Cleaning robot with multiple anti-collision devices

Abstract

The utility model relates to a sweeping robot with multiple anti-collision devices, which belongs to the technical field of garbage sweeping and comprises a sweeping vehicle and a pair of sweeping discs mounted at the front end of the sweeping vehicle, a connecting seat is fixed in the middle of the front end of the sweeping vehicle, and the two sweeping discs are symmetrically arranged on two sides of the connecting seat and hinged to the sweeping vehicle. Flexible front anti-collision strips are arranged at the front ends of the two sweeping discs; limiting telescopic rods are hinged between the connecting base and the two sweeping discs, the sides, away from the connecting base, of the sweeping discs are connected with return springs used for driving the sweeping discs to swing outwards, and the free ends of the return springs are fixedly connected with the sweeping vehicle. And a flexible rear anti-collision strip is arranged at the rear end of the sweeping vehicle. According to the utility model, protection against sudden collision can be well provided, and the driving safety of sweeping operation is improved.

Description

Technical Field

[0001] The utility model relates to a cleaning robot with multiple anti-collision devices, belonging to the technical field of garbage cleaning. Background Art

[0002] In recent years, with the continuous development and iteration of autonomous driving technology, industries and sectors related to autonomous driving have ushered in broader development prospects and opportunities. Autonomous driving has been continuously expanding in new industry fields, and has made breakthroughs in urban public transportation, retail distribution, logistics distribution, sanitation and cleaning, etc. The cleaning and sanitation industry is generally considered by the industry to be the most likely segment to realize the marketization of autonomous driving products and achieve commercialization due to its relatively fixed scene routes.

[0003] The smart sweeper is equipped with an automatic driving intelligent kit, which can realize multiple functions such as automatic road sweeping, automatic garbage suction, automatic garbage collection and transportation. At present, the cleaning robots on the market are mostly deployed in scenes such as parks, squares, and industrial parks. The working conditions on the roads in these scenes are relatively complex and there are many pedestrians. Pedestrians often walk their pets, ride bicycles, run, and other sports on the roads. At the same time, there are many children playing and chasing on the roads. These require the cleaning robots to have good perception and planning control capabilities when working, and be able to avoid obstacles and stop obstacles when necessary to prevent safety accidents. However, in addition to the algorithm to achieve potential safety avoidance, a final safety guarantee must be set up so that the cleaning robot can stop in time when a collision occurs to avoid further losses.

[0004] A multi-mode intelligent electric sweeper with an automatic driving system disclosed in a Chinese invention patent with publication number CN109828581A includes a vehicle body, wheels arranged at the bottom of the vehicle body, a sensor device arranged on the vehicle body, and a front-end cleaning device arranged at the lower front side of the vehicle body. The front-end cleaning device includes an anti-collision bracket mounted at the lower front side of the vehicle body, and a roller brush is provided at the bottom of the anti-collision bracket. The sensor device is arranged on the vehicle body, and the sensor device includes a laser radar, a monocular camera, a GPS antenna and an ultrasonic radar. An automatic driving system is provided in the vehicle body, and the automatic driving system includes an intelligent driving brain system, an underlying wire-controlled chassis system respectively connected to the intelligent driving brain system, a wire-controlled cleaning system and a remote monitoring system.

[0005] The above-mentioned reference example prevents collisions by setting up a multi-level anti-collision control subsystem to perform obstacle prediction, clearing area planning, etc. However, it does not protect against sudden collision situations, which may not only cause personal injury but also damage the vehicle body. Therefore, improvement is urgently needed. Utility Model Content

[0006] In order to overcome the above-mentioned shortcomings of the prior art, the utility model designs a cleaning robot with multiple anti-collision devices, which can provide good protection against sudden collisions and improve the safety of cleaning operations.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] A cleaning robot with multiple anti-collision devices comprises a cleaning vehicle and a pair of sweeping discs installed at the front end of the cleaning vehicle, a connecting seat is fixed at the middle position of the front end of the cleaning vehicle, two sweeping discs are symmetrically arranged on both sides of the connecting seat and are both hinged to the cleaning vehicle, and flexible front anti-collision strips are arranged at the front ends of the two sweeping discs; a limited telescopic rod is hinged between the connecting seat and the two sweeping discs, a pull-back spring for driving the sweeping disc to swing outward is connected to the side of the sweeping disc away from the connecting seat, and the free end of the pull-back spring is fixedly connected to the cleaning vehicle; a flexible rear anti-collision strip is arranged at the rear end of the cleaning vehicle.

[0009] Furthermore, a plurality of push rods are connected between the front anti-collision strip and the sweeping disc, the push rods are slidably plugged into the sweeping disc, and return springs correspondingly sleeved outside the push rods are fixedly connected between the front anti-collision strip and the sweeping disc.

[0010] A plurality of pressure sensors capable of causing the sweeper to perform emergency braking are arranged inside the front anti-collision strip, and each of the pressure sensors is electrically connected to the control system of the sweeper.

