Collision detection mechanism of sweeper and sweeper

Abstract

The utility model discloses a collision detection mechanism of a sweeper and the sweeper. The collision detection mechanism of the sweeper comprises a mounting base, a radome, a trigger switch and a reset piece. The trigger switch is installed on the installation base. The radome includes a trigger portion. Under the condition that the radome collides with an obstacle, the trigger part triggers the trigger switch, and the reset piece deforms. And under the condition that the radome does not collide with the obstacle, the radome is reset under the action of the reset piece. Therefore, not only is the collision detection mechanism of the sweeper simple in structure and convenient to install, but also the collision detection range is large.

Description

Technical Field

[0001] This application relates to the field of collision detection technology, and in particular to a collision detection mechanism for a sweeping machine and the sweeping machine itself. Background Technology

[0002] Robotic vacuum cleaners use a collision detection mechanism to avoid collisions. This mechanism includes a connecting mechanism and a trigger switch. The radar dome is matched to the trigger switch via the connecting mechanism. When the radar dome collides with an object (such as furniture), the feedback is transmitted through the connecting mechanism to the corresponding trigger switch for multi-directional detection.

[0003] The connection mechanism of the aforementioned collision detection mechanism includes parallel floating shafts and multiple holes that cooperate with the floating shafts, thus making the structure of the collision detection mechanism complex. Utility Model Content

[0004] The purpose of this application is to disclose a collision detection mechanism for a sweeping machine and the sweeping machine itself. The collision detection mechanism of the sweeping machine has a simple structure.

[0005] In a first aspect, this application discloses a collision detection mechanism for a sweeping machine. The collision detection mechanism includes a mounting base, a radar dome, a trigger switch, and a reset component. The trigger switch is mounted on the mounting base. The radar dome is connected to the mounting base; the radar dome includes a triggering part; when the radar dome collides with an obstacle, the triggering part triggers the trigger switch, and the reset component deforms; when the radar dome does not collide with the obstacle, the radar dome resets under the action of the reset component.

[0006] In some embodiments, the radome is connected to the mounting base via a rotating mechanism; the radome rotates around the rotating mechanism as a fulcrum in the event of a collision with an obstacle.

[0007] In some embodiments, one of the collision member and the mounting base is provided with a rotating shaft, and the other is provided with an opening. The opening has an arc-shaped cross-section along the radial direction of the rotating shaft, and the rotating shaft is located within the opening, thus forming the rotating mechanism.

[0008] In some embodiments, the collision detection mechanism of the sweeping machine includes two support mechanisms, and the line connecting the two support mechanisms and the rotating mechanism forms an isosceles obtuse triangle or an isosceles right triangle, with the rotating mechanism serving as the vertex of the isosceles obtuse triangle or the isosceles right triangle; each support mechanism includes an elastic element capable of applying elastic force to the radome.

[0009] In some embodiments, the radar cover comprises a cover body for covering the radar, the connection between the rotating mechanism and the trigger switch passes through the cover body, and the connection between the rotating mechanism and the trigger switch is coincident with the height of the isosceles acute triangle, or is coincident with the height of the isosceles right triangle.

[0010] In some embodiments, each support mechanism comprises a support column arranged on one of the radar cover and the mounting seat, and a column sleeve arranged on the other; the support column penetrates the elastic member and is inserted into the column sleeve together with the elastic member.

[0011] In some embodiments, the elastic member comprises an inner wall and an outer wall arranged in concentric circles; the inner wall encloses a penetrating hole; the support column penetrates the penetrating hole; and the outer wall is sleeved with the column sleeve.

[0012] In some embodiments, the depth of the support column inserted into the column sleeve is less than the height of the support column.

[0013] In some embodiments, the elastic member comprises a plurality of support ribs distributed along the circumference of the elastic member, and each of the support ribs is connected to the inner wall and the outer wall at two ends thereof.

[0014] In some embodiments, the inner wall is clamped into a clamping groove of the outer wall of the support column, and the outer wall is clamped into a groove inside the column sleeve; the clamping groove surrounds the support column, and the groove surrounds the column sleeve.

