Autonomous mobile device

Abstract

The present disclosure provides an autonomous mobile device. In the autonomous mobile equipment, a telescopic bracket of a telescopic mechanism is in transmission connection with a power source, so that the telescopic bracket can reciprocate in the left-right direction of the autonomous mobile equipment. The object to be stretched and retracted is driven by the telescopic support in the reciprocating motion process of the telescopic support so as to stretch out and retract relative to the main machine in the left-right direction. The compression spring is installed on the object to be stretched and retracted, and the telescopic support can drive the object to be stretched and retracted to stretch out through the compression spring. In addition, in the state that the external force borne by the object to be stretched and retracted is larger than the spring force of the compression spring, the object to be stretched and retracted can retreat relative to the telescopic support in the retracting direction of the object. Therefore, the object to be stretched out and drawn back can stretch out and draw back relative to the host according to needs, and the possibility that the object to be stretched out and drawn back is clamped or the telescopic mechanism is damaged is reduced when the object to be stretched out and drawn back is in the stretching-out state and suffers from large external force.

Description

Technical Field

[0001] The present disclosure relates to the structure of autonomous mobile devices. Background Art

[0002] Autonomous mobile devices are intelligent mobile devices that autonomously perform pre-set tasks and are capable of autonomously moving on a surface based on the sensing results of their sensors. Currently, autonomous mobile devices generally include, but are not limited to, self-propelled cleaning devices (e.g., intelligent sweepers, intelligent floor scrubbers, window cleaning robots), companion mobile robots (e.g., intelligent electronic pets, nanny robots), service mobile robots (e.g., reception robots for hotels, inns, and meeting places), intelligent industrial inspection devices (e.g., power inspection robots, intelligent forklifts), and security robots (e.g., intelligent guard robots for home or commercial use).

[0003] A self-propelled cleaning device having a dry cleaning component and a wet cleaning component can perform dry cleaning and wet cleaning operations on a traveling surface (surface to be cleaned). Due to the structural limitations of the main unit of the self-propelled cleaning device, it is difficult for the dry cleaning member (e.g., a main brush) of the dry cleaning component and the wet cleaning member (e.g., a rag, mop, or roller) of the wet cleaning component to effectively clean the intersection of the traveling surface close to a vertical surface such as a wall (e.g., a corner of a wall). To this end, the dry cleaning member and the wet cleaning member need to be able to extend and retract relative to the main unit. However, when the dry cleaning member and the wet cleaning member are extended relative to the main unit, it is difficult to avoid scratches or collisions between the dry cleaning member and the wall. Therefore, it is necessary for the dry cleaning member and the wet cleaning member to reduce the possibility of getting stuck or damaged in such a situation. Utility Model Content

[0004] Based on the above-mentioned problems of the prior art, the purpose of the present disclosure is to provide an autonomous mobile device, which can realize the extension and retraction of the retractable object in the autonomous mobile device relative to the host with a relatively simple structure, and reduce the possibility of the retractable object getting stuck or the retracting mechanism being damaged when it is scratched or collided in the extended state.

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

[0006] The present disclosure provides an autonomous mobile device as follows, comprising:

[0007] Host;

[0008] a telescopic mechanism mounted on the main machine and comprising a power source and a telescopic bracket, the telescopic bracket being in transmission connection with the power source so as to be driven by the power source to reciprocate in a left-right direction along the autonomous mobile device;

[0009] a telescopic object configured to be driven by the telescopic bracket during the reciprocating motion of the telescopic bracket to extend and retract relative to the main body in the left-right direction; and

[0010] A compression spring is mounted on the telescopic object, one end of the compression spring abuts against the telescopic bracket and the other end abuts against the telescopic object.

[0011] The telescopic bracket can drive the telescopic object to extend via the compression spring. When the external force applied to the telescopic object is greater than the spring force of the compression spring, the telescopic object can compress the compression spring and retreat relative to the telescopic bracket in the direction of its retraction.

[0012] In an optional solution, the telescopic object is provided with a limiting portion, and the limiting portion and the compression spring are located on both sides of the telescopic bracket in the left-right direction.

[0013] When the telescopic object is not acted upon by the external force, the spring force is utilized to ensure that the telescopic bracket always abuts against the limiting portion.

[0014] In another optional solution, the telescopic object is provided with a plurality of first guide rails spaced apart from each other, the first guide rails extending linearly along the left-right direction and passing through the telescopic bracket and the limiting portion, the first guide rails and the limiting portion are fixed to each other, the telescopic bracket can move along the first guide rails, and the compression spring is sleeved on the corresponding first guide rails.

[0015] In another optional solution, the autonomous mobile device further includes a first track, which is fixed relative to the power source, and the first guide rail is inserted into the first track, so that the first track cooperates with the first guide rail to guide the telescopic object to be telescoped relative to the host.

