Cleaning robot

Abstract

The cleaning robot comprises a robot body, a front collision shell, a first collision sensor, a second collision sensor and a control module, and the front collision shell is arranged on the robot body; the first collision sensor is arranged on the front collision shell; the second collision sensor is arranged on the front collision shell, and the second collision sensor and the first collision sensor are arranged at an interval in the left-right direction of the cleaning robot; the control module is electrically connected with the first collision sensor and the second collision sensor; when the front collision shell collides, the first collision sensor outputs a first signal, the second collision sensor outputs a second signal, and the control module judges the collision strength and the collision position of the front collision shell according to the first signal and the second signal. According to the technical scheme, the cleaning robot can obtain the specific position of collision and the collision strength, then multiple directional motion strategies are adopted to conduct escape or obstacle avoidance, the escape or obstacle avoidance strategies are richer and higher in pertinence, and the efficiency is higher.

Description

Technical Field

[0001] This application relates to the technical field of cleaning equipment, and particularly to a cleaning robot. Background Art

[0002] In related technologies, cleaning robots use gratings to determine whether a collision occurs. However, since gratings can only generate two digital level signals of high and low, cleaning robots can only detect whether a collision occurs, but cannot detect the position and intensity of the collision. Summary of the Utility Model

[0003] An embodiment of this application provides a cleaning robot that can detect the position and intensity of a collision occurring to the cleaning robot.

[0004] In a first aspect, an embodiment of this application provides a cleaning robot, including a body, a front collision housing, a first collision sensor, a second collision sensor, and a control module. The front collision housing is disposed on the body; the first collision sensor is disposed on the front collision housing; the second collision sensor is disposed on the front collision housing and is spaced apart from the first collision sensor in the left-right direction of the cleaning robot; the control module is electrically connected to both the first collision sensor and the second collision sensor; wherein, when a collision occurs to the front collision housing, the first collision sensor outputs a first signal, the second collision sensor outputs a second signal, and the control module determines the collision intensity and collision position of the front collision housing according to the first signal and the second signal.

[0005] Beneficial Effects: The embodiment of this application has a first collision sensor and a second collision sensor that are spaced apart in the left-right direction of the cleaning robot. The control module determines the collision position according to the relative intensities of the first signal sent by the first collision sensor and the second signal sent by the second collision sensor, and determines the collision intensity according to the absolute intensities of the first signal and the second signal. The cleaning robot can know the specific position and collision intensity of the collision, and then adopt various directional movement strategies such as twisting left, twisting right, turning left, turning right, backing up, and moving forward to escape or avoid obstacles. The escape or obstacle avoidance strategies are more diverse and targeted, and the efficiency is higher. Brief Description of the Drawings

[0006] To more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the embodiments. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0007] Figure 1 It is a schematic structural diagram of a cleaning robot in an embodiment of this application;

[0008] Figure 2 It is a schematic structural diagram of a front collision component in an embodiment of the present application;

[0009] Figure 3 It is a schematic structural diagram of a front collision component in another embodiment of the present application;

[0010] Figure 4 It is a block diagram of a first collision sensor, a second collision sensor and a control module in an embodiment of the present application;

[0011] Figure 5 It is a block diagram of a first collision sensor, a second collision sensor and a control module in another embodiment of the present application;

[0012] Figure 6 It is a block diagram of a first collision sensor, a second collision sensor and a control module in yet another embodiment of the present application;

[0013] Figure 7 It is a block diagram of a first collision sensor, a second collision sensor and a control module in still another embodiment of the present application;

[0014] Figure 8 It is a schematic circuit diagram of a first collision sensor in an embodiment of the present application;

[0015] Figure 9 It is a schematic circuit diagram of a second collision sensor in an embodiment of the present application;

[0016] Figure 10 It is a partial schematic circuit diagram of a control module in an embodiment of the present application.