[0015] In some embodiments, the radar cover comprises a cover body, the mounting seat comprises a mounting groove for mounting the radar cover, the mounting groove comprises a first side wall, a second side wall and a third side wall; the first side wall and the second side wall are oppositely arranged and form a U shape with the third side wall; the rotating mechanism is located between the first side wall and the cover body, and the trigger switch and the reset member are both located between the cover body and the third side wall.

[0016] In a second aspect, the present application discloses a sweeping machine. The sweeping machine comprises a radar, a control board and the collision detection mechanism of any one of the foregoing sweeping machines, the control board is connected with the trigger switch. The radar is assembled in a mounting seat and protrudes from the mounting seat. The radar cover covers the radar.

[0017] Regarding the collision detection mechanism and the sweeper, since the collision detection mechanism includes a mounting base, a radar dome, a trigger switch, and a reset component, and the triggering part triggers the trigger switch to achieve collision detection, the collision detection mechanism of the sweeper has at least the following beneficial effects: a) The collision detection mechanism of the sweeper has a simple structure. For example, the combination of the reset component and the trigger switch is easier to assemble, simpler in structure, and lower in cost compared to the combination of parallel floating shafts and corresponding holes; b) It can achieve multi-directional and multi-angle collision detection. For example, on the one hand, a collision between the top of the radar dome and an obstacle can trigger the trigger switch, ultimately achieving collision detection; on the other hand, with the sweeper's forward direction as a reference, the triggering part can trigger the trigger switch within a range of ±90 degrees to achieve collision detection. Attached Figure Description

[0018] Figure 1 This is a perspective view of a sweeping machine according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of an assembly consisting of a radar, a mounting base, and a reset member, according to an embodiment of this application.

[0020] Figure 3 This is a perspective view showing the collision detection mechanism of a sweeping machine according to an embodiment of this application;

[0021] Figure 4 yes Figure 3 Exploded view;

[0022] Figure 5 yes Figure 4 Enlarged view of section A;

[0023] Figure 6 This is a schematic diagram of a radome shown according to an embodiment of this application;

[0024] Figure 7 yes Figure 3 A top view of the collision detection mechanism of the sweeper shown;

[0025] Figure 8 It is along Figure 7 A cross-sectional view of the BB line;

[0026] Figure 9 yes Figure 8 Enlarged view of section C;

[0027] Figure 10 It is along Figure 7 A cross-sectional view of the DD line;

[0028] Figure 11 yes Figure 10Enlarged view of the middle E portion;

[0029] Figure 12 is a perspective view of an elastic member according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments (or, the “embodiments”) of the present application will be clearly and completely described herein with reference to the accompanying drawings. In the following description, identical numbers in different drawings represent the same or similar elements unless otherwise indicated.

[0031] If the embodiments of the present application involve directional indications or positional relationships (for example, up, down, left, right, front, back, inner, outer, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such directional indications or positional relationships are used only to explain the relative positional relationships, movement conditions, etc. between components in a certain posture (as shown in the drawings); if the certain posture changes, the directional indications or positional relationships also change accordingly. In addition, the terms “first”, “second”, etc. in the embodiments of the present application are used only for the convenience of description, and cannot be understood as indicating or implying relative importance.

[0032] Referring to Figure 2 , Figure 3 , Figure 4 , Figure 7 and Figure 10 in combination with Figure 1 and Figure 8 , the present application discloses a collision detection mechanism 10 of a sweeping machine. The collision detection mechanism 10 of the sweeping machine comprises a mounting seat 1, a radar cover 2, a trigger switch 3 and a reset member 4.

[0033] Referring to Figure 2 , in the embodiments of the present application, the sweeping machine comprises a radar 5. The radar 5 is assembled to the mounting seat 1, and the radar cover 2 is used to cover the radar 5. In this way, the radar 5 can be protected. Referring to Figure 6 in combination with Figure 1 , Figure 2 , Figure 3 , Figure 8 and Figure 10 , the radar cover 2 is connected with the mounting seat 1 and comprises a cover body 21. The cover body 21 can be hollow or not hollow. The cover body 21 covers the radar 5. The structure of the mounting seat 1 is not limited, and can be any component of the sweeping machine as long as it can be assembled with related components. How the radar cover 2 is connected with the mounting seat 1 is not limited, as long as it can trigger the trigger switch 3 in cooperation with the reset member 4 when colliding with an obstacle. In combination with Figure 3 , Figure 4 , Figure 7 and Figure 8It can be seen that the radar cover 2 is installed in the installation groove 19 of the installation base 1. The trigger switch 3 is installed on the installation base 1. The structure of the reset member 4 is not limited, such as a spring, a spring sheet or a rubber pad, etc., which can be elastic. Of course, in some embodiments, the reset member 4 can cooperate with other components to form a reset mechanism.

