Collision detection mechanism and cleaning robot

Abstract

The utility model relates to the field of cleaning equipment, and provides a collision detection mechanism and a cleaning robot. The collision detection mechanism comprises a collision cover and a collision detector. The collision cover is mounted on the upper side of the robot body so as to be planar-movable. The number of the collision detectors is at least two, and each collision detector is provided with a triggering part which can be triggered by the collision cover. Wherein one collision detector is arranged on the left rear portion of the collision cover, and a trigger part of the collision detector faces the right front portion. And the other collision detector is arranged at the right rear part of the collision cover, and a trigger part of the collision detector faces the left front part. The collision detection mechanism can detect the collision conditions of the front left portion, the front right portion and the front right portion, the detection range is large, and the detection range covers multiple directions where the robot body possibly encounters an obstacle in the advancing process, so that the robot body can conveniently and accurately recognize the direction of the obstacle according to the collision detection mechanism and change the movement direction to avoid the obstacle; the obstacle avoidance performance of the robot main body can be improved, and the risk that the robot main body reports errors and stops due to obstacles can be reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cleaning equipment, and particularly relates to a collision detection mechanism and a cleaning robot. BACKGROUND

[0002] In some cases, a cleaning robot such as a sweeping robot, a sweeping and mopping integrated robot, a mopping robot, a scrubbing robot, or a washing robot is provided with a collision detection mechanism on the upper side thereof. The collision detection mechanism includes a radar cover and a collision detector arranged directly below the front part of the radar cover. When the radar cover is collided in the front, the radar cover can move downward and trigger the collision detector, so that the collision detector can send a collision signal to the robot body, so that the robot body can stop advancing and change the moving direction according to the collision signal. However, in this way, the collision detection mechanism can only detect the collision in the front, the detection range is small, and the limitation is large, resulting in poor obstacle avoidance performance of the cleaning robot. CONTENT OF THE UTILITY MODEL

[0003] Embodiments of the application provide a collision detection mechanism, which aims to solve the problem that the collision detection mechanism can only detect the collision in the front, the detection range is small, the limitation is large, and the obstacle avoidance performance of the cleaning robot is poor.

[0004] To achieve the above-mentioned purpose, the technical scheme adopted by the embodiments of the application is as follows:

[0005] In a first aspect, a collision detection mechanism is provided, comprising:

[0006] A collision cover is movably installed on the upper side of the robot body;

[0007] Collision detectors are provided with at least two and have trigger parts that can be triggered by the collision cover. One of the collision detectors is arranged at the left rear of the collision cover, and the trigger part thereof is arranged towards the right front. Another collision detector is arranged at the right rear of the collision cover, and the trigger part thereof is arranged towards the left front.

[0008] In some embodiments, the collision detectors are arranged on the lower side of the collision cover, and the lower side of the collision cover is provided with a first convex part, which is arranged corresponding to the trigger part of the collision detector.

[0009] In some embodiments, the collision cover is provided with a connecting hole penetrating in the up-down direction, and the collision detection mechanism includes connecting columns and limiting caps corresponding to the connecting hole one by one. The limiting caps are stopped on the upper side of the connecting hole, the connecting columns are arranged in the connecting hole and connected between the robot body and the limiting caps, and the gap is formed between the hole wall of the connecting hole and the outer peripheral surface of the connecting column.

[0010] In some embodiments, the rear hole wall of the connecting hole has a positioning plane perpendicular to the front-rear direction.

[0011] In some embodiments, the collision detection mechanism comprises at least two reset structures, each of which comprises an elastic member and is connected to the collision cover at one end along the elastic reset direction thereof.

[0012] One of the reset structures is arranged at the left rear of the collision cover and has an elastic reset direction pointing to the right front.

[0013] The other reset structure is arranged at the right rear of the collision cover and has an elastic reset direction pointing to the left front.

[0014] In some embodiments, the reset structure further comprises a reset bracket connected to one end of the elastic member along the elastic reset direction thereof and abutting against the collision cover.

[0015] In some embodiments, the robot body is provided with a first mounting slot, the reset bracket is slidably mounted in the first mounting slot, and the elastic member is connected between the reset bracket and the slot wall of the first mounting slot.

[0016] The opposite sides of the reset bracket are provided with protrusions extending along the elastic reset direction of the elastic member.

[0017] In some embodiments, the reset structure is arranged at the lower side of the collision cover, the lower side of the collision cover is provided with a second protrusion abutting against the end side of the reset structure along the elastic reset direction thereof.

[0018] In some embodiments, the lower side of the collision cover is provided with a protrusion for point contact with the robot body.

[0019] In a second aspect, a cleaning robot is provided, comprising a robot body and the collision detection mechanism provided in the embodiments of the present application.

[0020] The collision detection mechanism provided in the present application has the following advantages:

[0021] The collision detection mechanism provided in this application embodiment can, when the front right side of the collision shield is impacted and moves in a planar direction in the left rear direction, trigger a collision detector located at the rear left side of the collision shield with its trigger part facing the front right side to send a collision signal to the robot body, so that the robot body can accurately identify that "there is an obstacle at the front right side of the collision shield"; when the front left side of the collision shield is impacted and moves in a planar direction in the right rear direction, trigger a collision detector located at the rear right side of the collision shield with its trigger part facing the front left side to send a collision signal to the robot body, so that the robot body can accurately identify that "there is an obstacle at the front left side of the collision shield"; when the front of the collision shield is impacted and moves in a planar direction in the direct rear direction, trigger both the collision detector located at the rear left side of the collision shield and the collision detector located at the rear right side of the collision shield to send a collision signal to the robot body, so that the robot body can accurately identify that "there is an obstacle at the front right side of the collision shield". This allows the collision detection mechanism to detect collisions from the left front, front, and right front, with a large detection range covering multiple directions of obstacles that the robot may encounter during its movement. This enables the robot to accurately identify the location of obstacles based on the collision detection mechanism and change its direction of movement to avoid them, thereby improving the robot's obstacle avoidance performance and reducing the risk of the robot reporting errors or stopping due to obstacles. Attached Figure Description

[0022] To clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a partial structural schematic diagram of a cleaning robot provided in some embodiments of this application;

[0024] Figure 2 for Figure 1 An exploded view of the provided cleaning robot;

[0025] Figure 3 for Figure 2 Top view of the assembly of the provided collision detection mechanism and the first shell;

[0026] Figure 4 for Figure 3 A partial top view of the provided assembly with the collision shield hidden;

[0027] Figure 5 Bottom view of the collision shield provided in some embodiments of this application;

[0028] Figure 6 For Figure 2 Provided is an enlarged view of the A region.