[0017] Explanation of reference numerals: 100, cleaning robot; 110, fuselage; 120, front collision housing; 120a, first window; 120b, second window; 121, front shell; 122, top shell; 123, first conducting member; 124, second conducting member; 130, first collision sensor; 131, first pressure sensor; 132, first bridge; 133, first temperature sensor; 140, second collision sensor; 141, second pressure sensor; 142, second bridge; 143, second temperature sensor; 150, control module; 151, analog-to-digital converter; 152, amplifier; 153, controller; AA, left-right direction; B, forward direction; C, backward direction. Detailed implementation manners

[0018] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0019] As Figure 1-4 shown, in the first aspect of the embodiment of the present application, a cleaning robot 100 is provided. The cleaning robot 100 includes a body 110, a front collision component, and a control module 150. A plurality of functional components can be arranged on the body 110, such as a traveling mechanism, a cleaning mechanism, etc. The front collision component is usually arranged at the head of the body 110. As a sensing component of the cleaning robot 100, the front collision component is used to detect whether the cleaning robot 100 collides with an obstacle during movement. The obstacle can be a wall, a table, a chair, a sofa, a curtain, etc. The control module 150 can control the cleaning robot 100 to retreat or turn to avoid the obstacle. The control module 150 can be arranged on the body 110 or the front collision component, or a part of the control module 150 is located on the body 110 and the other part is located on the front collision component.

[0020] The front collision component includes a front collision housing 120, a first collision sensor 130, a first collision sensor 130, and a second collision sensor 140.

[0021] The front collision housing 120 is arranged at the head of the body 110. Optionally, there is a certain gap between the front collision housing 120 and the body 110. When the front collision housing 120 collides with an obstacle, the front collision housing 120 generates a certain displacement relative to the body 110, so that the impact on the body 110 is less, playing a role in protecting the body 110. In other embodiments, the front collision housing 120 can also be fixedly connected to the body 110.

[0022] The first collision sensor 130 is arranged inside the front collision housing 120, or the first collision sensor 130 is arranged on the side of the body 110 close to the front collision housing 120. The front collision housing 120 can play a certain role in protecting the first collision sensor 130. The second collision sensor 140 is arranged inside the front collision housing 120, or the second collision sensor 140 is arranged on the side of the body 110 close to the front collision housing 120. The front collision housing 120 can play a certain role in protecting the second collision sensor 140. After the front collision housing 120 collides with an obstacle, the collision will be transmitted to the first collision sensor 130 and the second collision sensor 140. The first collision sensor 130 and the second collision sensor 140 output corresponding signals to make the cleaning robot make a collision response.

[0023] The second collision sensor 140 and the first collision sensor 130 are arranged at intervals in the left-right direction AA of the cleaning robot 100. The left-right direction AA refers to the direction perpendicular to the forward direction B of the cleaning robot 100 and facing the left and right sides of the cleaning robot 100.

[0024] The first collision sensor 130 is used to output a first signal, and the second collision sensor 140 is used to output a second signal. The first collision sensor 130 and the second collision sensor 140 can detect the magnitude of the collision force. For example, the first collision sensor 130 and the second collision sensor 140 can detect the magnitude of the vibration. Exemplarily, the first collision sensor 130 can be a pressure sensor, an acceleration sensor, a three-axis gyroscope, etc., and the second collision sensor 140 can be a pressure sensor, an acceleration sensor, a three-axis gyroscope, etc.

[0025] The control module 150 is electrically connected to both the first collision sensor 130 and the second collision sensor 140. When the front collision housing 120 collides, the first collision sensor 130 outputs a first signal, and the second collision sensor 140 outputs a second signal. The control module 150 determines the collision force and collision position of the front collision housing 120 according to the first signal and the second signal. For example, the control module 150 can judge the collision position according to the relative strength of the first signal and the second signal, and the control module 150 can judge the collision force according to the absolute strength of the first signal and the second signal.

[0026] Specifically, the greater the force of the collision of the front collision housing 120, the stronger the signal intensities of the first collision sensor 130 and the second collision sensor 140. The control module 150 can judge the force of the collision according to the actual values of the electrical signals of the first collision sensor 130 and the second collision sensor 140.