[0034] Referring to Figure 6 , the radar cover 2 comprises a trigger part 22. The trigger part 22 is used to trigger the trigger switch 3, and the structure thereof is not limited. In the embodiments of the present application, referring to Figure 6 and combining Figure 10 and Figure 11 , the trigger part 22 is arranged on the edge of the radar cover 2.

[0035] Referring to Figure 10 and Figure 8 and combining Figure 4 and Figure 2 , in the case that the radar cover 2 collides with an obstacle, the trigger part 22 triggers the trigger switch 3, the signal of the trigger switch 3 is transmitted to the control panel, and the control panel performs relevant actions according to the signal, thereby realizing anti-collision detection. In this process, the reset member 4 is deformed. In the case that the radar cover 2 does not collide with the obstacle (for example, the radar cover 2 leaves the obstacle), the radar cover 2 is reset under the action of the reset member 4. The structure of the reset member 4 is not limited, and at least the deformation and the reset of the radar cover 2 after the deformation are realized. After the reset of the radar cover 2, the robot cleaner continues to work.

[0036] As described above, the collision detection mechanism of the robot cleaner comprises the installation base 1, the radar cover 2, the trigger switch 3 and the reset member 4. The trigger part 22 triggers the trigger switch 3, and then collision detection is realized, thereby the collision detection mechanism of the robot cleaner at least has the following beneficial effects:

[0037] a) The structure of the collision detection mechanism of the robot cleaner is simple, for example, the combination of the reset member and the trigger switch is compared with the combination of the parallel floating shaft and the corresponding hole, which is convenient to assemble, simple in structure and low in cost;

[0038] b) Multi-direction and multi-angle collision detection can be realized, for example, on the one hand, the collision of the upper part of the radar cover 2 with an obstacle can make the trigger part 22 trigger the trigger switch 3, and finally realize collision detection; on the other hand, with reference to the forward direction of the robot cleaner (as shown by the arrow F), the trigger part 22 can trigger the trigger switch 3 within the range of plus or minus 90 degrees, and realize collision detection; in summary of the above two aspects, the upper part and the front part of the radar cover 2 within the range of plus or minus 90 degrees can realize collision detection, and multi-direction and multi-angle collision detection is realized. Figure 1

[0039] ​In some embodiments, the radome 2 is connected with the mounting base 1 through a rotating mechanism 6, the specific structure of which is not limited, and at least can realize the fulcrum effect as described below. In the case that the radome 2 collides with an obstacle, the radome 2 rotates with the rotating mechanism 6 as the fulcrum, so that the triggering part 22 of the radome 2 triggers the triggering switch 3. When the obstacle is no longer in contact with the radome 2, the radome 2 can rotate with the rotating mechanism 6 as the fulcrum under the action of the reset member 4 until it is reset. After the radome 2 is reset, the robot sweeper continues to work.

[0040] As described above, the radome 2 rotates with the rotating mechanism 6 as the fulcrum, and compared with the combination of parallel floating shaft and corresponding hole, the structure has low complexity, is easy to assemble, is simple in structure, and has low cost.

[0041] Referring to Figure 11 , Figure 5 and Figure 6 in combination with Figure 2 , Figure 4 and Figure 10 , an embodiment of the rotating mechanism 6 is described as follows: the radome 2 is provided with a rotating shaft 23. The mounting base 1 is provided with an opening 13. The cross section of the opening 13 along the radial direction of the rotating shaft 23 is arc-shaped (or is composed of an arc-shaped arch). In other embodiments, the radome 2 can be provided with the opening 13, and the mounting base 1 can be provided with the rotating shaft 23. The shape of the opening 13 is not limited to the foregoing shape, and can only form a half-open rotating shaft structure with the rotating shaft 23. Regardless of the arrangement, referring to Figure 11 , the rotating shaft 23 is located in the opening 13 to form the rotating mechanism 6.