[0029] In the drawings, various reference numbers refer to:

[0030] 10 - collision detection mechanism, 11 - collision cover, 111 - first protrusion, 112 - connecting hole, 1121 - positioning plane, 113 - second protrusion, 114 - protruding point; 12 - collision detector, 12a - first collision detector, 12b - second collision detector, 121 - trigger portion; 13 - connecting column, 14 - limiting cap; 15 - reset structure, 15a - first reset structure, 15b - second reset structure, 151 - elastic member, 152 - reset bracket, 1521 - protruding strip, 1522 - positioning hole; 16 - circuit board; 20 - robot main body, 21 - first shell, 211 - first mounting groove, 2111 - positioning protrusion, 212 - second mounting groove, 213 - third mounting groove, 22 - second shell, 221 - through hole, 30 - radar. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects of the present application clear, the present application will be described in detail below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and not to limit the present application. If not specifically stated, all embodiments and optional embodiments of the present application can be combined to form new technical solutions. If not specifically stated, all technical features and optional technical features of the present application can be combined to form new technical solutions.

[0032] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0033] It should also be noted that in the embodiments of the present application, the XYZ rectangular coordinate system is defined as follows: Figure 1 In the XYZ rectangular coordinate system established in the specification, the side located in the positive direction of the X axis is defined as the front direction, corresponding to the forward direction of the cleaning robot walking, the side located in the negative direction of the X axis is defined as the rear direction; the side located in the positive direction of the Y axis is defined as the left direction, and the side located in the negative direction of the Y axis is defined as the right direction; the side located in the positive direction of the Z axis is defined as the upper direction, and the side located in the negative direction of the Z axis is defined as the lower direction.

[0034] In addition, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0035] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0036] In some cases, the cleaning robot such as the sweeping robot, the sweeping and mopping integrated robot, the wiping robot, and the washing robot is provided with a collision detection mechanism on the upper side thereof. The collision detection mechanism includes a radar cover and a collision detector arranged directly below the front part of the radar cover. When the radar cover is collided directly in front, the radar cover can move downward and trigger the collision detector, so that the collision detector can send a collision signal to the robot body, so as to stop the robot body from advancing and change the moving direction according to the collision signal. However, in this way, the collision detection mechanism can only detect the collision condition in the front, the detection range is small, and the limitation is large, resulting in poor obstacle avoidance performance of the cleaning robot.

[0037] Therefore, the embodiment of the present application provides a collision detection mechanism which can detect the collision conditions of the left front, the front and the right front, has a large detection range, and covers multiple directions in which the robot body may encounter obstacles during advancing, so as to facilitate the robot body to accurately identify the direction of the obstacle according to the collision detection mechanism and change the moving direction to avoid obstacles, and improve the obstacle avoidance performance of the robot body.

[0038] The specific implementation of the present application is described in detail in combination with specific embodiments as follows:

[0039] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4Some embodiments of the present application provide a collision detection mechanism 10, which includes a collision cover 11 and collision detectors 12. The collision cover 11 is installed on the upper side of a robot body 20 in a plane-movable manner. The collision detectors 12 are provided in at least two and have trigger portions 121 that can be triggered by the collision cover 11. One of the collision detectors 12 is provided at the left rear of the collision cover 11, and its trigger portion 121 is arranged toward the right front. The other collision detector 12 is provided at the right rear of the collision cover 11, and its trigger portion 121 is arranged toward the left front.

[0040] It should be noted that the robot body 20 can refer to the main machine of a self-moving robot such as a cleaning robot. The collision cover 11 is installed on the top side of the robot body 20 and partially protrudes from the upper surface of the robot body 20 for obstacle collision. The collision cover 11 can move in a plane relative to the upper surface of the robot body 20 due to force.

[0041] In some embodiments, a radar 30 can be installed inside the collision cover 11, which protrudes from the upper surface of the robot body 20 and can rotate to detect working environment information. In this case, the collision cover 11 is a radar cover for the radar 30. Of course, in other embodiments, other detectors such as infrared sensors, ultrasonic sensors, image acquisition modules, structured light ranging modules, etc. can be installed inside the collision cover 11 as needed, or the collision cover 11 can not be installed with any detector as needed.

[0042] In some embodiments, the robot body 20 includes a first shell 21 for installing the collision detection mechanism 10, and the collision cover 11 is installed on the upper side of the first shell 21 in a plane-movable manner. In some embodiments, the robot body 20 further includes a second shell 22 that covers the upper side of the first shell 21, and the second shell 22 is used to hide and protect the components such as the collision detection mechanism 10 installed on the first shell 21. The second shell 22 has a through hole 221, and part of the collision cover 11 protrudes through the through hole 221. In some embodiments, the first shell 21 is provided with a second mounting groove 212, and the collision cover 11 is installed in the second mounting groove 212. There is a gap between the periphery of the collision cover 11 and the groove wall of the second mounting groove 212, so as to facilitate the plane movement of the collision cover 11 in the second mounting groove 212.

[0043] It is also to be noted that the collision detector 12 can be provided with only two, one of which (hereinafter referred to as first collision detector 12a) can be provided at the left rear of the collision cover 11 and within the moving range of the collision cover 11 in the left rear direction, and the other (hereinafter referred to as second collision detector 12b) can be provided at the right rear of the collision cover 11 and within the moving range of the collision cover 11 in the right rear direction. Of course, in other embodiments, in addition to the first collision detector 12a and the second collision detector 12b, other collision detectors 12 can also be provided within the planar moving range of the collision cover 11, i.e., the number of collision detectors 12 can be three or more.