[0027] When the collision position of the front collision housing 120 is closer to the first collision sensor 130, the first signal intensity of the first collision sensor 130 is greater than the second signal intensity of the second collision sensor 140. When the collision position of the front collision housing 120 is closer to the second collision sensor 140, the second signal intensity of the second collision sensor 140 is greater than the first signal intensity of the first collision sensor 130. When the collision position of the front collision housing 120 is equidistant from the first collision sensor 130 and the second collision sensor 140, the first signal intensity of the first collision sensor 130 is the same as the second signal intensity of the second collision sensor 140.

[0028] Optionally, when collisions occur at different positions on the front collision housing 120, the collision data generated by the first collision sensor 130 and the second collision sensor 140 are all different. In this regard, through simulation, modeling can be carried out for different collision forces and orientations of the front collision housing 120, and then the modeling data can be preset into the control module 150, so as to facilitate the control module 150 to quickly determine the position and force of the collision.

[0029] Optionally, when the cleaning robot 100 leaves the factory, some scenarios can be input into the control module 150, such as the collision data roughly corresponding to the collision of the front collision shell 120 with curtains, tables and chairs, etc., so that the cleaning robot 100 can identify the types of some obstacles. Of course, the cleaning robot 100 can perform self-learning based on these scenario inputs.

[0030] Compared to the traditional cleaning robot 100, which can only retreat as a whole or turn left or right without directionality when a collision occurs, the cleaning robot 100 of the embodiment of the present application can use corresponding escape means according to the location of the collision. For example, when the cleaning robot 100 of the embodiment of the present application collides, if the collision occurs on the left side of the cleaning robot 100, the cleaning robot 100 can be controlled to turn left and avoid obstacles on the left. While avoiding obstacles, a map can be built to avoid the next collision. Similarly, if the collision occurs on the right side of the cleaning robot 100, the cleaning robot 100 can be controlled to turn right and avoid obstacles on the right. While avoiding obstacles, a map can be built to avoid the next collision.

[0031] In addition, since the cleaning robot 100 of the embodiment of the present application can detect the collision force, it can identify the type of some obstacles, and thus take corresponding obstacle avoidance measures according to the type of obstacles. For example, when the cleaning robot 100 identifies that the obstacle is a wall, the cleaning robot 100 detours, and when the cleaning robot 100 identifies that the obstacle is a curtain, the cleaning robot 100 can continue to pass through the curtain.

[0032] In summary, the cleaning robot 100 of the embodiment of the present application can obtain the specific location and collision force of the collision, and then adopt a variety of directional movement strategies such as twisting left, twisting right, turning left, turning right, retreating, and moving forward to escape or avoid obstacles. The escape or obstacle avoidance strategies are richer, more targeted, and more efficient.

[0033] In some embodiments, the first collision sensor 130 and the second collision sensor 140 are closer to the top of the front collision shell 120 than to the bottom of the front collision shell 120, so that the first collision sensor 130 and the second collision sensor 140 are more sensitive to the collision of the top of the front collision shell 120. According to the signal strength of the first collision sensor 130 and the second collision sensor 140, it can assist in determining whether the collision occurs at the top or the bottom of the front collision shell 120.

[0034] In some embodiments, the first collision sensor 130 and the second collision sensor 140 are closer to the middle part of the front collision shell 120 than to the left and right sides of the front collision shell 120, so that the first collision sensor 130 and the second collision sensor 140 are more sensitive to the collision of the middle part of the front collision shell 120. According to the signal strength of the first collision sensor 130 and the second collision sensor 140, it can assist in determining whether the collision occurs on the left and right sides or the middle part of the front collision shell 120.

