Collision protection structure, movable device and cleaning equipment

Abstract

The utility model provides a collision protection structure, a movable device and cleaning equipment, the collision protection structure comprises an air bag, the air bag is provided with a mounting surface and a collision surface, the mounting surface is used for being matched with a mounting part of a part to be protected, and the collision surface is used for bearing the collision of an external object; and the air pressure sensor is used for detecting the air pressure in the air bag. According to the collision protection structure, the technical problem that the collision protection effect of a robot in the related technology is poor is solved.

Description

Technical Field

[0001] This utility model relates to the field of robot collision protection, specifically to a collision protection structure, a movable device, and a cleaning equipment. Background Technology

[0002] With the advancement of technology, more and more intelligent robot products are becoming popular. These robot products (including but not limited to those with roller motion, tracked motion, and multi-legged motion) can usually move autonomously, thereby achieving flexible operation in different locations.

[0003] These robotic products typically use components such as LiDAR and cameras to collect information about their surroundings and then plan their movement paths accordingly. However, it is still impossible to completely avoid collisions with external objects during robot movement. In related technologies, the collision protection of robots is inadequate, making them susceptible to damage from bumps or knocking over external objects.

[0004] For example, robotic vacuum cleaners in this technology often have a front-collision structure made of plastic, which frequently collides with furniture and other objects. Although a single collision by the robot may not cause significant damage to the furniture, the cumulative impacts over time can create noticeable dents and scratches on furniture legs, low edges, and other areas.

[0005] It is evident that the relevant technologies suffer from poor collision protection for robots. Currently, no effective solution has been proposed to address this issue.

[0006] The information disclosed in the background section is only intended to enhance the understanding of the background art described herein. Therefore, the background art may contain information that would not be considered part of the prior art by those skilled in the art. Utility Model Content

[0007] The main objective of this invention is to provide a collision protection structure, a movable device, and a cleaning equipment to solve the technical problem of poor collision protection performance of robots in related technologies.

[0008] To achieve the above objectives, according to one aspect of the present invention, a collision protection structure is provided, comprising: an airbag having a mounting surface and a collision surface, the mounting surface being used to mate with the mounting part of the component to be protected, and the collision surface being used to withstand the impact of an external object; and a pressure sensor for detecting the air pressure inside the airbag.

[0009] Furthermore, the collision protection structure includes a detection module, which is used to acquire the shape information of the airbag and / or the environmental information around it to determine the location where the airbag is impacted.

[0010] Furthermore, there are multiple airbags and multiple air pressure sensors, with each air pressure sensor corresponding to one of the multiple airbags, so that the air pressure inside the multiple airbags can be detected by the multiple air pressure sensors.

[0011] Furthermore, multiple airbags are arranged sequentially at intervals along a preset direction; or, multiple airbags are arranged sequentially along a preset direction, with any two adjacent airbags connected to each other; or, multiple airbags are arranged sequentially along a preset direction, wherein, along the preset direction, a portion of at least two adjacent airbags is staggered so that the staggered airbags can simultaneously withstand the impact of external objects.

[0012] Furthermore, at least one airbag includes a plurality of sub-airbags and a connecting portion, the plurality of sub-airbags being interconnected through the connecting portion; and / or, at least one airbag has a traction portion that applies opposing traction forces to the mounting surface and the impact surface.

[0013] Furthermore, a protective layer is provided on the collision surface, and the protective layer has at least one of the following properties that are superior to those of the airbag: impact resistance, puncture resistance, and lubrication.

[0014] Furthermore, the component to be protected includes a camera, and at least one airbag is provided with a clearance portion to avoid the field of view of the camera. The clearance portion is a hole structure or groove structure provided through the mounting surface and the collision surface.

[0015] Furthermore, the airbag includes a body portion and an extension portion, with the body portions of two adjacent airbags spaced apart, and the extension portions of two adjacent airbags connected to the body portion of the other, so as to form a hole structure or groove structure between the two adjacent airbags.

[0016] Furthermore, the collision protection structure also includes a controller, with multiple air pressure sensors communicating with the controller to transmit their respective detected air pressure signals to the controller.