[0042] As described above, by the cross section of the opening 13 along the radial direction of the rotating shaft 23 being arc-shaped and the rotating shaft 23 being located in the opening 13, a half-open rotating mechanism 6 is formed. On the one hand, the rotating mechanism 6 is simple in structure and reduces the structural complexity, so that the collision detection mechanism of the robot sweeper is simple in structure, easy to install, and low in cost. On the other hand, the opening 13 cooperates with the rotating shaft 23 to form a half-open rotating shaft structure, the degree of freedom is increased, the radome 2 is more flexible in movement, and the collision detection range is larger.

[0043] Referring to Figure 2 and Figure 4 in combination with Figure 8 , the collision detection mechanism of the robot sweeper includes two support mechanisms 7, and the connecting line between the two support mechanisms 7 and the rotating mechanism 6 forms an isosceles obtuse triangle (see Figure 2isosceles obtuse triangle, of course, the isosceles obtuse triangle is not limited to the position relationship as shown in the figure). Of course, in some embodiments, it can also be an isosceles right triangle. The rotating mechanism 6 is the vertex of the isosceles obtuse triangle or the isosceles right triangle. Whether it is an isosceles obtuse triangle or an isosceles right triangle, see Figure 9 and Figure 8 and in combination with Figure 2 Each of the support mechanisms 7 includes an elastic member 71 capable of applying an elastic force to the radome 2. The structure of the elastic member 71 is not limited and can be a spring, a soft rubber pad, or the like.

[0044] As set forth above, since each of the support mechanisms 7 includes the elastic member 71 and the lines connecting the two support mechanisms 7 and the rotating mechanism 6 form an isosceles obtuse triangle or an isosceles right triangle, the support force of the support mechanisms 7 on the radome 2 is uniform, so that when the trigger switch 3 needs to be triggered, the radome 2 as a whole synchronously descends to facilitate triggering of the trigger switch, and in the process of resetting of the radome 2, the two sides of the radome 2 can be synchronously reset due to the uniform force, and in addition, the elastic force of the elastic member 71 causes the radome 2 to be at a certain distance from the mounting base 1 (the distance can be referred to as d in Figure 9 After the radome 2 collides with an obstacle, the degree of freedom can be increased and the radome 2 moves more flexibly, and the collision detection range is larger. In addition, the collision detection mechanism of the sweeping machine includes the support mechanisms 7, the mounting base 1, the radome 2, the trigger switch 3, and the resetting member 4, and the structure of the collision detection mechanism of the sweeping machine is low in complexity and simple in structure and is convenient to install.

[0045] Referring to Figure 2 and Figure 4 The radome 2 includes a cover body 21 for covering the radar. The cover body 21 can be in the shape of a circular truncated cone and the shape is not limited. The line connecting the rotating mechanism 6 and the trigger switch 3 passes through the cover body 21. Referring to Figure 2 When the support mechanisms 7 and the rotating mechanism 6 form an isosceles obtuse triangle, the line connecting the rotating mechanism 6 and the trigger switch 3 coincides with the height of the isosceles obtuse triangle, or when the line connecting the rotating mechanism 6 and the trigger switch 3 forms an isosceles right triangle, the line coincides with the height of the isosceles right triangle. The position of the line can be referred to as D-D line in Figure 7 .

[0046] As set forth above, since the line connecting the rotating mechanism 6 and the trigger switch 3 passes through the cover body 21 and the line connecting the rotating mechanism 6 and the trigger switch 3 coincides with the height of the isosceles right triangle or the isosceles obtuse triangle, in the case where the radome rotates with the rotating mechanism 6 as the fulcrum, the trigger switch 3 is more easily triggered.

[0047] Referring to Figure 9 and in combination with Figure 2 and Figure 4 , each support mechanism 7 comprises a support column 73 arranged on the radome 2 and a column sleeve 72 arranged on the mounting base 1. In other embodiments, the radome 2 can be arranged with the support column 73 and the mounting base 1 can be arranged with the column sleeve 72. Regardless of the embodiment, the support column 73 penetrates the elastic member 71 and is inserted into the column sleeve 72 together with the elastic member 71.