[0035] like Figure 2-3 As shown, in some embodiments, the front collision shell 120 includes a front shell 121 and a top shell 122, the front shell 121 is arranged in front of the fuselage 110, and the top shell 122 is connected to the front shell 121 and extends from the top of the front shell 121 from front to rear. The shape of the front shell 121 can be, for example, an arc shape to fit the shape of the cleaning robot 100, and the shape of the top shell 122 can be, for example, a flat plate, so that the top of the cleaning robot 100 is relatively flat. It should be noted that the cleaning robot 100 usually collides when moving forward, that is, the cleaning robot 100 usually collides with the head, not the tail, so the top shell 122 can only cover the top of the head of the cleaning robot 100, and does not have to cover the entire top of the cleaning robot 100.

[0036] The first collision sensor 130 is disposed on the front shell 121 or the top shell 122, and the second collision sensor 140 is disposed on the front shell 121 or the top shell 122. Since the top shell 122 is connected to the front shell 121, when one of the top shell 122 and the front shell 121 collides, the vibration generated by the collision can be transmitted to the other, thereby being detected by the first collision sensor 130 and the second collision sensor 140. At this time, the first collision sensor 130 can output a first signal, and the second collision sensor 140 can output a second signal. It should be noted that the front collision shell 120 can only have the front shell 121 without the top shell 122, so that the top collision is transmitted by relying on the top of the front shell 121.

[0037] The cleaning robot 100 of this embodiment can detect not only the collision in front of the cleaning robot 100, but also the collision on the top, so that when the cleaning robot 100 is stuck on the top, targeted escape measures can be taken to improve the escape efficiency. For example, when the cleaning robot 100 detects that the upper left part is stuck, the cleaning robot 100 can choose to move to the right rear, and when the cleaning robot 100 detects that the jam is getting tighter along the forward direction B, it can choose to move to the rear.

[0038] like Figure 2-3As shown, in some embodiments, the front collision housing 120 further includes a first conductive member 123 and a second conductive member 124. The first conductive member 123 can be disposed on the front housing 121 or the top housing 122, and the second conductive member 124 can be disposed on the front housing 121 or the top housing 122. The first conductive member 123 acts on the first collision sensor 130, and the second conductive member 124 acts on the second collision sensor 140.

[0039] The first conductive member 123 acts on the first collision sensor 130 from top to bottom or from bottom to top, and the second conductive member 124 acts on the second collision sensor 140 from top to bottom or from bottom to top. Exemplarily, the first conductive member 123 is fixedly connected to the first collision sensor 130. When the first conductive member 123 moves upward or downward along with the front collision housing 120, it can conduct the force to the first collision sensor 130. The second conductive member 124 is fixedly connected to the second collision sensor 140. When the second conductive member 124 moves upward or downward along with the front collision housing 120, it can conduct the force to the second collision sensor 140.

[0040] Optionally, if a collision occurs at the top of the front collision housing 120, the first conductive member 123 acts on the first collision sensor 130 from top to bottom, and the second conductive member 124 acts on the second collision sensor 140 from top to bottom. If a collision occurs at the front of the front collision housing 120, the first conductive member 123 acts on the first collision sensor 130 from bottom to top, and the second conductive member 124 acts on the second collision sensor 140 from bottom to top.

[0041] The first conductive member 123 can directly transfer the collision to the first collision sensor 130, and the second conductive member 124 can directly transfer the collision to the second collision sensor 140, thereby improving the sensitivity of the first collision sensor 130 and the second collision sensor 140 to the collision.

[0042] Optionally, other means can also be used to change the sensitivity of the first collision sensor 130 and the second collision sensor 140. For example, the sensitivity can be adjusted by changing the orientations of the first collision sensor 130 and the second collision sensor 140. When the first collision sensor 130 and the second collision sensor 140 are arranged in parallel with the front housing 121, the first collision sensor 130 and the second collision sensor 140 are more sensitive to the collision of the front housing 121. When the first collision sensor 130 and the second collision sensor 140 are arranged in parallel with the top housing 122, the first collision sensor 130 and the second collision sensor 140 are more sensitive to the collision of the top housing 122.