[0017] According to another aspect of the present invention, a movable device is provided, comprising: a host, the host including a drive structure capable of driving the host to move in multiple directions; a collision protection structure, the collision protection structure being the aforementioned collision protection structure, the collision protection structure being disposed at the front end of the host in the forward direction; a controller, the air pressure sensor of the collision protection structure being communicatively connected to the controller to transmit the detected air pressure signal to the controller; the controller being communicatively connected to the drive structure to control the operation of the drive structure through the controller.

[0018] Furthermore, the mobile device includes a base station, and the host of the mobile device is dockable and detachable from the base station; the airbag has an inflation port, and the mobile device includes an inflation component. When the host is docked with the base station, the inflation port is connected to the inflation component to inflate the airbag through the inflation component.

[0019] According to another aspect of the present invention, a cleaning device is provided, comprising: a movable device, wherein the movable device is the aforementioned movable device; and a cleaning device disposed on the movable device for cleaning the surrounding environment.

[0020] The collision protection structure applying the technical solution of this utility model includes: an airbag, which has a mounting surface and a collision surface. The mounting surface is used to mate with the mounting location of the component to be protected, and the collision surface is used to withstand the impact of an external object; and a pressure sensor, which detects the air pressure inside the airbag. This collision protection structure, by installing the airbag at the mounting location of the component to be protected, allows the airbag to act as a buffer when the component is impacted by an external object, preventing direct contact between the external object and the component, thus providing good collision protection. By designing a pressure sensor corresponding to the airbag, the air pressure inside the airbag can be detected. When the air pressure inside the airbag fluctuates, it indicates that the airbag has been impacted. Based on the installation position of the airbag on the component to be protected, the location of the impact can be determined, facilitating subsequent operations or control and reducing the risk of collision. The collision protection structure designed in this utility model can provide a good buffer protection effect for the protected components, and can provide timely and accurate collision feedback, improve collision perception sensitivity, help identify the collision location, facilitate subsequent control operations to reduce collision risk, effectively improve the collision protection effect for the protected components, and solve the technical problem of poor collision protection effect of robots in related technologies. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0022] Figure 1 This is a schematic diagram of an embodiment of the collision protection structure of this utility model from a first-view perspective;

[0023] Figure 2 This is a schematic diagram of an embodiment of the collision protection structure of this utility model from a second perspective;

[0024] Figure 3 This is a schematic diagram of another embodiment of the collision protection structure of this utility model;

[0025] Figure 4 for Figure 3 A partially enlarged cross-sectional view of the collision protection structure in the diagram;

[0026] Figure 5 This is a schematic diagram of the structure of an embodiment of the movable device of this utility model;

[0027] Figure 6 This is a schematic diagram of the first type of collision avoidance configuration of the collision protection structure of this utility model;

[0028] Figure 7 This is a schematic diagram illustrating a second type of collision avoidance configuration in the collision protection structure of this utility model.

[0029] Figure 8 This is a schematic diagram illustrating a third type of collision avoidance configuration in the collision protection structure of this utility model.

[0030] Figure 9 This is a schematic diagram of the collision protection structure of this utility model without an avoidance part.

[0031] The above figures include the following reference numerals:

[0032] 1. Airbag; 11. Mounting surface; 12. Collision surface; 131. Sub-airbag; 132. Connecting part; 133. Pulling part; 14. Avoidance part; 15. Main body; 16. Extension part; 17. Inflation port; 2. Pressure sensor; 10. Main unit; 20. Collision protection structure. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] Please refer to Figures 1 to 9To address the technical problems described in the background section, this utility model provides a collision protection structure, comprising: an airbag 1, which has a mounting surface 11 and a collision surface 12. The mounting surface 11 is used to mate with the mounting location of the component to be protected, and the collision surface 12 is used to withstand impacts from external objects; and a pressure sensor 2, which detects the air pressure inside the airbag 1. This collision protection structure, by mounting the airbag 1 to the mounting location of the component to be protected, provides cushioning protection when the component is impacted by an external object, preventing direct contact between the external object and the component, thus achieving good collision protection. By designing a pressure sensor 2 corresponding to the airbag 1, the pressure inside the airbag 1 can be detected. When the air pressure inside the airbag 1 fluctuates, it indicates that the airbag 1 has been impacted. Based on the mounting position of the airbag 1 on the component to be protected, the location of the impact can be determined, facilitating subsequent operations or control and reducing the risk of collision. The collision protection structure designed in this utility model can provide a good buffer protection effect for the protected components, and can provide timely and accurate collision feedback, improve collision perception sensitivity, help identify the collision location, facilitate subsequent control operations to reduce collision risk, effectively improve the collision protection effect for the protected components, and solve the technical problem of poor collision protection effect of robots in related technologies.