[0011] Furthermore, the rear anti-collision strip includes a rubber jacket and a card slot seat, the rubber jacket and the card slot seat are detachably connected, and a cavity is arranged inside the rubber jacket, and the cavity is spaced apart with an upper conductive bar and a lower conductive bar that are in contact with each other to enable the sweeper to perform emergency braking, and the upper conductive bar and the lower conductive bar are both electrically connected to the control system of the sweeper.

[0012] Furthermore, each sweeping disc is hinged to an articulated seat integrally arranged at the front end of the sweeper.

[0013] Compared with the prior art, the utility model has the following characteristics and beneficial effects:

[0014] 1. In the utility model, when the front end of the sweeping disc is hit, it can be protected by the front anti-collision strip to protect personal safety and the vehicle body structure; when the side of the sweeping disc is hit, the sweeping disc will swing, and the limit telescopic rod will shrink to reduce the impact force caused by the collision, and a part of the kinetic energy can be absorbed by the setting of the pull-back spring to reduce the harm caused by the collision, and after the collision stops, the sweeping disc can continue to swing outward under the action of the pull-back spring and reach the maximum length of the limit telescopic rod to resume normal cleaning operation; when the rear end of the sweeper is hit, it can be protected by the rear anti-collision strip to protect personal safety and the vehicle body structure.

[0015] 2. In the utility model, when the front end of the sweeping disc is hit or the rear end of the sweeper is hit, an electrical signal can be generated in time through a pressure sensor or an impact signal circuit to perform emergency braking on the sweeper in time. When encountering a sudden impact, the damage to the person, object and cleaning robot that are hit can be minimized, effectively preventing the accident from becoming more serious. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a top view of the utility model;

[0017] Figure 2 It is a side view of the utility model;

[0018] Figure 3 yes Figure 1 A local enlarged schematic diagram of point A;

[0019] Figure 4 It is a schematic diagram of the cross-sectional structure of the rear anti-collision strip of the utility model.

[0020] The accompanying drawings are marked as follows: 1. front anti-collision strip; 101. push rod; 102. return spring; 2. sweeping plate; 3. pull-back spring; 4. sweeper; 5. rear anti-collision strip; 51. rubber jacket; 52. upper conductive strip; 53. lower conductive strip; 54. slot seat; 55. cavity; 6. hinge seat; 7. connecting seat; 8. limit telescopic rod. DETAILED DESCRIPTION

[0021] The present invention will be described in more detail below in conjunction with the embodiments.

[0022] The cleaning robot with multiple anti-collision devices of this embodiment includes a cleaning vehicle 4 and a pair of sweeping discs 2 installed at the front end of the cleaning vehicle 4, a connecting seat 7 is fixed at the middle position of the front end of the cleaning vehicle 4, two sweeping discs 2 are symmetrically arranged on both sides of the connecting seat 7 and are both hinged to the cleaning vehicle 4, and flexible front anti-collision strips 1 are arranged at the front ends of the two sweeping discs 2;

[0023] A limited telescopic rod 8 is hinged between the connecting seat 7 and the two sweeping discs 2. A pull-back spring 3 for driving the sweeping disc 2 to swing outward is connected to the side of the sweeping disc 2 away from the connecting seat 7. The free end of the pull-back spring 3 is fixedly connected to the sweeping vehicle 4.

[0024] A flexible rear anti-collision strip 5 is provided at the rear end of the sweeper 4 .

[0025] As can be seen from the above description, when the front end of the sweeping disc 2 is hit, it can be protected by the front anti-collision strip 1 to protect personal safety and the vehicle structure;

[0026] When the side of the sweeping disc 2 is hit, the sweeping disc 2 will swing, and the limiting telescopic rod 8 will shrink to reduce the impact force caused by the collision. The setting of the pull-back spring 3 can also absorb part of the kinetic energy to reduce the harm caused by the collision. After the collision stops, the sweeping disc 2 can continue to swing outward under the action of the pull-back spring 3 and reach the maximum length of the limiting telescopic rod 8 to resume normal cleaning operation.

[0027] When the rear end of the sweeper 4 is hit, the rear anti-collision strip 5 can be used for protection to protect personal safety and the vehicle structure.

[0028] Specifically, a plurality of push rods 101 are connected between the front anti-collision strip 1 and the sweeping plate 2. The push rods 101 are slidably plugged into the sweeping plate 2, and the front anti-collision strip 1 and the sweeping plate 2 are fixedly connected with return springs 102 which are correspondingly sleeved on the outside of each push rod 101. Through the arrangement of the push rods 101 and the return springs 102, combined with the flexible front anti-collision strip 1, the kinetic energy of the impact can be better absorbed to protect personal safety and the vehicle body structure.