[0016] In another optional solution, the autonomous mobile device further includes a second track, the second track is fixed relative to the power source, and the second track is spaced apart from the first track in the left-right direction.

[0017] The telescopic object is provided with a plurality of second guide rails spaced apart from each other, and the second guide rails are inserted into the second rails, so that the second rails cooperate with the second guide rails to guide the telescopic object to be telescoped relative to the host.

[0018] In another optional solution, the telescopic mechanism includes a lead screw transmission-connected to the power source, the lead screw extends linearly along the left-right direction, and the lead screw is inserted into the telescopic bracket and is always threadedly engaged with the telescopic bracket.

[0019] In another optional solution, the telescopic object includes a main body, a portion of the main body that can extend from the main body is formed with a notch, and the notch is located at an end of the extending portion in the left-right direction.

[0020] In another optional solution, the autonomous mobile device further includes a distance measuring sensor, and the distance measuring sensor is arranged on the protruding part.

[0021] In another optional solution, the autonomous mobile device further includes a frame and a lifting mechanism, the power source is fixed to the frame, and the frame can rise and fall relative to the host in the up and down directions of the autonomous mobile device via the lifting mechanism.

[0022] In another optional solution, the autonomous moving device is a self-moving cleaning device, and the telescopic object includes a wet cleaning member and / or a dry cleaning member.

[0023] By adopting the above-mentioned technical solution, the present disclosure provides an autonomous mobile device. The autonomous mobile device includes a main body, a telescopic mechanism, a telescopic object, and a compression spring assembled together. The telescopic mechanism is installed on the main body and includes a power source and a telescopic bracket. The telescopic bracket is connected to the power source by transmission, so that the telescopic bracket can be driven by the power source to reciprocate along the left and right directions of the autonomous mobile device. The telescopic object is configured to be driven by the telescopic bracket during the reciprocating movement of the telescopic bracket to extend and retract relative to the main body in the left and right directions. The compression spring is installed on the telescopic object, one end of the compression spring abuts against the telescopic bracket and the other end abuts against the telescopic object. Thus, on the one hand, the telescopic bracket can drive the telescopic object to extend via the compression spring; on the other hand, when the telescopic object is subjected to an external force and the external force is greater than the spring force of the compression spring, the telescopic object can further compress the compression spring and retreat relative to the telescopic bracket in the direction of its retraction.

[0024] Thus, the present disclosure proposes a solution that enables the telescopic object of an autonomous mobile device to extend and retract relative to a main unit as needed. When the telescopic object includes, for example, a dry cleaning member and / or a wet cleaning member and is in an extended state relative to the main unit, the telescopic object can effectively clean the intersection of a travel surface with a vertical surface, such as a wall (e.g., a corner). Furthermore, at least when the telescopic object is in an extended state and is subjected to external forces due to scratches or collisions, the telescopic object can retreat in the direction of its retraction, thereby reducing the possibility of external forces being directly transmitted through the telescopic object to the telescopic mechanism, causing the telescopic object to become stuck or the telescopic mechanism to be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1A 3D is a perspective schematic diagram showing an autonomous mobile device according to an embodiment of the present disclosure, wherein some structures are omitted and the telescopic object is in a retracted state relative to the host.

[0026] Figure 1B It shows Figure 1A Schematic top view of the autonomous mobile device in [1].

[0027] Figure 1C 1 is a perspective schematic diagram showing an autonomous mobile device according to an embodiment of the present disclosure, wherein some structures are omitted and the telescopic object is in an extended state relative to the host.

[0028] Figure 1D It shows Figure 1C Schematic top view of the autonomous mobile device in [1].

[0029] Figure 1E is a side schematic diagram illustrating an autonomous mobile device according to an embodiment of the present disclosure.

[0030] Figure 2A It shows Figure 1A A three-dimensional schematic diagram of an assembly of some components of an autonomous mobile device.

[0031] Figure 2B It shows Figure 2A Schematic top view of the assembly.

[0032] Figure 2C It shows Figure 2A Schematic front view of the assembly in .

[0033] Figure 3A It shows Figure 1C A three-dimensional schematic diagram of an assembly of some components of an autonomous mobile device.

[0034] Figure 3B It shows Figure 3A Schematic top view of the assembly.

[0035] Figure 3C It shows Figure 3A Schematic front view of the assembly in .