[0035] The collision protection structure of this embodiment uses an airbag 1 with a mounting surface 11 and a collision surface 12 for direct collision protection. Compared with collision protection structures in related technologies, it has advantages such as simple structure, low cost, and good collision protection effect, and has good prospects for practical application. Moreover, compared with the robot collision protection structures in related technologies, the robots in related technologies are not sensitive to collision perception after a collision, thus failing to adjust their action strategy in time, leading to aggravated collisions. However, this embodiment of the present invention uses a pressure sensor 2 to detect the air pressure inside the airbag 1, which can accurately know the impact situation of the airbag 1, effectively improving the sensitivity of collision perception, thereby facilitating more timely and effective intervention and control.

[0036] The mounting surface 11, which is the side closest to the component to be protected, is used to mate with the component. This mate can be direct contact or a connection using other auxiliary structures. Specifically, the connection method between the airbag 1 and the component to be protected can be flexibly selected according to the actual situation. For example, in a preferred embodiment, the airbag 1 is connected to the component to be protected through a snap-fit ​​structure, thereby facilitating the installation and replacement of the airbag 1. In another preferred embodiment, the airbag 1 is connected to the component to be protected through an adhesive structure such as Velcro, thereby facilitating the installation and replacement of the airbag 1.

[0037] The component to be protected is the device that requires protection. By installing the collision mounting structure on the component to be protected, its protective effect can be improved. The mounting location of the component to be protected is the location where the airbag 1 is installed. In actual implementation, the mounting location can be flexibly selected. For example, a location with more collisions or a more vulnerable location can be selected as the mounting location.

[0038] The air pressure sensor 2 can be configured in various ways. For example, it can be placed inside the airbag 1 and transmit the air pressure signal via wired or wireless means. Another example is that the part of the air pressure sensor 2 used to sense air pressure is placed inside the airbag 1, while the rest is placed outside. Yet another example is that the air pressure sensor 2 is placed outside the airbag 1, and the airbag 1 is connected to the air pressure sensor 2 via a conduit to transmit air pressure.

[0039] When the pressure sensor 2 detects a fluctuation in the air pressure inside the airbag 1 (e.g., a sudden increase in air pressure, an increase in air pressure reaching a threshold, etc.), it indicates that the airbag 1 has been impacted. At this point, effective intervention control is needed to reduce or avoid subsequent impacts. In actual implementation, the control strategy required often varies depending on the location of the impact on the airbag 1. In this embodiment, to improve the accuracy of subsequent control, the collision protection structure includes a detection module. The detection module is used to acquire the shape information of the airbag 1 and / or its surrounding environmental information to determine the location of the impact on the airbag 1. Once the location of the impact on the airbag 1 is obtained through the detection module, subsequent intervention control can be performed more effectively, reducing the risk of subsequent collisions.

[0040] In practical implementation, the specific form of the detection module can vary, and correspondingly, the information it collects can also take many forms. For example, image acquisition equipment can be used to collect image information of airbag 1 and / or its surrounding environment. Another example is using LiDAR to scan point cloud data of airbag 1 and / or its surrounding environment. Yet another example is using mechanical / infrared sensors to detect deformation information at specific locations of airbag 1, and so on.

[0041] In this embodiment, the collision protection structure further includes a controller, and the air pressure sensor 2 and the detection module are all communicatively connected to the controller. The controller is used to: determine whether the airbag 1 has been collided based on the air pressure signal sent by the air pressure sensor 2, and if the airbag 1 has been collided, determine the location of the collision of the airbag 1 based on the shape information of the airbag 1 and / or the surrounding environment information sent by the detection module.