[0044] The collision detector 12 has a trigger portion 121 that can be triggered by the collision cover 11. In some embodiments, the collision detector 12 is a micro switch, and the trigger portion 121 is the contact point of the micro switch. Depending on the type of micro switch, the trigger portion 121 can be a button trigger portion, a spring trigger portion, or other forms of trigger portion. In other embodiments, the collision detector 12 can be an infrared, laser, or other sensor component with similar functions, and the trigger portion 121 of the collision detector 12 changes accordingly. The structure and type of each collision detector 12 can be the same or different.

[0045] In which, on the basis that the collision detector 12 is within the planar moving range of the collision cover 11 (i.e., the collision detector 12 is within the range that can be triggered by the collision cover 11), the collision detector 12 can be provided on the lower side of the collision cover 11, or on the peripheral side of the collision cover 11. For example, the first collision detector 12a can be provided on the lower side of the left rear of the collision cover 11, or on the peripheral side of the left rear of the collision cover 11. For example, the second collision detector 12b can be provided on the lower side of the right rear of the collision cover 11, or on the peripheral side of the right rear of the collision cover 11.

[0046] In which, the collision detector 12 can be mounted on the robot body 20 to stabilize the mounting position and state. In some embodiments, the collision detector 12 can be mounted on the first shell 21. In some embodiments, the collision detector 12 can be integrated on the circuit board 16, and the circuit board 16 can be mounted on the first shell 21 to stabilize the mounting position and state of both the circuit board 16 and the collision detector 12. The collision detector 12 can have its trigger portion 121 provided on the side opposite to the board surface of the circuit board 16. In this case, the orientation of the board surface of the circuit board 16, i.e., the orientation of the trigger portion 121, can be controlled by controlling the orientation of the board surface of the circuit board 16, thereby controlling the orientation of the trigger portion 121.

[0047] It is also to be noted that the trigger portion 121 of the first collision detector 12a is oriented towards the right front, and the trigger portion 121 of the second collision detector 12b is oriented towards the left front.

[0048] Based on this, in the case that the right front of the crash guard 11 is collided, the crash guard 11 can move in the left rear direction and abut against and trigger the trigger portion 121 of the first collision detector 12a, so that the first collision detector 12a can send a collision signal to the robot body 20, so that the robot body 20 changes the moving direction to avoid the right front according to the collision signal of the first collision detector 12a.

[0049] In the case that the left front of the crash guard 11 is collided, the crash guard 11 can move in the right rear direction and abut against and trigger the trigger portion 121 of the second collision detector 12b, so that the second collision detector 12b can send a collision signal to the robot body 20, so that the robot body 20 changes the moving direction to avoid the left front according to the collision signal of the second collision detector 12b.

[0050] In the case that the front of the crash guard 11 is collided, the crash guard 11 can move in the rear direction and trigger the trigger portion 121 of the first collision detector 12a and the trigger portion 121 of the second collision detector 12b together, so that the first collision detector 12a and the second collision detector 12b can send a collision signal to the robot body 20 together, so that the robot body 20 stops advancing and changes the moving direction to avoid the front according to the collision signals of the first collision detector 12a and the second collision detector 12b.

[0051] In summary, the collision detection mechanism 10 provided by the embodiments of the present application can be used to send a collision signal to the robot body 20 when the collision detector 12 arranged at the left rear side of the collision cover 11 and having the trigger part 121 arranged towards the right front side is triggered by the collision cover 11 in the case that the right front side of the collision cover 11 is collided and moves in the left rear direction, so that the robot body 20 can accurately identify that there is an obstacle in the right front side of the collision cover 11. The collision detection mechanism 10 can be used to send a collision signal to the robot body 20 when the collision detector 12 arranged at the right rear side of the collision cover 11 and having the trigger part 121 arranged towards the left front side is triggered by the collision cover 11 in the case that the left front side of the collision cover 11 is collided and moves in the right rear direction, so that the robot body 20 can accurately identify that there is an obstacle in the left front side of the collision cover 11. The collision detection mechanism 10 can be used to send a collision signal to the robot body 20 when the collision detector 12 arranged at the left rear side of the collision cover 11 and the collision detector 12 arranged at the right rear side of the collision cover 11 are both triggered by the collision cover 11 in the case that the front side of the collision cover 11 is collided and moves in the rear direction, so that the robot body 20 can accurately identify that there is an obstacle in the front side of the collision cover 11. Thus, the collision detection mechanism 10 can detect the collision conditions of the left front side, the front side and the right front side, has a large detection range, and covers multiple positions where the robot body 20 can encounter obstacles during movement, so that the robot body 20 can accurately identify the position of the obstacle according to the collision detection mechanism 10 and change the movement direction to avoid the obstacle, thereby improving the obstacle avoidance performance of the robot body 20 and reducing the risk of error and shutdown of the robot body 20 due to obstacles.

[0052] In addition, the collision detection mechanism 10 can realize a detection range covering the left front side, the front side and the right front side through the two collision detectors 12 arranged at the left rear side and the right rear side of the collision cover 11, that is, the collision detection mechanism 10 can realize a large detection range with fewer collision detectors 12, so that the collision detection mechanism 10 has a simple and reliable structure, is easy and fast to assemble, and has a low cost.

[0053] Please refer to Figure 3 、 Figure 4 、 Figure 5 In some embodiments of the present application, the collision detector 12 is arranged at the lower side of the collision cover 11, and the lower side of the collision cover 11 is provided with a first protruding part 111 corresponding to the trigger part 121 of the collision detector 12.