[0029] Furthermore, a number of pressure sensors are arranged inside the front anti-collision strip 1, each of which can make the sweeper 4 perform emergency braking. Each pressure sensor is electrically connected to the control system of the sweeper 4. When the pressure sensor inside the front anti-collision strip 1 senses the impact force of the collision, it can generate an electrical signal to be transmitted to the control system of the sweeper 4, thereby making the sweeper 4 perform emergency braking to prevent another collision.

[0030] Furthermore, the rear anti-collision strip 5 includes a rubber jacket 51 and a card slot seat 54. The rubber jacket 51 and the card slot seat 54 are detachably connected, and a cavity 55 is arranged inside the rubber jacket 51. The cavity 55 is provided with an upper conductive strip 52 and a lower conductive strip 53 that are in contact with each other so that the sweeper 4 can perform emergency braking. The upper conductive strip 52 and the lower conductive strip 53 are both electrically connected to the control system of the sweeper 4. Under normal working conditions, there is a certain gap between the upper conductive strip 52 and the lower conductive strip 53, and the collision signal circuit where the upper conductive strip 52 and the lower conductive strip 53 are located is in a disconnected state. When the rear end of the sweeper 4 is hit, the rubber jacket 51 is squeezed, so that the upper conductive strip 52 and the lower conductive strip 53 can contact each other. At this time, the collision signal circuit where the upper conductive strip 52 and the lower conductive strip 53 are located is turned on, and a collision electrical signal is generated to be output to the control system of the sweeper 4, so that the sweeper 4 performs emergency braking after receiving the collision electrical signal to prevent another collision.

[0031] Furthermore, each sweeping disc 2 is hinged to an articulated seat 6 integrally arranged at the front end of the sweeper 4 .

[0032] The working principle of the utility model is as follows: when the front end of the sweeping disc 2 is hit, it can be protected by the front anti-collision strip 1 to protect personal safety and the vehicle body structure; when the side of the sweeping disc 2 is hit, the sweeping disc 2 will swing, and the limiting telescopic rod 8 will contract to reduce the impact force caused by the collision, and a part of the kinetic energy can be absorbed by the setting of the pull-back spring 3 to reduce the harm caused by the collision, and after the collision stops, the sweeping disc 2 can continue to swing outwards under the action of the pull-back spring 3 and reach the maximum length of the limiting telescopic rod 8 to resume normal cleaning operation; when the rear end of the sweeping vehicle 4 is hit, it can be protected by the rear anti-collision strip 5 to protect personal safety and the vehicle body structure.

[0033] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Obviously, the described embodiments are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

Claims

1. A cleaning robot with multiple anti-collision devices, comprising a cleaning vehicle (4) and a pair of sweeping discs (2) mounted at the front end of the cleaning vehicle (4), characterized in that: A connecting seat (7) is fixed at the middle position of the front end of the sweeper (4); the two sweeping discs (2) are symmetrically arranged on both sides of the connecting seat (7) and are both hinged to the sweeper (4); and the front ends of the two sweeping discs (2) are each provided with a flexible front anti-collision strip (1); a limited telescopic rod (8) is hinged between the connecting seat (7) and the two sweeping discs (2); a side of the sweeping disc (2) away from the connecting seat (7) is connected with a pull-back spring (3) for driving the sweeping disc (2) to swing outward, and the free end of the pull-back spring (3) is fixedly connected to the sweeper (4); and a flexible rear anti-collision strip (5) is provided at the rear end of the sweeper (4).

2. The cleaning robot with multiple anti-collision devices according to claim 1, characterized in that: A plurality of push rods (101) are connected between the front anti-collision strip (1) and the sweeping disc (2), the push rods (101) are slidably plugged with the sweeping disc (2), and return springs (102) are fixedly connected between the front anti-collision strip (1) and the sweeping disc (2) and are sleeved outside the push rods (101) in a one-to-one correspondence.

3. The cleaning robot with multiple anti-collision devices according to claim 1, characterized in that: A plurality of pressure sensors capable of causing the cleaning vehicle (4) to perform emergency braking are arranged inside the front anti-collision strip (1), and each of the pressure sensors is electrically connected to a control system of the cleaning vehicle (4).

4. The cleaning robot with multiple anti-collision devices according to claim 1, characterized in that: The rear anti-collision strip (5) comprises a rubber outer sleeve (51) and a card slot seat (54), wherein the rubber outer sleeve (51) is detachably card-connected with the card slot seat (54), and a cavity (55) is arranged inside the rubber outer sleeve (51), and an upper conductive strip (52) and a lower conductive strip (53) which are in contact with each other and can enable the cleaning vehicle (4) to perform emergency braking are arranged at intervals in the cavity (55), and the upper conductive strip (52) and the lower conductive strip (53) are both electrically connected to a control system of the cleaning vehicle (4).

5. The cleaning robot with multiple anti-collision devices according to claim 1, characterized in that: Each sweeping disc (2) is hinged to an articulated seat (6) integrally arranged at the front end of the sweeping vehicle (4).

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