[0042] In one specific embodiment, the detection module is a visual detection module, which acquires an image of the airbag 1's shape and / or its surrounding environment. Based on this image, the controller uses AI recognition technology to determine the location of the impact on the airbag 1. In this embodiment, when the air pressure signal sent by the air pressure sensor 2 indicates that the airbag 1 has been impacted, image recognition technology is used to identify the image acquired by the visual detection module, thereby determining the location of the impact on the airbag 1. This facilitates subsequent precise intervention and control, reducing the risk of collision.

[0043] In a series of preferred embodiments, there are multiple airbags 1 and multiple pressure sensors 2, with each pressure sensor 2 corresponding to one of the multiple airbags 1, so as to detect the air pressure inside the multiple airbags 1. By designing multiple airbags 1 and multiple corresponding pressure sensors 2, the pressure fluctuations inside the multiple airbags 1 can be detected by the multiple pressure sensors 2. This not only improves the collision protection effect, but also allows the airbag 1 corresponding to the pressure sensor 2 with fluctuating air pressure signals to be identified, thereby determining which airbag 1 was impacted. This helps to determine the collision location and facilitates subsequent intervention and control.

[0044] In practice, the arrangement of multiple airbags 1 can be varied in several ways:

[0045] For example, in one alternative configuration, multiple airbags 1 are arranged sequentially at intervals along a preset direction;

[0046] For example, in another alternative form, multiple airbags 1 are arranged sequentially along a preset direction, and any two adjacent airbags 1 are connected to each other;

[0047] For example, in the third optional form, multiple airbags 1 are arranged sequentially along a preset direction, wherein at least two adjacent airbags 1 are partially misaligned along the preset direction so that the misaligned airbags 1 can simultaneously withstand the impact of external objects.

[0048] The preset direction can be flexibly selected according to the actual collision situation. It can be any direction, such as horizontal, vertical, or along the circumference of the component to be protected.

[0049] It should be noted that in embodiments where multiple airbags 1 are arranged sequentially along a preset direction, and at least two adjacent airbags 1 are partially misaligned along the preset direction, such as... Figure 3 As shown, by misaligning a portion of two adjacent airbags 1, the two adjacent airbags 1 can partially overlap. When an external object impacts the collision protection structure from the misaligned direction, the overlapping portion of the two adjacent airbags 1 will be compressed simultaneously. Thus, the air pressure sensors 2 corresponding to the two airbags 1 can detect the air pressure change. At this time, it can be known that the part between the two airbags 1 has been impacted. This is beneficial for more accurate identification of the impact location. With fewer airbags 1, more impact locations can be detected.

[0050] In actual implementation, the number of airbags 1 and air pressure sensors 2 can be flexibly selected according to actual needs; for example, there can be two, three, or more.

[0051] In a preferred embodiment, at least one airbag 1 includes a plurality of sub-airbags 131 and a connecting portion 132, wherein the plurality of sub-airbags 131 are interconnected through the connecting portion 132; and / or, at least one airbag 1 has a pulling portion 133, which applies opposing pulling forces to the mounting surface 11 and the impact surface 12.

[0052] like Figure 3 and Figure 4 As shown, in this embodiment, the airbag 1 is designed as a structure in which multiple sub-airbags 131 are connected by a connecting part 132, and / or a pulling part 133 is designed to pull the mounting surface 11 and the collision surface 12 of the airbag 1 in opposite directions. This helps to control the thickness of a single airbag 1 and avoids excessive expansion of a single airbag 1, thereby increasing the protective area of ​​a single airbag 1 while ensuring a smaller space occupation, and improving the protective effect of the collision protection device. The aforementioned pulling part 133 is the structure that exerts a pulling force in opposite directions on the mounting surface 11 and the collision surface 12. For example, in an optional embodiment, the pulling part 133 is a heat-fused layer that connects the mounting surface 11 and the collision surface 12, thereby applying a pulling force in opposite directions to both, preventing the airbag 1 from over-expanding and increasing the space occupation. As another example, in another optional embodiment, the pulling part 133 is an adhesive layer that bonds the mounting surface 11 and the collision surface 12, thereby applying a pulling force in opposite directions to both.

[0053] To further improve the collision protection effect, a protective layer is provided on the collision surface 12, and the protective layer has at least one of the following properties that are higher than those of the airbag 1: impact resistance, puncture resistance, and lubrication.

