 may be disposed at the bottom (i.e., the radial inner portion) of the slot 52, and the contact surface 56 may face the opening 54.

[0045] In other embodiments, the charging sheet 46 may also be disposed on one side wall of the slot 52, and the contact surface 56 may face the other side wall opposite to the side wall. Of course, the charging sheet 46 may also be disposed on other inner surfaces inside the slot 52 and exposed to the inner space of the slot body, so that after the charging arm 40 is inserted into the slot, the charging sheet 46 can be in contact with the charging contacts on the charging arm 40.

[0046] The protection door 48 may be disposed at the opening 54. In one embodiment, an upper edge 58 of the protection door 48 may engage with the support element 50, and a lower edge 60 of the protection door 48 may swing around the upper edge 58, so that the protection door 48 may switch between a closed position and an open position. Figure 4 In the closed position shown, the lower edge 60 can be located substantially directly below the upper edge 58 and abut against the second retaining element 44, so that the protective door 48 covers (or shields) the opening 54. Figure 5 In the open position shown, the lower edge 60 can be lifted upward so that the protection door 48 is received in the slot 52 , thereby exposing the opening 54 with the protection door 48 .

[0047] It can be understood that by disposing the charging sheet 46 in the slot 52 and providing a protective door 48 at the opening 54, the charging sheet 46 is prevented from being damaged by the external environment, thereby protecting the charging sheet 46 and enabling the autonomous mobile device 32 to have higher reliability and safety.

[0048] It can be understood that by setting the open position in the slot 52, that is, in the open position, the protective door 48 is located in the slot 52 (including most of the protective door 48 is located in the slot 52). When the protective door 48 is opened, it will not occupy the external space of the autonomous mobile device 32, so that the autonomous mobile device 32 can complete charging in a smaller space.

[0049] In other embodiments, the support element 50 can be replaced by a shaft or a hinge. The protective door 48 can be connected to the housing 36 via a hinge or a shaft so that the protective door 48 can rotate between a closed position and an open position. Preferably, the autonomous mobile device 32 may also include a torsion spring. The torsion spring may be configured to bias the protective door 48 toward the closed position, and after the charging arm 40 moves out of the slot 52, the protective door 48 can be moved from the open position to the closed position.

[0050] Figure 6 yes Figure 1 A partial enlarged view of .

[0051] When the autonomous mobile device 32 needs to be charged, the autonomous mobile device 32 can move from a position outside the charging post 34 to the charging post 34 so that the protective door 48 (see Figure 4 and Figure 5 ) gradually approaches the charging arm 40 or the charging contacts thereon until the protective door 48 abuts against the charging arm 40. As the autonomous mobile device 32 continues to move toward the charging post 34, the charging arm 40 pushes the protective door 48, causing the protective door 48 to swing upward from the closed position to the open position, i.e., from Figure 4 Move to the position shown Figure 5 During the swinging process of the protection door 48, the protection door 48 can be pressed against the charging arm 40 by its own elastic deformation and the gravity it receives. Figure 6 As shown, the charging contact can extend into the slot 52 and eventually abut against the contact surface 56 (see Figure 4 and Figure 5 ) so that the charging contacts resting on the contact surface 56 are in electrical contact with the charging sheet 46, enabling the charging pile 34 to charge the autonomous mobile device 32.

[0052] When the autonomous mobile device 32 needs to leave the charging pile 34, the autonomous mobile device 32 can move in a direction away from the charging pile 34, so that the charging contact on the charging arm 40 is separated from the contact surface 56, and the charging arm 40 is gradually moved out of the slot 52. In the process of the charging arm 40 leaving the slot 52, the protective door 48 can be swung downward from the open position to the closed position under the action of elastic deformation and gravity, that is, from the closed position to the closed position. Figure 5 Move to the position shown Figure 4Of course, during the swinging process, the protective door 48 can still be pressed against the charging arm 40 or the charging contacts thereon by elastic deformation and gravity. As the autonomous mobile device 32 continues to move away from the charging pile 34, the charging arm 40 can be completely withdrawn from the slot 52, and the protective door 48 can be completely in the closed position.

[0053] It can be understood that by configuring the protective door 48 to swing under the push of the charging arm 40, the protective door 48 can passively open itself without the aid of a driving device, so that the autonomous mobile device 32 can have a smaller weight and volume and a simpler structure.

[0054] It can be understood that by configuring the protection door 48 to move from the open position to the closed position under the action of elastic deformation and gravity, the protection door 48 can be closed without the aid of a driving device, so that the autonomous mobile device 32 can have a smaller weight and volume and a simpler structure. In addition, the elastic deformation and gravity also help prevent the protection door 48 from deviating from the closed position, so that the protection door 48 can be stably maintained in the closed position, thereby preventing the protection door 48 from being accidentally opened.

[0055] It can be understood that by making the protective door 48 in the open position abut against the charging arm 40, the protective door 48 can eliminate the gap between the protective door 48 and the charging arm 40. In this way, even during the charging process, the protective door 48 can still prevent water or dust from contacting the charging sheet 46 through the gap, thereby further improving the reliability of the autonomous mobile device 32.

[0056] Figure 7 It is a partial enlarged view of a part of the structure of the autonomous mobile device 32.