[0054] It should be noted that the collision detector 12 can be arranged on the lower side of the collision cover 11, for example, the first collision detector 12a can be arranged on the lower side of the left rear of the collision cover 11, and for example, the second collision detector 12b can be arranged on the lower side of the right rear of the collision cover 11. In some embodiments, the first shell 21 of the robot body 20 is provided with a third mounting groove 213, and the collision detector 12 (and the corresponding circuit board 16) can be accommodated in the third mounting groove 213 to be stably mounted on the lower side of the collision cover 11.

[0055] Correspondingly, the lower side of the collision cover 11 is provided with a downwardly extending first protrusion 111, which is arranged one-to-one with the trigger portion 121 of the collision detector 12 and is in the orientation towards the trigger portion 121, for example, the first protrusion 111 corresponding to the first collision detector 12a is in the front right of the trigger portion 121 of the first collision detector 12a, and for example, the first protrusion 111 corresponding to the second collision detector 12b is in the front left of the trigger portion 121 of the second collision detector 12b. The first protrusion 111 can move with the collision cover 11 to trigger the corresponding trigger portion 121. The shape and size of the first protrusion 111 can be set as needed.

[0056] By adopting the above scheme, the collision detector 12 can be within the planar movement range of the collision cover 11, the collision detector 12 can be within the range that can be triggered by the collision cover 11, the layout of the collision detector 12 relative to the collision cover 11 can be optimized, so that the corresponding collision detector 12 can be directly, quickly and reliably triggered by the corresponding first protrusion 111 when the collision cover 11 is subjected to collision, the risk of false triggering of the collision detector 12 due to non-collision factors (such as air flow, vibration, etc.) can be reduced, the sensitivity and accuracy of the collision detection can be improved, so that the robot body 20 can quickly receive the collision signal and respond quickly, and the obstacle avoidance performance of the robot body 20 can be improved.

[0057] Moreover, since the collision detector 12 is arranged on the lower side of the collision cover 11, the collision cover 11 and the robot body 20 can hide and protect the collision detector 12, so that the structural reliability, use reliability and service life of the collision detection mechanism 10 can be improved. Moreover, the planar space occupied by the collision detection mechanism 10 can be compressed, the structural compactness of the collision detection mechanism 10 can be improved, and the space utilization can be improved.

[0058] Of course, in other embodiments, on the basis that the collision detector 12 is within the planar movement range of the collision cover 11 (i.e. the collision detector 12 is within the range that can be triggered by the collision cover 11), the collision detector 12 can be arranged on the side of the collision cover 11.

[0059] Please refer to Figure 2 , Figure 3 ,Figure 4 、 Figure 5 In some embodiments of the present application, the crash cover 11 is provided with a connecting hole 112 penetrating in the up-down direction, the collision detection mechanism 10 includes a connecting column 13 and a limiting cap 14 corresponding to the connecting hole 112 one by one, the limiting cap 14 is stopped at the upper side of the connecting hole 112, the connecting column 13 is arranged in the connecting hole 112 and connected between the robot body 20 and the limiting cap 14, and there is a gap between the hole wall of the connecting hole 112 and the outer circumferential surface of the connecting column 13.

[0060] It should be noted that the crash cover 11 is provided with a connecting hole 112 penetrating the crash cover 11 in the up-down direction, that is, the connecting hole 112 is a through hole. The shape and size of the connecting hole 112 can be set as needed.

[0061] The limiting cap 14 is arranged corresponding to the connecting hole 112 one by one, and the limiting cap 14 is connected to the robot body 20 (the first shell 21) to stabilize the installation position and state relative to the robot body 20 (the first shell 21). The limiting cap 14 is stopped at the upper side of the connecting hole 112 to limit the crash cover 11 between the limiting cap 14 and the robot body 20 (the first shell 21), especially to prevent the crash cover 11 from moving upward beyond the limiting cap 14 and separating from the robot body 20 (the first shell 21). Wherein, the distance between the limiting cap 14 and the robot body 20 (the first shell 21) in the up-down direction can be adjusted to make the crash cover 11 floatable or unfloatable between the limiting cap 14 and the robot body 20 (the first shell 21) as needed. In some embodiments, the connecting hole 112 can be a counterbore, and the connecting hole 112 can accommodate the limiting cap 14 through a hole section with a larger hole diameter, so that the limiting cap 14 can share space with the connecting hole 112, thereby compressing the additional space occupied by the limiting cap 14, and improving the structural compactness and space utilization.

[0062] The connecting column 13 is arranged corresponding to the connecting hole 112 one by one. The connecting column 13 is arranged in the connecting hole 112 and connected between the robot body 20 (the first shell 21) and the limiting cap 14. Wherein, the connecting column 13 can be a solid column or a hollow column. The connecting column 13 can be a cylindrical structure such as a cylinder or a prism. One of the robot body 20 (the first shell 21) and the limiting cap 14 needs to be connected separately with the connecting column 13, and the other one of the robot body 20 (the first shell 21) and the limiting cap 14 can be integrally connected or separately connected. The separate connection mode can adopt fixed connection modes such as bonding and welding, or can adopt detachable connection modes such as screw connection and buckle connection. For example, as shown in the figures, the connecting column 13 is integrally connected with the limiting cap 14, and the connecting column 13 is connected to the robot body 20 (the first shell 21) through a screw. Figure 2As shown, in some embodiments, the connecting column 13 is integrally protruded from the robot body 20 (the first shell 21), the connecting column 13 is provided with a threaded hole, and the limiting cap 14 is connected to the threaded hole of the connecting column 13 by a screw. For example, in other embodiments, the robot body 20 (the first shell 21) is provided with a threaded hole, and the limiting cap 14 is connected to the threaded hole by a screw, and the shank of the screw serves as the connecting column 13. For example, in other embodiments, the robot body 20 (the first shell 21) is provided with a threaded hole, and a screw is connected to the threaded hole, and the head of the screw serves as the limiting cap 14, and the shank of the screw serves as the connecting column 13.