[0054] By designing a protective layer on the collision surface 12, the performance of the collision surface 12 is improved, giving it better impact resistance, puncture resistance, and lubrication properties, thus extending the service life of the airbag 1 or reducing damage to external objects during a collision. In practical implementation, the protective layer can be made of various materials according to actual needs, such as a finely woven fabric similar to the surface material of a rain jacket, thereby improving puncture resistance and reducing the risk of airbag 1 leaking after being punctured. For example, a flocked structure can be incorporated into the protective layer, making the surface of the collision protection structure softer and smoother, effectively reducing damage to external objects (such as furniture) during a collision. Alternatively, the protective layer can be a rubber layer, providing good impact and puncture resistance, thus improving the protective effect on the airbag 1.

[0055] In one specific embodiment, the component to be protected includes a camera, and at least one airbag 1 is provided with a clearance portion 14 to avoid the field of view of the camera. The clearance portion 14 is a hole structure or groove structure provided through the mounting surface 11 and the collision surface 12.

[0056] In this embodiment, the component to be protected includes a camera, which has the function of capturing images (for example, the component to be protected is a robot vacuum cleaner, and the robot vacuum cleaner has a camera at the front for observing the environment). By designing a relief part 14 with a hole structure or groove structure on at least one airbag 1, the field of view of the camera can be avoided, and the interference caused by the collision protection structure to the operation of the camera can be prevented.

[0057] like Figures 6 to 9 As shown, in actual implementation, the specific form of the avoidance part 14 can be various. Figure 6 In the embodiment shown, the clearance portion 14 is a hole structure, i.e., a window structure. Figure 7 and Figure 8 In the embodiment shown, the clearance portion 14 is a groove structure, and the opening direction of the groove structure is not limited, for example... Figure 7 The middle part is open at the top. Figure 8 The central opening is at the bottom, which can further increase the avoidance effect on the camera's field of view, and can be flexibly selected according to the actual shooting needs of the camera.

[0058] exist Figure 9 In the embodiment shown, the airbag 1 does not have an avoidance part 14. For components that do not have a camera (e.g., a robot vacuum cleaner that uses infrared sensors but does not have a camera), the avoidance part 14 can be omitted, thereby providing a larger collision protection area and achieving a more comprehensive collision protection effect.

[0059] like Figure 3As shown, the airbag 1 includes a body portion 15 and an extension portion 16. The body portions 15 of two adjacent airbags 1 are spaced apart, and the extension portions 16 of two adjacent airbags 1 are connected to the body portion 15 of the other to form a hole structure or groove structure between the two adjacent airbags 1.

[0060] In this embodiment, by designing an extension 16 on the body portion 15 of the airbag 1, the extensions 16 of two adjacent airbags 1 extend towards each other and connect with the body portion 15 of the other, thereby easily forming a hole structure or a groove structure to avoid obstructing the field of view of the camera. Figure 3 The two extensions 16 are spaced apart to form a hole structure. In other embodiments, the two extensions 16 can contact each other (equivalent to translating one extension 16 up / down to contact the other extension 16), which forms a groove structure. Moreover, with this structural design, a portion of two adjacent airbags 1 can be misaligned, that is, the two adjacent airbags 1 partially overlap. When an external object impacts the collision protection structure from the misaligned direction, the overlapping portion of the two adjacent airbags 1 will be compressed simultaneously, so that the air pressure sensors 2 corresponding to the two airbags 1 can detect the air pressure change. At this time, it can be known that the collision location is the overlapping area of ​​the two airbags 1. This is beneficial for more accurate identification of the impact location, and more collision directions can be detected with fewer airbags 1.

[0061] In this embodiment, the collision protection structure also includes a controller, and multiple air pressure sensors 2 are all communicatively connected to the controller to transmit the air pressure signals they detect to the controller.

[0062] By designing a controller and communicating with multiple air pressure sensors 2, the controller can easily obtain the air pressure signals from each air pressure sensor 2, thereby facilitating accurate and timely acquisition of the impact status of each position of the component to be protected, which is convenient for subsequent control and reduces the risk of impact.