[0036] Description of Reference Numerals

[0037] 1—Host;

[0038] 2—telescopic mechanism; 21—power source; 22—telescopic bracket; 23—screw;

[0039] 3 - object to be extended; 31 - main body; 31c - cutout portion; 32 - limit portion; 33 - first guide rail; 34 - second guide rail; 35 - roller;

[0040] 4—Compression spring;

[0041] 5—frame; 51—first track; 52—second track;

[0042] 6—Distance sensor;

[0043] 7—lifting mechanism; 71—additional power source; 72—transmission member; 73—first connecting rod; 74—second connecting rod;

[0044] D1—left and right direction; D2—front and back direction; D3—up and down direction. DETAILED DESCRIPTION

[0045] The following describes 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.

[0046] In the present disclosure, unless otherwise specified, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "up (upper side)", and "down (lower side)" are all relative to the normal operating state of the autonomous mobile device according to the present disclosure. Specifically, the autonomous mobile device has a positive direction of movement (i.e., the positive direction) when in normal operating state. The so-called "normal operating state" refers to the moving state of the autonomous mobile device when performing a task, which is distinguished from non-normal operating states such as backward or swinging of the autonomous mobile device in the escape mode. "Front (front side)" and "rear (rear side)" refer to the front and rear sides of the autonomous mobile device in the positive forward direction when the autonomous mobile device according to the present disclosure is in normal operating state on a traveling surface (e.g., a surface to be cleaned). "Left (left side)" and "right (right side)" refer to the left and right sides when viewed from the front side in the positive forward direction. "Up (upper side)" and "Down (lower side)" refer to the upper and lower sides in the height direction perpendicular to the traveling surface when the autonomous mobile device according to the present disclosure is in normal operating state on the traveling surface.

[0047] In the present disclosure, an autonomous mobile device is capable of autonomous movement according to a control scheme preset in its processing unit. The surface on which the autonomous mobile device moves autonomously can be a flat surface or a curved surface with a large radius of curvature, typically the floor of a room in a building. The processing unit in the present disclosure is a general term, and the type, quantity, and form of the processing unit are not limited. Specifically, the processing unit can be one or more of an MCU, DSP, FPGA, or GPU, or other hardware chips, processors, or software algorithms with data processing and computing capabilities. Furthermore, the processing unit can be a unified, single processor for the autonomous mobile device, or a collection of multiple processing units. The connection method, functions, and computing power distribution of the multiple processing units can be adjusted as needed. For example, in one optional solution, the device may include a first processing unit and a second processing unit. In this case, the first and second processing units collectively implement the various functions of the aforementioned processing units. Furthermore, the processing unit of the autonomous mobile device of the present disclosure can receive parameters from the sensing component and, through a preset program stored in a storage unit, can control the autonomous mobile device. In the present disclosure, the data, information, and programs required by the processing unit during processing can be stored in a storage unit and retrieved from the storage unit as needed. The processing unit can then store the processed data, information, etc. again in the storage unit. The storage unit can be RAM, ROM, etc., or a device and / or equipment with storage capabilities such as a cloud / server / mobile terminal connected via a wired / wireless network.

[0048] In this disclosure, unless otherwise specified, "extension" refers to the extension and retraction of an autonomous mobile device's extended object relative to the main body in the left-right direction of the autonomous mobile device. Specifically, in a top view of the autonomous mobile device, extension of the extended object relative to the main body means that the extended object partially extends beyond the outer contour of the main body of the autonomous mobile device; retraction of the extended object relative to the main body means that the extended object is retracted within the main body and substantially does not extend beyond the outer contour of the main body. "Lifting" refers to the raising and lowering of the extended object relative to the main body in the vertical direction of the autonomous mobile device.

[0049] In the present disclosure, “rotationally connected” between two components includes the following: the two components are directly connected and can rotate relative to each other; and the two components are connected via other components and can rotate relative to each other.

[0050] The autonomous mobile device according to the embodiments of the present disclosure is described below with reference to the accompanying drawings.

[0051] The autonomous mobile device according to an embodiment of the present disclosure is a self-moving cleaning device having a wet cleaning component. Figures 1A to 1EAs shown, the autonomous mobile device includes a main unit 1, a telescopic mechanism 2, a telescopic object 3, a compression spring 4, a frame 5, a distance sensor 6, and a lifting mechanism 7. In this embodiment, the telescopic object 3 includes a wet cleaning member (e.g., a roller 35). The telescopic mechanism 2 is used to extend and retract the telescopic object 3 in the left-right direction D1 relative to the main unit 1. The lifting mechanism 7 is used to lift and lower the telescopic object 3 in the up-down direction D3 relative to the main unit 1.