[0063] The connecting hole 112 has a gap between the hole wall and the outer circumferential surface of the connecting column 13, that is, the cross-sectional area of the connecting hole 112 is larger than the cross-sectional area of the connecting column 13, and the cross section is the cross section of the corresponding structure perpendicular to the up-down direction. The gap between the hole wall of the connecting hole 112 and the outer circumferential surface of the connecting column 13 can provide a planar movement space of the collision cover 11 and also constrain the planar movement range of the collision cover 11. The size of the gap between the hole wall of the connecting hole 112 and the outer circumferential surface of the connecting column 13 can be set as needed.

[0064] Among them, corresponding connecting hole 112, connecting column 13 and limiting cap 14 form a group, and the connecting hole 112, connecting column 13 and limiting cap 14 can be provided in one or more groups. In the case of multiple groups of connecting hole 112, connecting column 13 and limiting cap 14, the positions of the multiple groups of connecting hole 112, connecting column 13 and limiting cap 14 can be set as needed, for example, they can be spaced apart along the periphery of the collision cover 11.

[0065] By adopting the above scheme, the connecting column 13 and the limiting cap 14 corresponding to the connecting hole 112 can be conveniently, quickly and reliably installed on the upper side of the robot body 20, and the limiting cap 14 can limit the collision cover 11 from moving upward beyond the limiting cap 14 and separating from the robot body 20, thereby improving the convenience and reliability of the connection between the collision cover 11 and the robot body 20. Moreover, based on the above structure, the gap between the hole wall of the connecting hole 112 and the outer circumferential surface of the connecting column 13 can provide a planar movement space of the collision cover 11, facilitate the planar movement freedom of the collision cover 11, and constrain the planar movement range of the collision cover 11, thereby improving the stability and reliability of the planar movement of the collision cover 11 in the case of being hit, facilitating the planar movement of the collision cover 11 in the case of being hit and reliably triggering the corresponding collision detector 12, and improving the structural reliability and use reliability of the collision detection mechanism 10.

[0066] Of course, in other embodiments, the collision cover 11 can be implemented in other ways to be planarly movably mounted to the upper side of the robot body 20. For example, the collision cover 11 can be planarly movably mounted to the second mounting groove 212 of the first shell 21, and the second shell 22 can limit the collision cover 11 from coming out of the second mounting groove 212.

[0067] Please refer to Figure 3 , Figure 4 , Figure 5 In some embodiments of the present application, the rear hole wall of the connecting hole 112 has a positioning plane 1121 which is perpendicular to the front-rear direction. That is, the positioning plane 1121 is parallel to the left-right direction and also parallel to the up-down direction.

[0068] By adopting the above scheme, during the planar movement of the collision cover 11, a positioning point can be provided via the positioning plane 1121, and the collision cover 11 can be limited to continue moving forward via the abutment of the connecting column 13 against the positioning plane 1121, so that the frontmost position and state of the collision cover 11 can be positioned, and the stability of the collision cover 11 in the frontmost position and state can be improved. Thus, the frontmost position and state of the collision cover 11 can be conveniently used as the initial position and state of the collision cover 11, the reset design of the collision cover 11 can be facilitated, and the collision cover 11 can be repeatedly subjected to collision from obstacles in the frontmost position and state and reliably trigger the corresponding collision detector 12, so that the structural reliability and use reliability of the collision detection mechanism 10 can be improved.

[0069] Please refer to Figure 2 , Figure 3 , Figure 4 In some embodiments of the present application, the collision detection mechanism 10 includes at least two reset structures 15, the reset structure 15 includes an elastic member 151, and the reset structure 15 is connected to the collision cover 11 at one end along the elastic reset direction thereof. One of the reset structures 15 is arranged at the left rear of the collision cover 11, and the elastic reset direction thereof points to the right front; the other reset structure 15 is arranged at the right rear of the collision cover 11, and the elastic reset direction thereof points to the left front.

[0070] It should be noted that the reset structure 15 includes the elastic member 151, the elastic member 151 has elasticity, the elastic member 151 can be elastically deformed and accumulate elastic force under force, and the elastic member 151 can also restore the elastic deformation. The direction in which the elastic member 151 restores the elastic deformation is the elastic reset direction of the elastic member 151, and also the elastic reset direction of the reset structure 15. The reset structure 15 is connected to the collision cover 11 at one end along the elastic reset direction thereof, so that the elastic force of the reset structure 15 can act on the collision cover 11 to facilitate the reset of the collision cover 11. The connection mode between the reset structure 15 and the collision cover 11 can adopt but is not limited to abutment, adhesion, welding and the like. The elastic member 151 can be but is not limited to a spring and the like.

[0071] It is also to be noted that the reset structure 15 can be provided only two, one of which (hereinafter referred to as first reset structure 15a) can be provided corresponding to the first collision detector 12a and disposed at the rear left of the collision cover 11, and the other of which (hereinafter referred to as second reset structure 15b) can be provided corresponding to the second collision detector 12b and disposed at the rear right of the collision cover 11. Of course, in other embodiments, other reset structures 15 can be provided in addition to the first reset structure 15a and the second reset structure 15b, i.e., the number of reset structures 15 can be three or more.

[0072] The elastic reset direction of the first reset structure 15a is directed to the right front, and the right front end of the first reset structure 15a is connected to the collision cover 11. The elastic reset direction of the second reset structure 15b is directed to the left front, and the left front end of the second reset structure 15b is connected to the collision cover 11.

[0073] Based on this, in the case where the right front of the collision cover 11 is collided, the collision cover 11 can move in the left rear direction and trigger the trigger portion 121 of the first collision detector 12a, and cause the first reset structure 15a to produce a compression elastic deformation and accumulate an elastic force. Subsequently, in the case where the collision cover 11 is released from the "being collided" state by the robot body 20 changing the movement direction according to the collision signal of the first collision detector 12a to avoid the right front, the elastic force accumulated by the first reset structure 15a can cause the collision cover 11 to move in the right front direction and reset.