[0048] As arranged above, the support column 73 penetrates the elastic member 71 and is inserted into the column sleeve 72 together with the elastic member 71, which is low in complexity and facilitates installation. This assembly mode ensures that the column sleeve 72 is elastically supported by the elastic member 71. The elasticity (understandably as flexibility) of the elastic member 71 has a certain strengthening effect on the cooperation between the column sleeve 72 and the support column 73. In turn, the radome 2 has a certain amount of movement allowance (the movement allowance can be seen from the distance d provided in Figure 9 ) between the radome 2 and the mounting base 1 after the radome 2 collides with an obstacle. In turn, the radome 2 is more flexible in movement and has a larger collision detection range.

[0049] Referring to Figure 12 and in combination with Figure 9 , the elastic member 71 comprises an inner wall 711 and an outer wall 712 arranged in concentric circles. The inner wall 711 surrounds a penetrating hole 713; the support column 73 penetrates the penetrating hole 713. The outer wall 712 is sleeved by the column sleeve 72. Referring to Figure 9 , the column sleeve 72 comprises a column sleeve cavity 720. The inner wall 711 is sleeved on the circumference of the support column 73 and is inserted into the column sleeve cavity 720 together with the support column 73 to realize that the outer wall 712 is sleeved by the column sleeve 72.

[0050] As arranged above, the elastic member 71 comprises the inner wall 711 and the outer wall 712. The inner wall 711 facilitates assembly with the support column 73, and the outer wall 712 facilitates assembly with the column sleeve 72. In addition, the outer wall 712 protrudes in the radial direction relative to the support column 73, and thus can better support the column sleeve 72 and the radome 2 thereof, thereby ensuring that the radome 2 is flexible in movement.

[0051] Referring to Figure 9 , in some embodiments, the depth at which the support column 73 is inserted into the column sleeve 72 is less than the height of the support column 73, that is, the support column 73 is only partially inserted into the column sleeve 72, and in turn, there is a distance d as shown in Figure 9 .

[0052] As set forth above, the depth of the support column 73 inserted into the column sleeve 72 is less than the height of the support column 73, which is equivalent to the column sleeve 72 being suspended, in combination with the elastic force of the elastic member 71, so as to ensure flexible movement of the radome 2.

[0053] Referring to Figure 12 and Figure 9 , the elastic member 71 comprises a plurality of support ribs 714 distributed along the circumference of the elastic member 71. Both ends of each of the support ribs 714 are connected to the inner wall 711 and the outer wall 712, respectively.

[0054] As set forth above, by arranging the support ribs 714, the elastic member 71 has elasticity and also has a certain strength, thereby better supporting the radome 2, increasing the degree of freedom, making the radome 2 move more flexibly, having a larger collision detection range, and facilitating the radome 2 to reset. After the radome 2 is reset, the robot cleaner continues to work.

[0055] Referring to Figure 9 , the inner wall 711 is clamped into the clamping groove of the outer wall of the support column 73, and the outer wall 712 is clamped into the groove inside the column sleeve 72. The clamping groove surrounds the outer wall of the support column 73, and the groove surrounds the column sleeve 72. In Figure 9 , the groove surrounds the inner wall of the column sleeve cavity 720.

[0056] As set forth above, by arranging the groove and the clamping groove, and clamping the inner wall 711 into the clamping groove and the outer wall into the groove, the support column 73 and the column sleeve 72 are not easy to loosen during the collision of the radome, and can still be reliably and elastically connected, so as to ensure that the column sleeve 72 is elastically supported (which can be understood as being suspended), and in turn, the reliable and elastic connection ensures that the radome 2 moves flexibly.