[0052] In this embodiment, if Figure 1A and Figure 1B As shown, the main unit 1 may include a housing having an overall generally circular shape. The shape of the housing is not limited thereto; in alternative embodiments, the housing may have other shapes, such as an elliptical, D-shaped, or square shape. When the autonomous mobile device according to an embodiment of the present disclosure is in normal operation, the bottom surface of the housing faces the travel surface (e.g., the surface to be cleaned) and is parallel to the travel surface. Here, "parallel" not only includes the bottom surface of the housing and the travel surface being geometrically parallel, but also includes the situation where the two are approximately parallel. The above "approximately" means that within a reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. In addition, other components of the autonomous mobile device may be disposed in the housing. To support and protect these other components, the majority of the autonomous mobile device's structure is installed within the housing or connected to the housing. The autonomous mobile device may also be provided with a processing unit and a sensing component within the housing. The processing unit can obtain environmental parameters through the sensing component. Based on the obtained environmental parameters, the processing unit can control the wheel assembly to drive the entire autonomous mobile device to autonomously move on the travel surface.

[0053] In this embodiment, if Figures 1A to 1E As shown, the telescopic mechanism 2 is mounted on the main body 1 via a frame 5 that can be raised and lowered in the vertical direction D3 relative to the main body 1. In other optional solutions, the frame 5 can be fixed relative to the main body 1, so that the frame 5 is a part of the main body 1. Specifically, as shown in FIG. Figures 2A to 2C As shown, the telescopic mechanism 2 includes a power source 21 , a telescopic bracket 22 and a lead screw 23 . The power source 21 can drive the telescopic bracket 22 via the lead screw 23 to make the telescopic bracket 22 reciprocate linearly along the left-right direction D1 .

[0054] like Figures 2A to 2CAs shown, the power source 21 is a motor and is fixedly mounted on the frame 5. The motor shaft of the motor is integrated with the lead screw 23 or fixedly connected to each other, thereby enabling the motor to drive the lead screw 23 to rotate in two opposite directions (forward and reverse). The lead screw 23 extends linearly along the left-right direction D1. The lead screw 23 is inserted into the telescopic bracket 22 and is always threadedly engaged with the telescopic bracket 22. In this way, the lead screw 23 and the telescopic bracket 22 form a screw-nut mechanism, so that the rotation of the lead screw 23 can be converted into reciprocating linear motion of the telescopic bracket 22 along the left-right direction D1. Specifically, when the power source 21 drives the lead screw 23 to rotate forward, the telescopic bracket 22 can move along the lead screw 23 toward the power source 21; when the power source 21 drives the lead screw 23 to reverse, the telescopic bracket 22 can move along the lead screw 23 away from the power source 21. In this way, with a relatively simple and reliable structure, the telescopic bracket 22 can be made to move back and forth along the left-right direction D1 using the power source 21. Moreover, when the power source 21 is not in operation, the screw nut mechanism can lock the telescopic bracket 22 in the desired position to prevent the telescopic bracket 22 from unexpected movement, thereby preventing the telescopic object 3 including the roller 35 from unexpected displacement and affecting the cleaning effect.

[0055] It is understood that in order to achieve reciprocating linear motion of the telescopic bracket 22 along the left-right direction D1, a screw-nut mechanism is used in the above solution, but the present disclosure is not limited thereto. In an alternative solution, for example, a gear rack mechanism can be used instead of the above screw-nut mechanism to achieve the same function.

[0056] In this embodiment, if Figures 1A to 1E As shown, the telescopic object 3 is mounted on the host 1 via a frame 5. Driven by the telescopic mechanism 2, the telescopic object 3 can be retracted relative to the host 1 in the left and right direction D1 of the autonomous mobile device (see Figure 1A and Figure 1B ) and stretching out (see Figure 1C and Figure 1D ). Specifically, Figures 2A to 2C As shown, the telescopic object 3 includes a main body 31 , a limiting portion 32 , a first guide rail 33 , a second guide rail 34 and a roller 35 that are assembled together.

[0057] like Figures 2A to 2CAs shown, the main body 31 serves as a support for other components, and its structure and shape can be adjusted as needed and are not limited to those shown in the figure. The portion of the main body 31 that extends from the main unit 1 is formed with a cutout 31c, located at the end of the extended portion in the left-right direction D1. In this embodiment, the cutout 31c is configured by removing a portion of the main body 31 to form a 45-degree chamfer (in a top view, the outline of the cutout 31c is a straight line inclined relative to the left-right direction D1). It will be appreciated that in other alternatives, the cutout 31c does not need to be a 45-degree chamfer, but can be configured with other curved profiles (in a top view, the outline of the cutout 31c is a curve). Thus, by forming the cutout 31c in the area where the telescopic object 3 is most likely to collide or scrape against obstacles such as walls, the risk of the telescopic object 3 becoming stuck on obstacles can be effectively reduced. Furthermore, when the telescopic object 3 is extended relative to the main unit 1 and rubs against an obstacle such as a wall, the obstacle will likely exert a force on the notched portion 31c of the telescopic object 3. Since the notched portion 31c is configured with a 45-degree chamfer or other curved profile, this force is advantageously decomposed into a larger component force along the left-right direction D1, thereby enabling the telescopic object 3 to further compress the compression spring 26 and cause the telescopic object 3 to retreat in its retraction direction. This prevents the telescopic object 3 from causing undesirable changes in the posture and displacement of the autonomous moving device due to rubbing or colliding with an obstacle, thereby affecting the cleaning effect of the roller 35.