[0074] In the case where the left front of the collision cover 11 is collided, the collision cover 11 can move in the right rear direction and trigger the trigger portion 121 of the second collision detector 12b, and cause the second reset structure 15b to produce a compression elastic deformation and accumulate an elastic force. Subsequently, in the case where the collision cover 11 is released from the "being collided" state by the robot body 20 changing the movement direction according to the collision signal of the first collision detector 12a to avoid the left front, the elastic force accumulated by the second reset structure 15b can cause the collision cover 11 to move in the left front direction and reset.

[0075] In the case where the front of the collision cover 11 is collided, the collision cover 11 can move in the rear direction and trigger the trigger portion 121 of the first collision detector 12a and the trigger portion 121 of the second collision detector 12b together, and cause the first reset structure 15a and the second reset structure 15b to produce a compression elastic deformation and accumulate an elastic force. Subsequently, in the case where the collision cover 11 is released from the "being collided" state by the robot body 20 changing the movement direction according to the collision signal to avoid the front, the first reset structure 15a and the second reset structure 15b can use their elastic forces to cause the collision cover 11 to move forward and reset.

[0076] By adopting the above scheme, in the case that the right front of the crash cover 11 is collided and moves in the left rear direction, the reset structure 15 arranged at the left rear of the crash cover 11 can produce compression elastic deformation and accumulate elastic force, so as to facilitate the reset of the crash cover 11 by the elastic force of the reset structure 15 after the robot body 20 avoids the right front obstacle according to the collision signal. In the case that the left front of the crash cover 11 is collided and moves in the right rear direction, the reset structure 15 arranged at the right rear of the crash cover 11 can produce compression elastic deformation and accumulate elastic force, so as to facilitate the reset of the crash cover 11 by the elastic force of the reset structure 15 after the robot body 20 avoids the left front obstacle according to the collision signal. In the case that the front of the crash cover 11 is collided and moves in the rear direction, the two reset structures 15 arranged at the left rear and the right rear of the crash cover 11 can produce compression elastic deformation and accumulate elastic force, so as to facilitate the reset of the crash cover 11 by the elastic force of the two reset structures 15 after the robot body 20 avoids the front obstacle according to the collision signal. Thus, the collision detection mechanism 10 can realize better automatic reset function with fewer reset structures 15, so that the collision detection mechanism 10 can quickly and accurately reset to the initial state after each collision to prepare for the next collision detection, so that the crash cover 11 can again timely and accurately trigger the collision detector 12 when subjected to the next collision, thereby improving the structural reliability, use reliability and detection accuracy of the collision detection mechanism 10.

[0077] Moreover, the collision detection mechanism 10 can realize the reset movement of the crash cover 11 in the left front, front and right front directions through the two reset structures 15 arranged at the left rear and the right rear of the crash cover 11, that is, the collision detection mechanism 10 can realize multi-direction reset with fewer reset structures 15, so that the structure of the collision detection mechanism 10 is simple and reliable, the collision detection mechanism 10 is easy and fast to assemble, and the cost of the collision detection mechanism 10 is lower.

[0078] Moreover, the elastic force applied to the two sides of the crash cover 11 can be balanced through the two reset structures 15 arranged at the left rear and the right rear of the crash cover 11, so that the stability of the crash cover 11 during the reset movement can be improved, and the stability and centerness of the initial state of the crash cover 11 after reset can be improved.

[0079] Of course, in other embodiments, only one reset structure 15 can be provided. For example, the reset structure 15 can be a tension spring and arranged at the front of the crash cover 11, so as to pull the crash cover 11 to the frontmost position and state. For another example, the reset structure 15 can be a spring and arranged at the rear of the crash cover 11, so as to push the crash cover 11 to the frontmost position and state.

[0080] Please refer toFigure 2 、 Figure 3 、 Figure 4 In some embodiments of the present application, the reset structure 15 further comprises a reset bracket 152, which is connected to one end of the elastic member 151 along the elastic reset direction and abuts against the crash cover 11.

[0081] It should be noted that, on the basis that the reset structure 15 comprises the elastic member 151, the reset structure 15 further comprises the reset bracket 152. The reset bracket 152 is connected and fixed to one end of the elastic member 151 along the elastic reset direction, and the connection mode between the reset bracket 152 and the elastic member 151 can adopt but is not limited to adhesion, welding, etc. The end of the reset bracket 152 away from the elastic member 151 abuts against the crash cover 11, that is, the reset structure 15 abuts against the crash cover 11 via the reset bracket 152. The end of the elastic member 151 away from the reset bracket 152 is connected and fixed to the first shell 21 of the robot body 20.

[0082] By adopting the above scheme, the reset structure 15 can pass through the reset bracket 152 as the force transmission structure between the elastic member 151 and the crash cover 11, so as to achieve uniform and reliable transmission of the pressing force of the crash cover 11 to the elastic member 151 and uniform and reliable transmission of the elastic force of the elastic member 151 to the crash cover 11, thereby improving the stability of force transmission and improving the smoothness of reset.

[0083] In addition, during the collision process, the reset bracket 152 can bear part of the collision force, so as to reduce the impact on the elastic member 151 and reduce the risk of damage of the elastic member 151 due to excessive impact force, thereby enhancing the overall structural strength of the reset structure 15 and improving the structural reliability, use reliability and service life of the reset structure 15.

[0084] In addition, the reset bracket 152 can improve the installation convenience of the reset structure 15, and can facilitate accurate control of the elastic reset direction by adjusting the position and angle of the reset bracket 152, thereby improving the installation convenience and installation precision of the reset structure 15 and improving the assembly convenience and assembly efficiency of the collision detection mechanism 10.

[0085] Of course, in other embodiments, the reset structure 15 can only comprise the elastic member 151 and can be directly connected to the crash cover 11 via the end of the elastic member 151.

[0086] Please refer to Figure 2 、 Figure 4 、 Figure 6In some embodiments of the present application, the robot body 20 is provided with a first mounting groove 211, the reset support 152 is slidably mounted in the first mounting groove 211, and the elastic member 151 is connected between the reset support 152 and the groove wall of the first mounting groove 211. That is, one end of the elastic member 151 along the elastic reset direction thereof is connected to the reset support 152, and the other end of the elastic member 151 is connected to the groove wall of the first mounting groove 211. The connection between the elastic member 151 and the groove wall of the first mounting groove 211 can be achieved by, but is not limited to, abutting, bonding, welding, etc.