[0063] Specifically, the component to be protected is a movable device, which includes a drive structure that can drive the movable device to move in multiple directions. A controller is communicatively connected to the drive structure to control the operation of the drive structure.

[0064] Based on the design of the controller receiving air pressure signals from each air pressure sensor 2, this embodiment also connects the controller to the drive structure of the component to be protected, thereby controlling the working state of the drive structure and thus controlling the movement direction of the component to be protected. When the controller receives air pressure signals from each air pressure sensor 2, it can easily determine whether there has been an impact from any direction, and thus control the movement direction of the component to be protected more effectively, achieving more accurate obstacle avoidance. For example, if one of the multiple air pressure signals received by the controller increases significantly, and the corresponding air pressure sensor 2 and airbag 1 are located on the left front of the component to be protected, it can be detected that an impact has occurred on the left front of the device. At this time, the controller can control the component to be protected to retreat a certain distance and then turn to the right, thereby avoiding a collision with the object on the left front again and improving the obstacle avoidance effect.

[0065] In addition, the airbag 1 has an inflation port 17, and the collision protection structure includes an inflation component, which can inflate the airbag 1 through the inflation port 17.

[0066] By designing the inflation port 17 and the inflation component, the gas inside the airbag 1 can be replenished in a timely manner, ensuring the impact protection effect of the airbag 1. In a preferred embodiment, the inflation port 17 is equipped with a one-way valve, thereby ensuring that gas can only be injected into the airbag 1 and will not leak outward. In actual implementation, the inflation component and the inflation port 17 can be connected as one piece, or they can be designed as a dockable and detachable structure.

[0067] The location of the inflatable components can also be chosen in different ways.

[0068] For example, in one optional embodiment, the inflation component is disposed on the component to be protected and connected to the inflation port 17, and moves together with the component to be protected, so that when the air pressure inside the airbag 1 is insufficient, the airbag 1 can be replenished with air at any time.

[0069] For example, in another alternative embodiment, the inflation component and the inflation port 17 are detachable. The inflation component is located at other locations such as the base station. When the air pressure inside the airbag 1 is insufficient, the protective component can be moved to the base station so that the inflation component can be connected to the inflation port 17 to replenish the airbag 1.

[0070] In addition, embodiments of this utility model provide a movable device, which includes: a host 10, the host 10 including a drive structure, the drive structure being able to drive the host 10 to move in multiple directions; a collision protection structure 20, the collision protection structure 20 being the aforementioned collision protection structure, the collision protection structure 20 being disposed at the front end of the host 10 in the forward direction; a controller, the air pressure sensor 2 of the collision protection structure 20 being communicatively connected to the controller to transmit the detected air pressure signal to the controller; the controller being communicatively connected to the drive structure to control the operation of the drive structure through the controller.

[0071] This movable device, with its structural design, mounts a collision protection structure 20, including an airbag 1 and a pressure sensor 2, onto the main unit 10. When the main unit 10 is impacted by an external object, the airbag 1 acts as a buffer, preventing direct contact between the external object and the main unit 10, thus providing good collision protection. The pressure sensor 2, corresponding to the airbag 1, detects the air pressure within the airbag 1. When the air pressure fluctuates, it indicates that the airbag 1 has been impacted. Based on the airbag 1's mounting position on the main unit 10, the location of the impact can be determined, facilitating subsequent control operations and reducing the risk of collision. This movable device, with its aforementioned structural design, provides good buffer protection for the main unit 10 and offers collision feedback to help identify the collision location, facilitating subsequent control operations to reduce the risk of collision. It effectively improves the collision protection effect for the main unit 10 and solves the technical problem of poor collision protection in related technologies.

[0072] To ensure the collision protection effect of the host 10, the angle between the edge of the collision protection structure 20 and the front of the host 10 when it moves is not less than 80°, that is, the collision protection structure 20 covers and protects at least 160° in front of the host 10.

[0073] Specifically, there are multiple airbags 1 and multiple air pressure sensors 2, with each air pressure sensor 2 corresponding to one of the multiple airbags 1, so as to detect the air pressure inside the multiple airbags 1 accordingly. The multiple airbags 1 of the collision protection structure 20 are arranged sequentially along the circumference of the host 10; the controller stores a computer program, and when the controller runs the computer program, it performs the following steps: receiving multiple air pressure signals corresponding to the multiple air pressure sensors 2; determining the collision state of the host 10 according to the changes of each air pressure signal; and controlling the operation of the drive structure according to the collision state of the host 10.