[0058] like Figures 2A to 2C As shown, the two stoppers 32 are fixed to the main body 31 side by side in the front-to-back direction D2, and the two stoppers 32 extend upward from the main body 31. Under the spring force exerted by the compression spring 4 on the telescopic bracket 22, the two stoppers 32 abut against the telescopic bracket 22 of the telescopic mechanism 2 in the left-right direction D1.

[0059] like Figures 2A to 2C As shown, two first guide rails 33 are fixed to the main body 31, and the two first guide rails 33 are arranged side by side in the front-to-back direction D2. Each first guide rail 33 is formed as a cylindrical rod extending along the left-right direction D1 and extends through the limit portion 32 and the telescopic bracket 22. The first guide rail 33 and the limit portion 32 are fixed to each other, but the telescopic bracket 22 can move along the first guide rail 33. Furthermore, the frame 5 is provided with a first rail 51, whereby the first rail 51 is fixed relative to the power source 21. The first guide rail 33 is inserted into the first rail 51, so that the first rail 51 cooperates with the first guide rail 33 to guide the telescopic object 3 to extend and retract relative to the main body 1, and the telescopic object 3 will not be skewed relative to the main body 1 during the extension and retraction process.

[0060] like Figures 2A to 2C As shown, two second guide rails 34 are fixed to the main body 31. The two second guide rails 34 are arranged side by side in the front-to-back direction D2, and each second guide rail 34 is also formed as a cylindrical rod extending along the left-right direction D1. Furthermore, the second guide rails 34 are arranged spaced apart from the first guide rail 33 in the left-right direction D1. Furthermore, the frame 5 is provided with a second rail 52, whereby the second rail 52 is fixed relative to the power source 21. The second rail 52 is arranged spaced apart from the first rail 51 in the left-right direction D1. The second guide rail 34 is inserted into the second rail 52, so that the second rail 52 cooperates with the second guide rail 34 to guide the telescopic object 3 to extend and retract relative to the main body 1, which can further ensure that the telescopic object 3 will not be skewed relative to the main body 1 during the extension and retraction process, thereby making the extension and retraction process of the telescopic object 3 more stable and smooth.

[0061] like Figures 2A to 2C As shown, the roller 35 is cylindrical, with its central axis extending along the left-right direction D1. The roller 35 is mounted on the main body 31 and is rotatable about its central axis relative to the main body 31 and the main unit 1. In this embodiment, the roller 35 serves as a wet cleaning element for the autonomous mobile device. During operation, the autonomous mobile device's spraying device sprays cleaning liquid onto the travel surface or the roller 35. The roller 35 contacts the travel surface and rotates, thereby wet cleaning the travel surface.

[0062] In this embodiment, if Figures 2A to 2C As shown, the compression springs 4 are cylindrical coil springs, each of which is mounted on a corresponding first guide rail 33. Each compression spring 4 is paired with a stopper 32 and positioned on either side of the telescopic bracket 22. One end of each compression spring 4 abuts the telescopic bracket 22, while the other end abuts the main body 31. Thus, the compression springs 4 ensure sufficient abutment between the telescopic bracket 22 and the stopper 32. Furthermore, the first guide rail 33 provides support and positioning for the stopper 32 and the compression spring 4. This simple structure defines the relative positional relationship between the telescopic bracket 22, the stopper 32, and the compression spring 4.

[0063] Thus, the telescopic object 3 is assembled with the telescopic bracket 22 via the first guide rail 33. The telescopic object 3 is provided with a limiter 32. The limiters 32 and the compression spring 4 are located on either side of the telescopic bracket 22 in the left-right direction D1. When the telescopic object 3 is not subjected to external forces, the spring force of the compression spring 4 keeps the limiters 32 in contact with the telescopic bracket 22. Thus, during the reciprocating motion of the telescopic bracket 22, the telescopic object 3 is driven by the telescopic bracket 22 to extend and retract relative to the main body 1 in the left-right direction D1. Therefore, when the telescopic object 3 is not subjected to external forces, the limiters 32 and the compression spring 4 cooperate to keep the telescopic object 3 fixed relative to the telescopic bracket 22 in the left-right direction D1, preventing undesirable movement of the telescopic object 3 relative to the telescopic bracket 22 in the left-right direction D1. When the telescopic object 3 includes, for example, dry cleaning elements and / or wet cleaning elements and is extended relative to the main unit 1, the telescopic object 3 can effectively clean the intersection of the travel surface with a vertical surface such as a wall (e.g., a corner), achieving so-called edge cleaning. In addition, after the telescopic bracket 22 drives the telescopic object 3 to extend via the compression spring 4, if the telescopic object 3 rubs against or collides with an obstacle such as a wall, and the external force applied to the telescopic object 3 exceeds the spring force of the compression spring 4, the telescopic object 3 can retreat relative to the telescopic bracket 22 in the direction of its retraction, thereby reducing the possibility of the telescopic object 3 getting stuck and the possibility of external force being directly transmitted to the telescopic mechanism 2 via the telescopic object 3, causing damage to the telescopic mechanism 2.