[0087] By adopting the above scheme, the installation position of the reset support 152 and the elastic member 151 can be positioned via the first mounting groove 211, the end side of the elastic member 151 away from the reset support 152 can be conveniently, quickly and reliably connected and fixed to the groove wall of the first mounting groove 211, the elastic reset direction of the reset structure 15 can be conveniently and accurately controlled along the preset direction, thereby improving the installation convenience and accuracy of the reset structure 15, improving the assembly convenience and efficiency of the collision detection mechanism 10, and maintaining the reset function of the reset structure 15.

[0088] By adopting the above scheme, by slidably mounting the reset support 152 in the first mounting groove 211, the sliding direction, sliding path and sliding stroke of the reset support 152 can be conveniently guided and constrained via the first mounting groove 211, thereby improving the movement stability and smoothness of the reset support 152, and the reset structure 15 can reliably realize the reset function.

[0089] Of course, in other embodiments, the robot body 20 can omit the first mounting groove 211, and the robot body 20 can protrude a fixing portion at the end side of the elastic member 151 away from the reset support 152, for example, to connect and fix the end side of the elastic member 151 away from the reset support 152 via the fixing portion.

[0090] Please refer to Figure 2 , Figure 4 , Figure 6 In some embodiments of the present application, the reset support 152 is provided with protrusions 1521 on opposite sides thereof, and the protrusions 1521 are arranged to extend along the elastic reset direction of the elastic member 151. The protrusions 1521 can be arranged to continuously extend along the elastic reset direction of the elastic member 151, or can be arranged to discontinuously extend. The cross-sectional shape of the protrusions 1521 can be set as needed, for example, can be rectangular, semicircular, etc., and the cross-section of the protrusions 1521 is the cross-section perpendicular to the elastic reset direction.

[0091] By adopting the above scheme, during the sliding of the reset support 152 in the first mounting groove 211, the opposite sides of the reset support 152 can conform to the sliding direction through the protrusions 1521, and form a smaller friction area and friction with the groove wall of the first mounting groove 211, thereby improving the smoothness and stability of the reset support 152 sliding in the first mounting groove 211, reducing the risk of jamming of the reset support 152 sliding in the first mounting groove 211, and improving the structural reliability and use reliability of the reset structure 15.

[0092] Please refer to Figure 2 , Figure 4 , Figure 6 In some embodiments of the present application, one side of the reset support 152 towards the elastic member 151 is provided with a positioning hole 1522, and one end of the elastic member 151 towards the reset support 152 is inserted into the positioning hole 1522.

[0093] By adopting the above scheme, by limiting the one end of the elastic member 151 towards the reset support 152 to be inserted into the positioning hole 1522 of the reset support 152, on the one hand, the installation position of the elastic member 151 can be constrained by the positioning hole 1522, so that the installation position of the elastic member 151 relative to the reset support 152 is determined, thereby facilitating the quick and accurate assembly of the elastic member 151; on the other hand, the elastic reset direction of the elastic member 151 can be guided and constrained by the positioning hole 1522, which can facilitate accurate control of the elastic reset direction of the reset structure 15 along the preset direction, and can help to concentrate the action area of the elastic force of the elastic member 151 in the area circumscribed by the positioning hole 1522, thereby improving the elastic resisting effect of the elastic member 151 on the reset support 152, and maintaining and optimizing the reset function of the reset structure 15.

[0094] Of course, in other embodiments, the reset support 152 can omit the positioning hole 1522, and the one end of the elastic member 151 towards the reset support 152 can be directly connected to the corresponding side surface of the reset support 152.

[0095] Please refer to Figure 2 , Figure 4 , Figure 6 In some embodiments of the present application, the groove wall of the first mounting groove 211 connected with the end of the elastic member 151 protrudes a positioning protrusion 2111, and the one end of the elastic member 151 away from the reset support 152 is sleeved outside the positioning protrusion 2111.

[0096] By adopting the above scheme, by sleeving the one end of the elastic member 151 away from the reset support 152 in the positioning convex part 2111, on the one hand, the installation position of the elastic member 151 can be constrained by the positioning convex part 2111, so that the installation position of the elastic member 151 relative to the groove wall of the first installation groove 211 is determined, thereby facilitating the quick and accurate assembly of the elastic member 151; on the other hand, the elastic reset direction of the elastic member 151 can be guided and constrained by the positioning convex part 2111, which can facilitate accurate control of the elastic reset direction of the reset structure 15 along the preset direction, thereby maintaining the reset function of the reset structure 15.

[0097] Please refer to Figure 3 、 Figure 4 、 Figure 5 In some embodiments of the present application, the reset structure 15 is arranged on the lower side of the crash cover 11, and the lower side of the crash cover 11 is provided with a second convex part 113 abutting the end side of the reset structure 15 along the elastic reset direction thereof.

[0098] It should be noted that the reset structure 15 can be arranged on the lower side of the crash cover 11, for example, the first reset structure 15a can be arranged on the lower side of the left rear of the crash cover 11, and for example, the second reset structure 15b can be arranged on the lower side of the right rear of the crash cover 11. In some embodiments, the first shell 21 of the robot body 20 is provided with a first installation groove 211, and the reset structure 15 can be accommodated in the first installation groove 211 to be stably installed on the lower side of the crash cover 11.

[0099] Correspondingly, the lower side of the crash cover 11 is provided with a second convex part 113 extending downward, the second convex part 113 is arranged one by one with the reset structure 15 and abuts the end side of the reset structure 15 along the elastic reset direction thereof, for example, the second convex part 113 corresponding to the first reset structure 15a abuts the right front end of the first reset structure 15a, and for example, the second convex part 113 corresponding to the second reset structure 15b abuts the left front end of the second reset structure 15b. The second convex part 113 can move with the crash cover 11 to press against the corresponding reset structure 15, so that the corresponding reset structure 15 is compressed and elastically deformed and accumulates elastic force; on the contrary, the reset structure 15 can be applied to the second convex part 113 to make the second convex part 113 drive the crash cover 11 to reset. The shape and size of the second convex part 113 can be set as needed.

