Obstacle recognition device

Abstract

The utility model provides an obstacle recognition device, which belongs to the technical field of window cleaning machines, and comprises a base, a swing mechanism, a steering assembly and a control mechanism, the swing mechanism can be relatively rotatably arranged on the base, the steering assembly is arranged on one side of the swing mechanism facing a working surface, and a barrier plate is arranged on one side of the swing mechanism facing a machine body. A space limiting sensor electrically connected with the control mechanism is correspondingly arranged on the machine body, the baffle and the space limiting sensor jointly form a trigger switch, and the control mechanism receives and analyzes signals sent by the trigger switch to recognize whether an obstacle exists or not. The opening and closing states of the trigger switch can accurately reflect the existence and the position of the obstacle, and the accuracy of obstacle recognition is remarkably improved.

Description

Technical Field

[0001] This utility model belongs to the field of window cleaning machine technology, specifically relating to an obstacle recognition device. Background Technology

[0002] Existing window cleaning machines primarily rely on sensors placed along the machine's edge to identify obstacles. These sensors collide with obstacles and acquire corresponding signals, prompting the control system to drive the machine to perform an avoidance maneuver. However, this obstacle identification method results in direct collisions between the machine and the window edge, causing hard friction. This hard friction leads to wear and tear on the outer edge of the machine against the window edge, shortening the lifespan of the window cleaning machine. Furthermore, hard friction requires more force to overcome, increasing the motor load, consuming more electricity, and raising operating costs.

[0003] Therefore, it is necessary to design an obstacle recognition device that can effectively reduce wear and tear between the window cleaning machine and the window edge. Utility Model Content

[0004] The purpose of this invention is to provide an obstacle recognition device that addresses the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An obstacle recognition device is disposed within a mounting cavity on the edge of a machine body. The mounting cavity has an opening facing the working surface. The obstacle recognition device includes a base, a swing mechanism, a steering assembly, and a control mechanism. The base is C-shaped and faces the opening within the mounting cavity. An arc-shaped groove is provided on the base. The swing mechanism is rotatably mounted on the arc-shaped groove. The steering assembly is mounted on the swing mechanism facing the working surface. The steering assembly includes a rotating ring that protrudes from the edge of the machine body. The rotating ring rotates in a circular motion upon contacting the working surface. The swing mechanism includes a body on which sliding... A horizontal slider is provided, which moves horizontally relative to the main body. A baffle plate is provided on the side of the horizontal slider facing the main body. A spatial limit sensor electrically connected to the control mechanism is provided on the main body. The baffle plate and the spatial limit sensor together constitute a trigger switch. The control mechanism receives and analyzes the signal emitted by the trigger switch to identify whether there is an obstacle. An inclined groove is provided on the side of the horizontal slider facing the working surface. A vertical slider is slidably mounted on the inclined groove. The vertical slider moves vertically relative to the main body. The vertical slider is connected to a universal wheel embedded in the rotating ring through a connecting rod.

[0007] Furthermore, the maximum sliding distance L1 of the vertical slider in the inclined groove and the maximum horizontal movement distance L2 of the horizontal slider relative to the body satisfy the following relationship:

[0008] L2=L1xCOSθ

[0009] Wherein, θ is the angle of the inclined chute relative to the sliding direction of the horizontal slider.

[0010] Further, the body is provided with a limiting block limiting the sliding distance of the horizontal slider.

[0011] Further, the limiting block is a protrusion provided on the upper surface of the body, and the horizontal slider is provided with a limiting slot, the protrusion is clamped in the limiting slot, and the maximum sliding distance of the limiting block in the limiting slot is the maximum sliding distance L2 of the horizontal slider relative to the body.

[0012] Further, the space limiting sensor is one of an optical coupling sensor, a hall sensor, an infrared sensor and a reed sensor.

[0013] Further, the space limiting sensor is an optical coupling sensor, the optical coupling sensor comprises a light emitting diode and a photosensitive element, and the blocking plate is arranged between the light emitting diode and the photosensitive element and used for blocking the transmission of a light signal from the light emitting diode to the photosensitive element.

[0014] Further, the positions of the light emitting diode and the photosensitive element are opposite, and two of each are provided, two light emitting diodes are arranged at left and right ends above the blocking plate, and two photosensitive elements are arranged at left and right ends below the blocking plate and used for identifying the left and right movements of the blocking plate.

[0015] Compared with the prior art, the utility model has the advantages that:

[0016] The obstacle recognition device adopts the trigger switch principle, integrates the blocking plate and the space limiting sensor into a multifunctional trigger switch, has the dual functions of recognizing the position of the obstacle and the contact state of the universal wheel and the window body, significantly simplifies the device structure, reduces the number of components, and improves the reliability of the device. By moving the blocking plate left and right in the space limiting sensor, the opening and closing states of the trigger switch can accurately reflect the existence and position of the obstacle, thereby significantly improving the accuracy of obstacle recognition. At the same time, the rolling friction mode between the universal wheel and the window body effectively reduces the generation of noise and vibration compared with the traditional hard friction, further improves the stability and cleaning precision of the window cleaning machine. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the utility model, and constitute a part of the specification, and are used to explain the utility model together with embodiments of the utility model, and do not constitute the limitation to the utility model. In the drawings:

[0018] Fig. 1 The schematic view of the obstacle identification device in the embodiment is installed;

[0019] Fig. 2 The schematic view of the obstacle identification device in the embodiment is installed;

[0020] Fig. 3 The schematic view of the obstacle identification device in the embodiment is installed;

[0021] Fig. 4 The schematic view of the base in the embodiment is installed;

[0022] In the figure: 1-obstacle identification device, 11-base, 111-arc-shaped sliding groove, 12-oscillating mechanism, 121-body, 122-horizontal sliding block, 123-blocking plate, 124-inclined sliding groove, 125-vertical sliding block, 126-connecting rod, 127-limiting block, 128-limiting sliding groove, 13-turning assembly, 131-rotating ring, 2-machine body, 21-mounting cavity, 22-opening, 23-optical coupling sensor, 231-light emitting diode, 232-light sensitive element. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skilled in the art without creative labor belong to the protection scope of the utility model.

[0024] As Figs. 1 to 4As shown, the obstacle recognition device 1 of the embodiment is arranged in the mounting cavity 21 at the edge of the machine body 2, and the mounting cavity 21 is provided with an opening 22 towards the working surface side. The obstacle recognition device 1 comprises a base 11, a swing mechanism 12, a steering assembly 13 and a control mechanism. The base 11 is in a C shape and is arranged in the mounting cavity 21 towards the opening 22. The base 11 is provided with an arc-shaped sliding groove 111, and the swing mechanism 12 is arranged on the arc-shaped sliding groove 111 in a rotatable manner. The steering assembly 13 is arranged on the swing mechanism 12 towards the working surface side, and the steering assembly 13 comprises a rotating ring 131. The rotating ring 131 protrudes from the edge of the machine body 2 and rotates in a circular motion when touching the working surface. The swing mechanism 12 comprises a body 121, and a horizontal sliding block 122 is arranged on the body 121 in a sliding manner. The horizontal sliding block 122 moves horizontally relative to the body 121. The horizontal sliding block 122 is provided with a blocking plate 123 towards the machine body 2 side. A space limit sensor electrically connected with the control mechanism is arranged on the machine body 2 correspondingly. The space limit sensor of the embodiment is a light coupling sensor 23. The blocking plate 123 and the light coupling sensor 23 jointly constitute a trigger switch. The control mechanism receives and analyzes the signal sent by the trigger switch to identify whether there is an obstacle. The horizontal sliding block 122 is provided with an inclined sliding groove 124 towards the working surface side. A vertical sliding block 125 is arranged on the inclined sliding groove 124 in a sliding manner. The vertical sliding block 125 moves vertically relative to the body 121. The vertical sliding block 125 is connected with a universal wheel 132 embedded in the rotating ring 131 through a connecting rod 126.

[0025] Further, the maximum sliding distance L1 of the vertical sliding block 125 in the inclined sliding groove 124 and the maximum horizontal movement distance L2 of the horizontal sliding block 122 relative to the body 121 satisfy the following relationship:

[0026] L2 = L1 × COSθ

[0027] In the formula, θ is the angle of the inclined sliding groove 124 relative to the sliding direction of the horizontal sliding block 122.

[0028] Further, the body 121 is provided with a limiting block 127 limiting the sliding distance of the horizontal sliding block 122.

[0029] Further, the limiting block 127 is a protrusion arranged on the upper surface of the body 121. The horizontal sliding block 122 is provided with a limiting sliding groove 128, and the protrusion is clamped in the limiting sliding groove 128. The maximum sliding distance of the limiting block 127 in the limiting sliding groove 128 is the maximum sliding distance L2 of the horizontal sliding block 122 relative to the body 121.

[0030] Further, the light coupling sensor 23 comprises a light emitting diode 231 and a photosensitive element 232. The blocking plate 123 is arranged between the light emitting diode 231 and the photosensitive element 232 to block the transmission of the light signal from the light emitting diode 231 to the photosensitive element 232.

[0031] Further, the light emitting diodes 231 and the light sensitive elements 232 are opposite to each other, and each is provided with two, two light emitting diodes 231 are arranged on the left and right ends above the blocking plate 123, and two light sensitive elements 232 are arranged on the left and right ends below the blocking plate 123, for identifying the left and right movement of the blocking plate 123.

[0032] As a preferred, the space limiting sensor can also be one of a Hall sensor, an infrared sensor, and a reed sensor.