[0064] It can be understood that after the telescopic object 3 is telescoped into position relative to the main machine 1 , a signal can be sent to the processing unit through a limit switch or a motor encoder, and the processing unit controls the operation and stop of the power source 21 .

[0065] In this embodiment, if Figures 2A to 2C As shown, the autonomous mobile device further includes a distance measuring sensor 6, which is provided on the portion of the main body 31 extending from the host 1 and can move along with the portion. The distance measuring sensor 6 can be a time-of-flight sensor (TOF sensor), which can be an infrared distance measuring sensor, a laser distance measuring sensor, or an ultrasonic infrared sensor. Thus, the second distance measuring sensor 6 has the aforementioned multiple optional options, making the autonomous mobile device more flexible. As described above, Figures 2A to 2CAs shown, the distance measuring sensor 6 is positioned at the end of the telescopic object 3 in the left-right direction D1. In the front-to-back direction D2 of the autonomous mobile device, the second distance measuring sensor 6 is positioned in front of the telescopic object 3, that is, in front of the telescopic object 3 in the forward direction of the autonomous mobile device. In addition to the aforementioned distance measuring sensor 6, an additional distance measuring sensor (not shown) may be positioned within the main unit 1. This additional distance measuring sensor may be positioned above the distance measuring sensor 6 located on the extended portion. Furthermore, when the autonomous mobile device moves along a wall, the distance measuring sensor 6 located on the extended portion can be closer to the wall than the additional distance measuring sensor. When the autonomous mobile device is near and moving along the wall, the two distance measuring sensors arranged above and below can better detect the distance between the autonomous mobile device and the wall, improving the reliability and accuracy of distance detection. Using these detection results, even if the wall has an irregular shape, the possibility of scratches or collisions between the autonomous mobile device and the wall can be significantly reduced or even eliminated. For example, the distance measuring sensor 6 can be used to measure the distance between the main unit 1 and a portion of the wall where no skirting is provided, or to measure the distance between the main unit 1 and the upper portion of the skirting of the wall; the additional distance measuring sensor can be used to measure the distance between the telescopic object 3 and the skirting of the wall, or to measure the distance between the telescopic object 3 and the lower portion of the skirting of the wall. Thus, the additional distance measuring sensor provided on the main unit 1 can preliminarily detect the distance between the autonomous mobile device and the wall, and the distance measuring sensor 6 provided on the extended portion can further accurately detect the distance between the autonomous mobile device and the wall, thereby greatly reducing or even eliminating the possibility of scratches or collisions between the autonomous mobile device and the wall.

[0066] In this embodiment, if Figures 2A to 2CAs shown, the frame 5 can rise and fall relative to the main unit 1 in the up and down direction D3 via the lifting mechanism 7. Specifically, the lifting mechanism 7 includes an additional power source 71, a transmission member 72 and a connecting rod mechanism (a first connecting rod 73 and a second connecting rod 74). The additional power source 71 is a motor, the motor shaft of which is formed as a lead screw or fixed to the lead screw. The lead screw is threadedly engaged with the transmission member 72 to form a lead screw nut mechanism, and the additional power source 71 utilizes the lead screw nut mechanism to drive the transmission member 72 to reciprocate along the lead screw. Furthermore, the first connecting rod 73 of the connecting rod mechanism is rotationally connected to the transmission member 72 and the main unit 1, and the second connecting rod 74 of the connecting rod mechanism is rotationally connected to the transmission member 72 and the upper part of the front end portion of the frame 5. In addition, the lower part of the rear end portion of the frame 5 is rotationally connected to the main unit 1, so that the frame 5 and the main unit 1 can rotate relative to each other. Therefore, under the drive of the additional power source 71, the reciprocating motion of the transmission member 72 causes the first connecting rod 73 and the second connecting rod 74 to rotate, thereby driving the frame 5 and the telescopic mechanism 2 and the telescopic object 3 installed on the frame 5, so as to realize their rotation relative to the main machine 1 and finally realize lifting and lowering in the up and down direction D3 relative to the main machine 1.