[0057] Referring to Figure 2 and in combination with Figure 4 , the radome 2 comprises a radome body 21. The mounting seat 1 comprises a mounting groove 19 for mounting the radome 2, and the mounting groove 19 comprises a first side wall 191, a second side wall 192, and a third side wall 193. The first side wall 191 and the second side wall 192 are oppositely arranged, such as parallel or substantially parallel, etc. The two ends of the third side wall 193 are connected to the second side wall 192 and the first side wall 191, respectively, so that the first side wall 191, the second side wall 192, and the third side wall 193 form a U shape. The rotating mechanism 6 is arranged on the first side wall 191. The trigger switch 3 and the reset member 4 are located between the radome body 21 and the second side wall 192, and more specifically, the position of the radome body 21 can be seen from the position of the radar 5 in Figure 2 . In Figure 2In the embodiment shown, the reset member 4 is located in the corner formed by the cover 21, the second side wall 192 and the third side wall 193. Of course, the position of the reset member 4 is not limited to Figure 2 the position shown.

[0058] As described above, since the rotating mechanism 6 is arranged on the first side wall 191 and the rotating mechanism 6 serves as a fulcrum, in the case where the first side wall 191 and the second side wall 192 are arranged opposite to each other to form a U shape with the third side wall 193, the trigger switch 3 and the reset member 4 are located between the cover 21 and the second side wall 192 and at the other end of the lever, so that when the radar cover 2 collides with an obstacle, the reset member 4 is deformed to trigger the trigger switch 3, and correspondingly, when the radar cover 2 separates from the obstacle, the reset member 4 resets the radar cover 2, and after the radar cover 2 is reset, the robot cleaner continues to work.

[0059] In a second aspect, the application discloses a robot cleaner. The robot cleaner comprises a radar, a control panel and the collision detection mechanism of any one of the foregoing robot cleaners. The control panel is connected with the trigger switch 3, so that after the control panel receives the signal of the trigger switch 3, the control panel can give a corresponding instruction to make the robot cleaner avoid the obstacle. The radar 5 is assembled on the mounting base 1 and protrudes from the mounting base 1. The radar 5 protrudes from the body to achieve the function of environmental perception and the like. Based on the function of the radar 5 protruding from the mounting base 1, how to protrude is not limited as long as the detection function described above can be achieved. The radar cover 2 covers the radar 5.

[0060] As described above, the radar cover 2 covers the radar 5 to achieve the function of protecting the radar and preventing the radar from being damaged and the like, and cooperates with the foregoing components to achieve the function of collision detection by using the radar cover 2, so that the radar 5 does not need to be provided with a protection component, and the structure of the robot cleaner is simple.

[0061] It should be noted that the technical solutions or technical features described in the foregoing embodiments can be combined or supplemented with each other without conflict. The scope of protection of the application is not limited to the precise structures described in the foregoing embodiments and shown in the accompanying drawings; any modification, equivalent replacement, improvement and the like made within the spirit and principle of the application should be included in the scope of protection of the application.

Claims

1. A collision detection mechanism of a robot sweeper, characterized by, The collision detection mechanism of the sweeper comprises a mounting seat, a radar cover, a trigger switch and a reset member. The trigger switch is mounted on the mounting seat. The radar cover is connected with the mounting seat, and comprises a trigger part.

2. The collision detection mechanism of the robot sweeper according to claim 1, wherein, The radar cover is connected with the mounting seat through a rotating mechanism.

3. The collision detection mechanism of the robot sweeper according to claim 2, wherein, One of the collision member and the mounting seat is provided with a rotating shaft, and the other is provided with an opening.

4. The collision detection mechanism of the robot sweeper according to claim 2, wherein, The collision detection mechanism of the sweeper comprises two support mechanisms.

5. The collision detection mechanism of the robot sweeper according to claim 4, wherein, The radar cover comprises a cover body.

6. The collision detection mechanism of the robot sweeper according to claim 5, wherein, The rotating mechanism is located between the first side wall and the cover body.

7. The collision detection mechanism of the robot sweeper according to claim 6, wherein, The sweeper comprises a radar, a control board and the collision detection mechanism of the sweeper. ​ 8. The collision detection mechanism of the robot sweeper according to claim 7, wherein, ​ 9. The collision detection mechanism of the robot sweeper according to claim 7, wherein, ​ 10. The collision detection mechanism of the robot sweeper according to claim 2, wherein, ​ ​ 11. A robot vacuum cleaner characterised in that, ​

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