[0074] In a specific embodiment, determining the collision state of the host 10 based on the changes in each air pressure signal includes: for each air pressure signal, determining whether the corresponding air pressure has reached a preset threshold; if the air pressure corresponding to the air pressure signal reaches the preset threshold, determining that the host 10 has collided with the airbag 1 corresponding to the air pressure signal; if the air pressure corresponding to the air pressure signal has not reached the preset threshold, determining that the host 10 has not collided with the airbag 1 corresponding to the air pressure signal.

[0075] Of course, determining the collision state of the host 10 based on the changes in each air pressure signal is not limited to the scheme described in the above embodiments. Other determination methods are also possible. For example, in another optional embodiment, determining the collision state of the host 10 based on the changes in each air pressure signal includes: for each air pressure signal, determining whether the corresponding air pressure change rate reaches a preset value. If so, it is determined that the host 10 has collided with the airbag 1 corresponding to the air pressure signal; if not, it is determined that the host 10 has not collided with the airbag 1 corresponding to the air pressure signal.

[0076] In this embodiment, the collision protection structure 20 is the collision protection structure described above. The avoidance part 14 of the collision protection structure 20 is disposed at the front end of the main unit 10 in the forward direction when it is working. The two adjacent airbags 1 are disposed one-to-one at the left front and right front of the main unit 10 when it is working. The determination of the collision state of the main unit 10 based on the changes in various air pressure signals further includes: when the change in the air pressure signal corresponding to the left front airbag 1 meets a preset condition (which can be any preset condition, and meeting this condition is sufficient to determine that a collision has occurred at the corresponding airbag 1), it is determined that a collision has occurred at the left front of the main unit 10; when the change in the air pressure signal corresponding to the right front airbag 1 meets a preset condition (same as above, which can be the same as or different from the aforementioned preset condition), it is determined that a collision has occurred at the right front of the main unit 10; when the changes in the air pressure signals corresponding to the left front airbag 1 and the right front airbag 1 both meet the preset conditions, it is determined that a collision has occurred at the front of the main unit 10.

[0077] Additionally, the mobile device includes a base station for charging or cleaning the host 10 or its accessories. The host 10 of the mobile device can be docked and detached from the base station. The airbag 1 has an inflation port 17. The mobile device includes an inflation component. When the host 10 is docked with the base station, the inflation port 17 is connected to the inflation component to inflate the airbag 1.

[0078] Specifically, the inflation component is communicatively connected to the controller, which stores a computer program. When the controller runs the computer program, it performs the following steps: receiving multiple air pressure signals corresponding to multiple air pressure sensors 2; determining whether the inflation conditions are met, including: the air pressure corresponding to any air pressure signal drops to a preset inflation pressure, and the host 10 is in a docking state with the base station; and controlling the inflation component to inflate the corresponding airbag 1 when the inflation conditions are met.

[0079] Finally, embodiments of this utility model also provide a cleaning device, comprising: a movable device, which is the aforementioned movable device; and a cleaning device disposed on the movable device for cleaning the surrounding environment. In practical implementation, depending on the cleaning function, the cleaning device can take various forms, such as sweeping, mopping, vacuuming, etc. For example, the cleaning device can be a robot vacuum cleaner, a robot washing machine, a robot vacuum cleaner, etc.

[0080] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0081] The collision protection structure of this utility model embodiment includes: an airbag 1, which has a mounting surface 11 and a collision surface 12. The mounting surface 11 is used to cooperate with the mounting position of the component to be protected, and the collision surface 12 is used to withstand the impact of an external object; and a pressure sensor 2, which detects the air pressure inside the airbag 1. This collision protection structure, by installing the airbag 1 onto the mounting position of the component to be protected, provides cushioning protection when the component is impacted by an external object, preventing direct contact between the external object and the component, thus achieving a good collision protection effect. By designing a pressure sensor 2 corresponding to the airbag 1, the pressure inside the airbag 1 can be detected. When the pressure inside the airbag 1 fluctuates, it can be determined that the airbag 1 has been impacted. Based on the mounting position of the airbag 1 on the component to be protected, the location of the impact can be determined, facilitating subsequent operations or control and reducing the risk of collision. The collision protection structure designed in this utility model can provide a good buffer protection effect for the protected components, and can provide timely and accurate collision feedback, improve collision perception sensitivity, help identify the collision location, facilitate subsequent control operations to reduce collision risk, effectively improve the collision protection effect for the protected components, and solve the technical problem of poor collision protection effect of robots in related technologies.