[0043] Such as Figure 2-3As shown, the front collision housing 120 is provided with a first window 120a that extends along the left-right direction AA of the cleaning robot 100. The cleaning robot 100 further includes a first detection sensor disposed within the body 110 and configured to emit detection light through the first window 120a. The first detection sensor can be, by way of example, a lidar, an infrared ranging sensor, or the like. The first window 120a not only facilitates the detection by the first detection sensor but also enables the structure near the first window 120a of the front collision housing 120 to be easily deformed and displaced during a collision, thereby enabling the first collision sensor 130 and the second collision sensor 140 to be more sensitive to the collision.

[0044] Both the first conducting member 123 and the second conducting member 124 are disposed at the first window 120a and extend from top to bottom. The first collision sensor 130 is disposed at the lower end of the first conducting member 123, and the second collision sensor 140 is disposed at the lower end of the second conducting member 124. Based on different collision parts of the front collision housing 120, the first conducting member 123 and the second conducting member 124 act on the first collision sensor 130 and the second collision sensor 140 in different directions, thereby assisting in determining whether it is the top or the front of the front collision housing 120 that has collided.

[0045] In one embodiment, the first collision sensor 130 is more sensitive to a collision at the top of the front collision housing 120 than to a collision at the front of the front collision housing 120. Under the same collision force, when a collision occurs at the top of the front collision housing 120, the signal intensity of the first collision sensor 130 is relatively strong, and when a collision occurs at the front of the front collision housing 120, the signal intensity of the first collision sensor 130 is relatively weak. Based on the signal intensity of the first collision sensor 130, it can be determined whether a collision has occurred at the front or the top of the front collision housing 120.

[0046] The second collision sensor 140 is more sensitive to a collision at the top of the front collision housing 120 than to a collision at the front of the front collision housing 120. Under the same collision force, when a collision occurs at the top of the front collision housing 120, the signal intensity of the second collision sensor 140 is relatively strong, and when a collision occurs at the front of the front collision housing 120, the signal intensity of the second collision sensor 140 is relatively weak. Based on the signal intensity of the second collision sensor 140, it can be determined whether a collision has occurred at the front or the top of the front collision housing 120.

[0047] Optionally, the signal intensity when colliding with the top of the front collision housing 120 and the signal intensity when colliding with the front housing 121 can have a significant difference, for example, a difference of more than 10 times, so that the cleaning robot 100 can accurately determine whether a collision has occurred at the front or the top of the front collision housing 120.

[0048] As Figure 1-3 shown, in some embodiments, the front collision housing 120 extends to both the left and right sides of the cleaning robot 100. The sensitivity of the first collision sensor 130 to a front collision of the front collision housing 120 is higher than that to a side collision of the front collision housing 120. Under the same collision force, when a front collision of the front collision housing 120 occurs, the signal intensity of the first collision sensor 130 is relatively strong; when a side collision of the front collision housing 120 occurs, the signal intensity of the first collision sensor 130 is relatively weak. According to the signal intensity of the first collision sensor 130, it can be determined whether a front collision or a side collision of the front collision housing 120 occurs.

[0049] As Figure 1-3 shown, in some embodiments, the sensitivity of the second collision sensor 140 to a front collision of the front collision housing 120 is higher than that to a side collision of the front collision housing 120. Under the same collision force, when a front collision of the front collision housing 120 occurs, the signal intensity of the second collision sensor 140 is relatively strong; when a side collision of the front collision housing 120 occurs, the signal intensity of the second collision sensor 140 is relatively weak. According to the signal intensity of the second collision sensor 140, it can be determined whether a front collision or a side collision of the front collision housing 120 occurs.

[0050] Optionally, the signal intensity when colliding with the front of the front collision housing 120 and the signal intensity when colliding with the side of the front collision housing 120 may have a significant gap, such as more than 10 times the gap, so that the cleaning robot 100 can accurately determine whether a front collision or a side collision of the front collision housing 120 occurs.