[0067] It can be understood that after the telescopic object 3 is lifted and lowered relative to the main body 1, a signal can be sent to the processing unit through the limit switch or the motor encoder, and the processing unit controls the operation and stop of the additional power source 21.

[0068] The following reference Figures 1A to 3C The working process of the autonomous mobile device according to the embodiment of the present disclosure is described.

[0069] When the autonomous mobile device is moving, for example, near a wall and along the wall, and needs to clean the intersection of the moving surface and the vertical surface near the wall, the processing unit of the autonomous mobile device controls the power source 21 to start running, and the power source 21 drives the telescopic bracket 22 to move away from the power source 21 along the screw 23 via the screw-nut mechanism. As the telescopic bracket 22 moves, the telescopic bracket 22 abuts against the compression spring 4 and pushes the telescopic object 3 to extend relative to the main body 1. Finally, the telescopic object 3 is in a position as shown in FIG. Figure 1C and Figure 1D as well as Figures 3A to 3C Furthermore, when the telescopic object 3 is in the extended state relative to the main unit 1, if the telescopic object 3 rubs against or collides with a wall, and the external force (external force along the left-right direction D1) applied to the telescopic object 3 is greater than the spring force of the compression spring 4, the telescopic object 3 compresses the compression spring 4, and the telescopic object 3 retreats in the direction of its retraction; after the external force disappears, the spring force of the compression spring 4 restores the telescopic object 3 to its pre-retraction state.

[0070] When the autonomous mobile device does not need to perform wet cleaning on the above-mentioned interface, the processing unit of the autonomous mobile device controls the power source 21 to start running. The power source 21 drives the telescopic bracket 22 to move along the screw 23 close to the power source 21 via the screw-nut mechanism. As the telescopic bracket 22 moves, the telescopic bracket 22 abuts against the limit portion 32 and pushes the telescopic object 3 to retract relative to the host 1. Finally, the telescopic object 3 is in a position as shown in FIG. Figure 1A and Figure 1B as well as Figures 2A to 2C Shown is a retracted state relative to the main unit 1.

[0071] By adopting the above-mentioned scheme, in this embodiment, the present disclosure proposes a scheme that can realize the extension and retraction of the telescopic object 3 of the autonomous mobile device relative to the main body 1 as needed. When the telescopic object 3 includes, for example, dry cleaning parts and / or wet cleaning parts and is in an extended state relative to the main body 1, the telescopic object 3 can effectively clean the intersection portion of the travel surface close to the vertical surface of the wall (for example, the corner of the wall). In addition, when the telescopic object 3 is in the extended state and is subjected to external force due to scratches or collisions, the telescopic object 3 can retreat in the direction of the retraction of the telescopic object 3, so as to reduce the possibility of the telescopic object 3 being stuck in the column and reduce the possibility of external force being directly transmitted to the telescopic mechanism 2 via the telescopic object 3, causing damage to the telescopic mechanism 2.

[0072] 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, under the guidance of the present disclosure, make various modifications and alterations to the above embodiments without departing from the scope of the present disclosure. The following supplementary explanations are provided for the technical solutions of the present disclosure.

[0073] i. It can be understood that in addition to the examples of self-moving cleaning devices described in the above specific embodiments, the technical concepts of the present disclosure can also be applied to other autonomous mobile devices. The above-mentioned autonomous mobile devices generally refer to intelligent mobile devices that autonomously perform preset tasks, including companion mobile robots (such as smart electronic pets, nanny robots), service mobile robots (such as reception robots in hotels, inns, and meeting places), industrial inspection intelligent equipment (such as power inspection robots, intelligent forklifts, etc.), security robots (such as household or commercial intelligent guard robots), etc., which are two-dimensional planar mobile robots with wheels or tracks as drive units that achieve similar functions to the self-moving cleaning devices described in the above embodiments. Of course, the solutions of the present disclosure can also be applied to other fields, which will not be exhaustively explained.

[0074] ii. In the above specific embodiments, the autonomous mobile device is described as a self-propelled cleaning device and includes a wet cleaning assembly, which includes a roller 35 as a wet cleaning member. However, the present disclosure is not limited thereto. For example, in an alternative embodiment, the wet cleaning assembly may also use a mop or rag instead of the roller 35.

[0075] In the above specific embodiments, it is described that the telescopic object 3 includes a wet cleaning part of the self-mobile cleaning device, but the present disclosure is not limited to this. For example, in an optional solution, the telescopic object 3 may also include a dry cleaning part of the self-mobile cleaning device. To this end, the self-mobile cleaning device may also include a dry cleaning component provided on the main unit 1 and may include dry cleaning parts such as a main brush and side brushes (side brushes) and a suction device. In the front-to-back direction D2, the dry cleaning part may be located in front of the wet cleaning part. Thus, when the autonomous mobile device is traveling on the traveling surface, the surface to be cleaned may be cleaned by the dry cleaning component and / or the wet cleaning component. In different working modes, the cleaning operations performed by the autonomous mobile device include but are not limited to one or more of operations such as sweeping, mopping, and vacuuming.