[0082] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0083] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0084] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0085] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A crash protection structure, characterized by, The collision protection structure comprises: An airbag (1) having a mounting surface (11) for cooperating with a mounting position of a component to be protected and a collision surface (12) for bearing an impact of an external object; An air pressure sensor (2) for detecting air pressure in the airbag (1).

2. The crash management structure of claim 1, wherein The collision protection structure comprises: A detection module for acquiring shape information of the airbag (1) and / or environmental information around the airbag (1) to determine a position where the airbag (1) is impacted.

3. The crash management structure of claim 1, wherein The airbag (1) and the air pressure sensor (2) are both multiple, and the multiple air pressure sensors (2) are arranged in one-to-one correspondence with the multiple airbags (1) to correspondingly detect air pressure in the multiple airbags (1) through the multiple air pressure sensors (2).

4. The collision protection structure according to claim 3, wherein The multiple airbags (1) are arranged in sequence and spaced apart along a preset direction; or The multiple airbags (1) are arranged in sequence along the preset direction, and any two adjacent airbags (1) are connected to each other; or The multiple airbags (1) are arranged in sequence along the preset direction, and at least two adjacent airbags (1) are arranged in a staggered manner along the preset direction so that the airbags (1) arranged in the staggered manner bear the impact of the external object at the same time.

5. The crash management structure of claim 3, wherein At least one airbag (1) comprises multiple sub-airbags (131) and a communication part (132), and the multiple sub-airbags (131) are communicated with each other through the communication part (132); and / or At least one airbag (1) has a pulling part (133) for applying a pulling force to the mounting surface (11) and the collision surface (12) in opposite directions.

6. The crash management structure of claim 3, wherein The collision surface (12) is provided with a protective layer, and at least one of the following properties of the protective layer is higher than that of the airbag (1): impact resistance, puncture resistance, and lubricity.

7. The crash management structure of claim 3, wherein The component to be protected comprises a camera, and at least one airbag (1) is provided with an avoiding part (14) for avoiding the field of view of the camera, and the avoiding part (14) is a hole structure or a groove structure penetrating through the mounting surface (11) and the collision surface (12).

8. The crash management structure of claim 7, wherein, The airbag (1) comprises a body part (15) and an extension part (16), the body parts (15) of two adjacent airbags (1) are arranged in a spaced apart manner, and the extension parts (16) of the two adjacent airbags (1) are connected to the body parts (15) of the other airbags (1) to form a hole structure or a groove structure between the two adjacent airbags (1).

9. A crash structure according to any one of claims 3 to 8, characterised in that, The collision protection structure further comprises: A controller, and the multiple air pressure sensors (2) are in communication connection with the controller to transmit the detected air pressure signals to the controller.

10. A movable device, characterized by The collision protection structure comprises: A host (10) comprising a driving structure, and the driving structure is capable of driving the host (10) to move in multiple directions. A collision protection structure (20) is provided in front of the main machine (10) in the advancing direction of the main machine (10); A controller is connected with the air pressure sensor (2) of the collision protection structure (20) to transmit the detected air pressure signal to the controller; The controller is connected with the driving structure to control the operation of the driving structure through the controller.

11. The movable apparatus according to claim 10, wherein The movable device includes a base station, and the main machine (10) of the movable device is connectable with and separable from the base station; the air bag (1) has an inflation port (17), and the movable device includes an inflation component, and when the main machine (10) is connected with the base station, the inflation port (17) is connected with the inflation component to inflate the air bag (1) through the inflation component.

12. A cleaning apparatus, characterized by The cleaning device includes: A movable device is provided in claim 10 or 11; A cleaning device is provided on the movable device to clean the surrounding environment.

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