[0057] The first retaining element 42 may include a plurality of positioning portions 62. The positioning portions 62 may extend radially inward from the edge of the opening 54, and the lower end of the positioning portion 62 may abut against the second retaining element 44 (see Figures 3 to 5 ). Two adjacent positioning portions 62 may be arranged opposite to each other in the circumferential direction C and formed as inner side walls of the slot 52 .

[0058] The support element 50 may include a plurality of mounting portions 64. The mounting portion 64 may be formed in a substantially U-shape, and the protection door 48 may be connected between two mounting portions 64. The positioning portion 62 may extend into the inner side of the mounting portion 64, so that the mounting portion 64 is hooked and covered on the positioning portion 62, so that the support element 50 can be limited by the first retaining element 42 in the radial direction and the circumferential direction C of the housing 36.

[0059] The upper end of the positioning portion 62 may abut against the first holding element 42 , and the lower end of the positioning portion 62 may abut against the second holding element 44 , so that the positioning portion 62 is limited in the up-and-down direction.

[0060] Of course, the present disclosure is not limited thereto, and in some examples, the positioning portion 62 may be connected to, for example, the first retaining element 42 by bonding, snapping, screwing, or the like.

[0061] It can be understood that by making the mounting portion 64 cover the positioning portion 62, the mounting portion 64 can separate the side wall of the slot 52 from the charging arm 40 extending into the slot 52. In this way, when the charging arm 40 is misaligned, the mounting portion 64 can buffer the collision of the charging arm 40 with the side wall, so that the slot 52 and the charging arm 40 are not easily damaged.

[0062] The following combination Figures 8 to 10 The structure of the cleaning system according to the second embodiment of the present disclosure is described. The second embodiment is a modification of the first embodiment, and the same reference numerals are used in this embodiment for the same or similar features as those of the first embodiment, and redundant description of these features is omitted.

[0063] Figures 8 to 10 is a partial enlarged view of a part of the structure of the autonomous mobile device 32, wherein Figure 8 The protective door 48 is omitted.

[0064] Compared with the first embodiment, the protection door 48 can be switched between the closed position and the open position by sliding. The inner side wall of the slot 52 can be provided with a receiving groove 66, which can be defined by the first retaining element 42 and the second retaining element 44. The receiving groove 66 can guide the protection door 48 to slide along the circumferential direction C. Fig. 9 As shown, when the protection door 48 is in the closed position, the protection door 48 can extend from the receiving slot 66 (including most of the protection door 48 extending from the receiving slot 66). Fig.10 As shown, when the protection door 48 is in the open position, the protection door 48 can be stored in the storage slot 66 (including most of the protection door 48 being stored in the storage slot 66). The autonomous mobile device 32 can also be provided with a motor. The motor can be connected to the protection door 48 via a transmission mechanism such as a rack to drive the protection door 48 to slide between the closed position and the open position.

[0065] It should be understood that the above embodiments are merely exemplary and are not intended to limit the present disclosure. Those skilled in the art may make various modifications and changes to the above embodiments under the guidance of the present disclosure without departing from the scope of the present disclosure.

Claims

1. An autonomous mobile device, characterized in that: include: A housing having a slot thereon, the slot being used to receive a charging arm of a charging pile, and an opening for inserting the charging arm into the slot between the slot and the space outside the housing; A charging sheet, which is fixedly disposed in the slot, the charging sheet comprising a contact surface, the contact surface being exposed to the inner surface of the slot and facing the inner space of the slot, and when the charging arm of the charging pile is fully inserted into the slot, the contact surface can abut against the charging contact of the charging arm, thereby being electrically connected to the charging contact; as well as a protective door supported on the housing, the protective door being disposed at the opening of the slot and being movable between an open position and a closed position; in the open position, the protective door is configured to expose the opening so that the charging arm can be inserted into the slot; In the closed position, the protective door is configured to cover the opening.

2. The autonomous mobile device according to claim 1, characterized in that The protection door is configured to move from the closed position to the open position under the pushing of the charging arm.

3. The autonomous mobile device according to claim 1, characterized in that: The protection door is configured to move from the open position to the closed position under the action of elastic deformation and / or gravity.

4. The autonomous mobile device according to claim 1, characterized in that: In the open position, the protective door is located within the slot.

5. The autonomous mobile device according to claim 1, characterized in that: In the open position, the protective door is configured to abut the charging arm.

6. The autonomous mobile device according to any one of claims 1 to 5, characterized in that: The protection door is connected to the housing via a hinge or a rotating shaft so that the protection door can rotate between the open position and the closed position.

7. The autonomous mobile device according to claim 6, characterized in that: Also included is a torsion spring configured to bias the protection door toward the closed position.

8. The autonomous mobile device according to claim 1, characterized in that: The housing is provided with a receiving groove, and the receiving groove is used to guide the protection door to slide. In the open position, the protective door is configured to be received in the receiving slot; and In the closed position, the protective door is configured to extend from the receiving slot.

9. The autonomous mobile device according to claim 8, characterized in that: A motor is also included, and the motor is connected to the protection door to drive the protection door to slide along the storage groove.

10. An intelligent robot system, characterized in that: include: The autonomous mobile device according to any one of claims 1 to 9; as well as A charging pile comprises the charging arm.

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