[0051] In some embodiments, the front collision housing 120 is further provided with a second window 120b, and the cleaning robot 100 further includes a second detection sensor. The second detection sensor is connected to the fuselage 110. The second window 120b is used to avoid the second detection sensor to prevent blocking the detection field of view of the second detection sensor. The second detection sensor can exemplarily be a monocular camera, a binocular camera, a structured light module, a line laser sensor, etc. In this embodiment, the second window 120b is located below the first window 120a. In other embodiments, the front collision housing 120 may have only one of the second window 120b and the first window 120a, which is specifically determined according to the type of detection sensor used by the cleaning robot. The first collision sensor 130 and the second collision sensor 140 are respectively disposed on the left and right sides of the second window 120b. More specifically, the second window 120b is located directly in front of the cleaning robot 100, and the first collision sensor 130 and the second collision sensor 140 are symmetrically distributed on the left and right sides of the second window 120b. In other embodiments, the first collision sensor 130 and the second collision sensor 140 may also be asymmetrically distributed on the left and right sides of the second window 120b.

[0052] As Figure 1-3 shown, in some embodiments, the front collision housing 120 has a middle dividing plane perpendicular to the left-right direction AA of the cleaning robot 100, and the first collision sensor 130 and the second collision sensor 140 are symmetrically arranged with respect to the middle dividing plane. The collision data on both sides of the front collision housing 120 has a certain correlation, thereby reducing the processing pressure of the control module 150 on the collision data. Exemplarily, when a collision occurs at the first position of the front collision housing 120, the first collision sensor 130 outputs a first value, and the second collision sensor 140 outputs a second value. When a collision occurs at the second position of the front collision housing 120, the first collision sensor 130 outputs a second value, and the second collision sensor 140 outputs a first value. Then the first position and the second position are symmetric with respect to the middle dividing plane. Thus, only the collision data on one side needs to be input, and the collision data on the other side can be deduced.

[0053] As Figure 5As shown, in some embodiments, the first collision sensor 130 includes a first pressure sensor 131 and a first bridge 132 electrically connected to the first pressure sensor 131, and the second collision sensor 140 includes a second pressure sensor 141 and a second bridge 142 electrically connected to the second pressure sensor 141. The first pressure sensor 131 is disposed inside the front collision housing 120, or the first collision sensor 130 is disposed on the side of the fuselage 110 close to the front collision housing 120. The second pressure sensor 141 is disposed inside the front collision housing 120, or the first collision sensor 130 is disposed on the side of the fuselage 110 close to the front collision housing 120. The first bridge 132 is electrically connected to the first pressure sensor 131 and is configured to output a first signal according to the resistance of the first pressure sensor 131. The second bridge 142 is electrically connected to the second pressure sensor 141 and is configured to output a second signal according to the resistance of the second pressure sensor 141. The first pressure sensor 131 and the first pressure sensor 131 may exemplarily be resistance strain gauges.

[0054] When a collision occurs to the front collision housing 120, the front collision housing 120 is deformed, so that the first pressure sensor 131 and the second pressure sensor 141 are deformed, and the resistance values of the first pressure sensor 131 and the second pressure sensor 141 both change. Exemplarily, the greater the collision force, the greater the resistance of the first pressure sensor 131 and the second pressure sensor 141. The first bridge 132 converts the resistance change signal of the first pressure sensor 131 into a first signal, and the second bridge 142 converts the resistance change signal of the second pressure sensor 141 into a second signal. The control module 150 determines the collision force and collision position of the front collision housing 120 according to the first signal and the second signal.

[0055] It can be understood that the signals output by the bridges are voltage signals, that is, both the first signal and the second signal are voltage signals. The first collision sensor 130 and the second collision sensor 140 can directly output voltage signals, so that the control module 150 can read the voltage signals, reducing the design of the peripheral circuit.

[0056] As Figure 6 shown, in some embodiments, the control module 150 includes an analog-to-digital converter 151, an amplifier 152 and a controller 153 connected in sequence. The analog-to-digital converter 151 is electrically connected to both the first pressure sensor 131 and the second pressure sensor 141. The analog-to-digital converter 151 respectively converts the first signal and the second signal into a first digital signal and a second digital signal. The amplifier 152 amplifies the first digital signal and the second digital signal. The controller 153 determines the collision force and collision position of the front collision housing 120 according to the amplified first digital signal and the second digital signal.