[0033] The working principle of the obstacle recognition device 1 of the embodiment is as follows: when the universal wheel 132 contacts the window body, the vertical sliding block 125 is driven by the connecting rod 126 to move vertically relative to the body 121, and at the same time, the vertical sliding block 125 slides along the inclined sliding groove 124, and the angle θ of the inclined sliding groove 124 relative to the sliding direction of the horizontal sliding block 122 is used to make the horizontal sliding block 122 move horizontally relative to the body 121 while the vertical sliding block 125 moves vertically, and the movement of the horizontal sliding block 122 drives the blocking plate 123 to move towards the space limiting sensor 23 arranged on the machine body 2, at this time, the blocking plate 123 blocks the transmission channel between the light-emitting diode 231 and the photosensitive element 232 in the optical coupling sensor 23, and triggers the switch to be in the closed state; when the edge of the window cleaning machine touches the obstacle, the rotating ring 131 moves in a circular motion and drives the swing mechanism 12 to rotate along the arc-shaped sliding groove 111, at this time, the blocking plate 123 at the end of the horizontal sliding block 122 moves left and right between the light-emitting diode 231 and the photosensitive element 232, when the blocking plate 123 moves to the left, the blocking plate 123 no longer blocks the transmission channel between the right light-emitting diode 231 and the photosensitive element 232, at this time, the trigger switch is in the open state, and the control assembly identifies the signal at this time as that there is an obstacle on the left side of the rotating ring 131, and drives the window cleaning machine to move to the right side of the rotating ring 131 to avoid the obstacle, conversely, when the blocking plate 123 moves to the right, the control assembly identifies the signal at this time as that there is an obstacle on the right side of the rotating ring 131; the obstacle recognition device 1 of the present application adopts the principle of optical coupling, integrates the blocking plate 123 and the optical coupling sensor 23 into a multifunctional trigger switch, has the dual functions of identifying the direction of the obstacle and the contact state of the universal wheel 132 with the window body, significantly simplifies the structure of the device, reduces the number of components, and improves the reliability of the device. Through the left and right movement of the blocking plate 123 between the light-emitting diode 231 and the photosensitive element 232, the opening and closing states of the trigger switch can accurately reflect the existence and position of the obstacle, thereby significantly improving the accuracy of obstacle recognition. In addition, the optical coupling sensor 23 has natural insensitivity to electromagnetic interference, effectively enhancing the stability of signal transmission. At the same time, the rolling friction between the universal wheel 132 and the window body effectively reduces the generation of noise and vibration compared with the traditional hard friction, further improving the stability and cleaning accuracy of the window cleaning machine.

[0034] Finally, it should be pointed out that: the above only describes the preferred embodiments of the present application and is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or make equivalent replacement of some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An obstacle recognition device provided in a mounting cavity of a machine body edge, the mounting cavity being provided with an opening toward a working surface side, characterized in that: The obstacle identification device comprises a base, a swing mechanism, a steering assembly and a control mechanism, the base is C-shaped towards the opening and is arranged in the mounting cavity, an arc-shaped sliding groove is arranged on the base, the swing mechanism is arranged on the arc-shaped sliding groove in a relative rotation manner, the steering assembly is arranged on the swing mechanism towards the working surface side, the steering assembly comprises a rotating ring, the rotating ring protrudes from the edge of the body, the rotating ring makes a circular motion by touching the working surface, the swing mechanism comprises a body, a horizontal sliding block is arranged on the body in a sliding manner, the horizontal sliding block makes a horizontal motion relative to the body, a blocking plate is arranged on the horizontal sliding block towards the body side, a space limit sensor is arranged on the body and is electrically connected with the control mechanism, the blocking plate and the space limit sensor jointly constitute a trigger switch, the control mechanism receives and analyzes the signal sent by the trigger switch to identify whether there is an obstacle, an inclined sliding groove is arranged on the horizontal sliding block towards the working surface side, a vertical sliding block is arranged on the inclined sliding groove in a sliding manner, the vertical sliding block makes a vertical motion relative to the body, the vertical sliding block is connected with a universal wheel embedded in the rotating ring through a connecting rod.

2. The obstacle recognition device of claim 1, wherein: The maximum sliding distance L1 of the vertical sliding block in the inclined sliding groove and the maximum horizontal motion distance L2 of the horizontal sliding block relative to the body satisfy the following relationship: L2=L1×COSθ In the formula, θ is the angle of the inclined sliding groove relative to the sliding direction of the horizontal sliding block.

3. The obstacle recognition device of claim 1, wherein: A limit block is arranged on the body to limit the sliding distance of the horizontal sliding block.

4. The obstacle recognition device of claim 3, wherein: The limit block is a protruding block arranged on the upper surface of the body, a limit sliding groove is arranged on the horizontal sliding block, the protruding block is clamped in the limit sliding groove, and the maximum sliding distance of the limit block in the limit sliding groove is the maximum sliding distance L2 of the horizontal sliding block relative to the body.

5. The obstacle recognition device of claim 1, wherein: The space limit sensor is one of an optical coupling sensor, a Hall sensor, an infrared sensor and a reed sensor.

6. A device according to claim 5, wherein: The space limit sensor is an optical coupling sensor, the optical coupling sensor comprises a light-emitting diode and a photosensitive element, the blocking plate is arranged between the light-emitting diode and the photosensitive element to block the transmission of the light signal from the light-emitting diode to the photosensitive element.

7. A device according to claim 6, wherein: The positions of the light-emitting diode and the photosensitive element are opposite, and two of each are arranged, two light-emitting diodes are arranged on the left and right ends above the blocking plate, two photosensitive elements are arranged on the left and right ends below the blocking plate to identify the left and right motion of the blocking plate.

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