[0076] iii. In order to achieve autonomous movement of the autonomous mobile device, the self-moving cleaning device according to the present disclosure includes a wheel assembly. The wheel assembly can be mounted on the main unit 1 and protrude relative to the bottom surface of the main unit 1, and is used to drive the entire autonomous mobile device to move on the travel surface under the control of the processing unit. By making the wheels (drive wheels) of the two wheel assemblies rotate at the same speed and in the same direction (for example, rotating clockwise or counterclockwise at the same time), the autonomous mobile device can be driven to move linearly along the forward direction; by making the drive wheels of the two wheel assemblies rotate at different speeds and / or different directions (for example, one drive wheel rotates clockwise and the other drive wheel rotates counterclockwise), the autonomous mobile device can be driven to turn in a direction different from the forward direction. The autonomous mobile device may also include a universal wheel provided on the main unit 1, so that no matter how the drive wheel rolls on the travel surface, the universal wheel can provide support for the entire autonomous mobile device.

Claims

1. An autonomous mobile device, characterized in that include: Host; a telescopic mechanism mounted on the main machine and comprising a power source and a telescopic bracket, the telescopic bracket being in transmission connection with the power source so as to be driven by the power source to reciprocate in a left-right direction along the autonomous mobile device; a telescopic object configured to be driven by the telescopic bracket during the reciprocating motion of the telescopic bracket to extend and retract relative to the main body in the left-right direction; as well as A compression spring is mounted on the telescopic object, one end of the compression spring abuts against the telescopic bracket and the other end abuts against the telescopic object. The telescopic bracket can drive the telescopic object to extend via the compression spring. When the external force applied to the telescopic object is greater than the spring force of the compression spring, the telescopic object can compress the compression spring and retreat relative to the telescopic bracket in the direction of its retraction.

2. The autonomous mobile device according to claim 1, characterized in that The telescopic object is provided with a limiting portion, and the limiting portion and the compression spring are located on both sides of the telescopic bracket in the left-right direction. When the telescopic object is not acted upon by the external force, the spring force is utilized to ensure that the telescopic bracket always abuts against the limiting portion.

3. The autonomous mobile device according to claim 2, characterized in that The telescopic object is provided with a plurality of first guide rails spaced apart from each other, the first guide rails extending linearly along the left-right direction and passing through the telescopic bracket and the limit portion, the first guide rails and the limit portion being fixed to each other, the telescopic bracket being able to move along the first guide rails, and the compression springs being sleeved on the corresponding first guide rails.

4. The autonomous mobile device according to claim 3, characterized in that The autonomous mobile device further includes a first track, the first track is fixed relative to the power source, the first guide rail is inserted into the first track, so that the first track cooperates with the first guide rail to guide the telescopic object to be telescoped relative to the host.

5. The autonomous mobile device according to claim 4, characterized in that The autonomous mobile device further includes a second track, the second track being fixed relative to the power source, and the second track being spaced apart from the first track in the left-right direction. The telescopic object is provided with a plurality of second guide rails spaced apart from each other, and the second guide rails are inserted into the second rails, so that the second rails cooperate with the second guide rails to guide the telescopic object to be telescoped relative to the host.

6. The autonomous mobile device according to any one of claims 1 to 5, characterized in that The telescopic mechanism includes a lead screw that is transmission-connected to the power source, the lead screw extending linearly along the left-right direction, and the lead screw being inserted into the telescopic bracket and constantly threadedly engaged with the telescopic bracket.

7. The autonomous mobile device according to any one of claims 1 to 5, characterized in that The telescopic object includes a main body, a portion of the main body that can be extended from the main body is formed with a cutout portion, and the cutout portion is located at an end portion of the extended portion in the left-right direction.

8. The autonomous mobile device according to claim 7, characterized in that The autonomous mobile device further includes a distance measuring sensor, which is arranged on the protruding portion.

9. The autonomous mobile device according to any one of claims 1 to 5, characterized in that The autonomous mobile device further includes a frame and a lifting mechanism. The power source is fixed to the frame. The frame can be raised and lowered relative to the host in an up and down direction of the autonomous mobile device via the lifting mechanism.

10. The autonomous mobile device according to any one of claims 1 to 5, characterized in that The autonomous mobile device is a self-moving cleaning device, and the telescopic object includes a wet cleaning piece and / or a dry cleaning piece.

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