[0057] In some embodiments, the cleaning robot 100 further includes a temperature compensation module. The temperature compensation module is electrically connected to the control module 150. The temperature compensation module is configured to output temperature signals of the first collision sensor 130 and the second collision sensor 140. The control module 150 is further configured to correct the first signal and the second signal according to the temperature signals. The temperature signals mentioned here can be specific temperature values, such as 35 °C, or signal waveforms based on temperature.

[0058] As Figure 7 shown, in some embodiments, the temperature compensation module includes a first temperature sensor 133 and a second temperature sensor 143. The first temperature sensor 133 is arranged corresponding to the first pressure sensor 131, and the first temperature sensor 133 is configured to output a first temperature signal. The second temperature sensor 143 is arranged corresponding to the second pressure sensor 141, and the second temperature sensor 141 is configured to output a second temperature signal. The control module 150 is electrically connected to both the first temperature sensor 133 and the second temperature sensor 143. The control module 150 corrects the first signal according to the first temperature signal and corrects the second signal according to the second temperature signal. The first temperature sensor 133 can be integrated within the first collision sensor 130 or independent of the first collision sensor 130; the second temperature sensor 143 can be integrated within the second collision sensor 140 or independent of the second collision sensor 140.

[0059] Generally speaking, the change in temperature will affect the resistance values of the first pressure sensor 131 and the second pressure sensor 141, and will also affect the voltage signals output by the first bridge 132 and the second bridge 142. Exemplarily, the higher the temperature, the greater the resistance values of the first pressure sensor 131 and the second pressure sensor 141. In this embodiment, by providing the first temperature sensor 133 and the second temperature sensor 143 to monitor the temperatures of the first collision sensor 130 and the second collision sensor 140, the influence of temperature change can be eliminated in the algorithm, making the collision data acquisition more accurate.

[0060] As Figure 8 shown, the chip U2 is a schematic circuit diagram of the first collision sensor 130. The chip U2 includes a power supply pin VCC, an enable pin PWE, a first differential signal pin SL-, a ground pin GND, a switching pin MODE, and a second differential pin SL+. The capacitor C23 is used for power supply filtering.

[0061] As Figure 9As shown, the circuit diagram of the chip U3 for the second collision sensor 140 is shown. The chip U3 includes a power supply pin VCC, an enable pin PWE, a first differential signal pin SR-, a ground pin GND, a switching pin MODE, and a second differential pin SR+. The capacitor C24 is used for power supply filtering. When the change in the analog voltage detected by the chip U2 or the chip U3 is greater, the corresponding collision force is greater.

[0062] As Figure 10 shown, the chip U1 is a partial circuit diagram of the control module 150. The pin DVDD of the chip U1 is used for digital power supply, the pin AVDD is used for analog power supply, the pin VS-CAP is used to supply power to the chips U2 and U3, the pin AIN0 is used to connect to the second differential pin SL+ of the chip U2, the pin AIN1 is used to connect to the first differential signal pin SL- of the chip U2, the pin AIN2 is used to connect to the second differential pin SR+ of the chip U3, the pin AIN3 is used to connect to the first differential signal pin SL- of the chip U3, the pin PWE-L is connected to the enable pin PWE of the chip U2, the pin PWE-R is connected to the enable pin PWE of the chip U3, the pin SCL is the clock line, the pin SDA is the data line, and the pins SCL and SDA are used to synchronize data transmission on the I2C bus. The pin PT11 / PCL is used to control the chip U1 to start working, and the pin PT10 / PDA is used to switch the output signals of the chips U2 and U3. The chip U1 can convert the analog signal into a digital signal, amplify the digital signal, and output it to the controller 153 through the pins SCL and SDA.

[0063] Optionally, temperature sensors are integrated in both the chips U2 and U3. By switching the output signals of the chips U2 and U3, the differential signal pins can output voltage data or temperature signals. When the temperature changes, the chip U1 can read the temperatures of U2 and U3 as output compensation to reduce the corresponding electrical signal changes caused by temperature changes.