[0100] By adopting the above scheme, the layout of the reset structure 15 relative to the crash cover 11 can be optimized, the reset structure 15 and the crash cover 11 can be reliably connected and the force (including the pressing force of the crash cover 11 on the reset structure 15 and the elastic force of the reset structure 15 on the crash cover 11) can be reliably transmitted through the second convex part 113, thereby facilitating the reset structure 15 to reliably realize the reset function of the crash cover 11.

[0101] And, since the reset structure 15 is arranged on the lower side of the crash cover 11, the crash cover 11 and the robot body 20 can hide and protect the reset structure 15, thereby improving the structural reliability, use reliability and service life of the collision detection mechanism 10. And, the planar space occupation of the collision detection mechanism 10 can also be compressed, the structural compactness of the collision detection mechanism 10 can be improved, and the space utilization rate can be improved.

[0102] Of course, in other embodiments, the reset structure 15 can be arranged on the side of the crash cover 11.

[0103] Please refer to Figure 2 , Figure 3 , Figure 5 In some embodiments of the present application, the lower side of the crash cover 11 is provided with a convex point 114 for point contact with the robot body 20.

[0104] It should be noted that the number and position of the convex point 114 can be set as needed. The convex point 114 can be a cylindrical, prismatic, conical, pyramidal, circular truncated cone, prismatic or other form of convex structure. The convex point 114 can be a solid structure or a hollow structure. In some embodiments, the convex point 114 is formed by injection molding, and because of the shrinkage phenomenon of injection molding, the convex point 114 is most likely to be a hollow structure.

[0105] By adopting the above scheme, the lower side of the crash cover 11 can mainly abut and contact the upper surface of the robot body 20 (of the first shell 21) through the convex point 114. Based on this, the crash cover 11 and the robot body 20 (of the first shell 21) can be caused to form point contact, which can reduce the contact area and friction therebetween, thereby improving the smoothness and stability of the crash cover 11 relative to the robot body 20 during planar movement, reducing the risk of jamming during planar movement of the crash cover 11, improving the sensitivity and accuracy of collision detection, and improving the structural reliability, use reliability of the collision detection mechanism 10.

[0106] Please refer to Figure 1 Some embodiments of the present application provide a cleaning robot, which includes a robot body 20 and a collision detection mechanism 10 provided by embodiments of the present application.

[0107] It should be noted that the cleaning robot can be a sweeping robot, a sweeping and mopping integrated robot, a wiping robot, a washing robot, or other household or commercial cleaning robots. The cleaning robot includes a robot body 20 and a collision detection mechanism 10 installed on the upper side of the robot body 20, and the collision detection mechanism 10 can adopt any of the collision detection mechanisms 10 provided by the above embodiments.

[0108] By adopting the above scheme, the cleaning robot can improve the obstacle avoidance performance and use performance by applying the collision detection mechanism 10 provided in the embodiments of the present application.

[0109] Of course, in other embodiments, the collision detection mechanism 10 provided in the embodiments of the present application can be applied to other self-moving robots, such as exploration robots, service robots, entertainment robots, etc.

[0110] The above only describes the preferred embodiments of the present application and is not used to limit the present application. Any modification, equivalent replacement or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A collision detection mechanism, characterized by, include: The collision shield is mounted on the upper side of the robot body in a planar movable manner; The collision detector is provided in at least two and has a triggering part that can be triggered by the collision shield; one of the collision detectors is located to the left rear of the collision shield and its triggering part is arranged to face to the right front; the other collision detector is located to the right rear of the collision shield and its triggering part is arranged to face to the left front.

2. The collision detection mechanism of claim 1, wherein, The collision detector is located on the lower side of the collision cover, and the lower side of the collision cover is provided with a first protrusion, which is correspondingly provided with the trigger part of the collision detector.

3. The collision detection mechanism of claim 1, wherein, The collision shield is provided with a connecting hole that runs through the vertical direction. The collision detection mechanism includes a connecting post and a limiting cap that are each provided with a corresponding connecting hole. The limiting cap stops on the upper side of the connecting hole. The connecting post passes through the connecting hole and connects between the robot body and the limiting cap. There is a gap between the hole wall of the connecting hole and the outer peripheral surface of the connecting post.

4. The collision detection mechanism of claim 3, wherein, The rear wall of the connecting hole has a positioning plane, which is perpendicular to the front-back direction.

5. The collision detection mechanism of any one of claims 1-4, wherein, The collision detection mechanism includes at least two reset structures, each reset structure including an elastic element, and one end of the reset structure along its elastic reset direction is connected to the collision shield. One of the reset structures is located at the left rear of the collision shield, and its elastic reset direction points to the right front; Another reset structure is located at the right rear of the collision shield, and its elastic reset direction points to the left front.

6. The collision detection mechanism of claim 5, wherein, The reset structure further includes a reset bracket, which is connected to one end of the elastic member along its elastic reset direction and abuts against the collision shield.

7. The collision detection mechanism of claim 6, wherein, The robot body is provided with a first mounting groove, the reset bracket is slidably mounted in the first mounting groove, and the elastic element is connected between the reset bracket and the groove wall of the first mounting groove; The reset bracket has protrusions on both sides, and the protrusions extend along the elastic reset direction of the elastic element.

8. The collision detection mechanism of claim 5, wherein, The reset structure is located on the lower side of the collision shield, and the lower side of the collision shield is provided with a second protrusion, which abuts against the end side of the reset structure along its elastic reset direction.

9. The collision detection mechanism of any one of claims 1-4, wherein, The lower side of the collision shield has protrusions for point contact with the robot body.

10. A cleaning robot, characterized in that, It includes the robot body and the collision detection mechanism as described in any one of claims 1-9.

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