[0064] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of this application, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and should not be construed as a limitation of this application. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0065] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A cleaning robot, characterized in that, Comprising: A body; A front collision housing, disposed at the head of the body; A first collision sensor, disposed inside the front collision housing or on a side of the body close to the front collision housing, the first collision sensor being configured to output a first signal; A second collision sensor, disposed inside the front collision housing or on a side of the body close to the front collision housing, and spaced apart from the first collision sensor in the left-right direction of the cleaning robot, the second collision sensor being configured to output a second signal; A control module, electrically connected to both the first collision sensor and the second collision sensor, and configured to determine the collision force and collision position of the front collision housing according to the first signal and the second signal.

2. The cleaning robot according to claim 1, characterized in that, The front collision housing includes: A front shell, disposed in front of the body; A top shell, connected to the front shell and extending from the top of the front shell from front to back; Wherein, the first collision sensor is disposed on the front shell or the top shell, and the second collision sensor is disposed on the front shell or the top shell.

3. The cleaning robot according to claim 1, characterized in that, The front collision housing further includes a first conduction member and a second conduction member, the first conduction member acting on the first collision sensor, and the second conduction member acting on the second collision sensor.

4. The cleaning robot according to claim 3, wherein, The front collision housing is provided with a first window, the first window extending in the left-right direction of the cleaning robot, and the cleaning robot further includes a first detection sensor, the first detection sensor being disposed inside the body and configured to emit detection light through the first window; The first conduction member and the second conduction member are both disposed in the first window and extend from top to bottom, the first collision sensor being disposed at the lower end of the first conduction member, and the second collision sensor being disposed at the lower end of the second conduction member.

5. The cleaning robot according to claim 1 or 4, characterized in that, The first collision sensor and the second collision sensor are closer to the top of the front collision housing than to the bottom of the front collision housing; and / or The first collision sensor and the second collision sensor are closer to the middle part of the front collision housing than to the left and right sides of the front collision housing.

6. The cleaning robot according to claim 1, characterized in that The front collision housing is further provided with a second window, the cleaning robot further includes a second detection sensor, the second detection sensor being connected to the body, the second window being configured to avoid the second detection sensor; the first collision sensor and the second collision sensor are respectively disposed on the left and right sides of the second window.

7. The cleaning robot according to claim 1, characterized in that, The cleaning robot further includes a temperature compensation module, the temperature compensation module being electrically connected to the control module, the temperature compensation module being configured to output a temperature signal, and the control module being further configured to correct the first signal and the second signal according to the temperature signal.

8. The cleaning robot according to claim 7, characterized in that, The temperature compensation module includes: A first temperature sensor, corresponding to the first collision sensor and configured to output a first temperature signal; A second temperature sensor, corresponding to the second collision sensor and configured to output a second temperature signal; Wherein, the control module is electrically connected to both the first temperature sensor and the second temperature sensor, and the control module is configured to correct the first signal according to the first temperature signal and correct the second signal according to the second temperature signal.

9. The cleaning robot according to claim 1, wherein The first collision sensor includes: A first pressure sensor; A first bridge circuit, electrically connected to the first pressure sensor and configured to output the first signal according to the resistance of the first pressure sensor; The second collision sensor includes: A second pressure sensor; A second bridge circuit, electrically connected to the second pressure sensor and configured to output the second signal according to the resistance of the second pressure sensor.

10. The cleaning robot according to claim 1, characterized in that, The control module includes: An analog-to-digital converter, electrically connected to both the first collision sensor and the second collision sensor, and the analog-to-digital converter is configured to convert the first signal and the second signal into a first digital signal and a second digital signal respectively; An amplifier, electrically connected to the analog-to-digital converter, and the amplifier is configured to amplify the first digital signal and the second digital signal; A controller, electrically connected to the amplifier, and is configured to determine the collision force and collision position of the front collision housing according to the amplified first digital signal and second digital signal.

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