Cliff detection and collision detection integrated anti-collision structure of cleaning robot

Abstract

The utility model discloses a cleaning robot anti-collision structure integrating cliff detection and collision detection, which comprises a main body and a collision sensor, the main body is a hollow cavity formed by rotational molding, and the main body comprises a front plate and side plates extending backwards from two sides of the front plate; the crash sensor is installed on the front wall of the bottom end of the main body in a protruding mode. The main body formed through rotational molding is adopted, the hollow cavity is formed, the main body has the good supporting degree, the structure is more stable when the main body is installed on the cleaning robot, meanwhile, the hollow cavity can achieve the good buffering effect in the height direction and the horizontal direction, and therefore the good buffering effect is achieved on a non-horizontal cleaning face. Meanwhile, the rotationally molded main body has a preset deformation degree, so that a better buffering effect is improved; furthermore, a collision sensor is arranged at the bottom end of the main body, and the wall surface of the collision sensor is convexly arranged on the wall surface of the main body, so that the anti-collision effect is further improved.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robots, and in particular to a collision avoidance structure for a cleaning robot that integrates cliff detection and collision detection. Background Technology

[0002] A ride-on floor scrubber is a machine used for cleaning large areas of flooring. It typically consists of a chassis and a cab, where the operator sits to control the machine. The squeegee is a component of the floor scrubber, located at the rear of the machine close to the ground. Its main function is to collect water stains from the floor after scrubbing and then suck them away through a suction pipe, accelerating the drying process and leaving the floor cleaner.

[0003] The existing anti-collision structure of floor scrubbers generally uses injection-molded plates for cushioning, or two shells forming a hollow cavity. However, due to the large volume of the mold, materials with higher hardness are generally used in order to achieve the desired support, which reduces the cushioning effect.

[0004] Of course, there are also anti-collision structures that use mechanical structures, such as Chinese patent 202421294798.0. However, their structures are complex and their buffering is mainly limited to the horizontal position. For cliff surfaces (such as steps or stairs), they cannot provide a good buffering effect, which reduces the reliability of the structure. Utility Model Content

[0005] The main purpose of this invention is to propose a collision avoidance structure for a cleaning robot that integrates cliff detection and collision detection, aiming to improve existing collision avoidance structures while maintaining a simple and stable structure.

[0006] To achieve the above objectives, this utility model proposes a collision avoidance structure for a cleaning robot that integrates cliff detection and collision detection, comprising:

[0007] The main body is a hollow cavity formed by rotational molding, and the main body includes a front plate and side plates extending rearward from both sides of the front plate;

[0008] A collision sensor is mounted on the front wall of the bottom of the main body and protrudes outwards.

[0009] In the actual design, the main body is made by rotational molding and formed into a hollow cavity, which gives the main body better support and makes the structure more stable when installed on the cleaning robot. At the same time, the hollow cavity can also form a good buffer in the height and horizontal directions (therefore it also has a good buffering effect on non-horizontal cleaning surfaces).

[0010] Meanwhile, the rotationally molded main body has a predetermined degree of deformation, which improves the cushioning effect.

[0011] Furthermore, a collision sensor is installed at the bottom of the main body and its wall protrudes from the wall of the main body, thereby further improving the anti-collision effect;

[0012] In actual design, the main body has a buffering effect on the Z-axis and horizontal axis. Attached Figure Description

[0013] Figure 1 This is an exploded view of the present invention;

[0014] Figure 2 This is a three-dimensional schematic diagram of the present utility model. Figure 1 ;

[0015] Figure 3 This is a three-dimensional schematic diagram of the present utility model. Figure 2 ;

[0016] Figure 4 This is a cross-sectional view of the present invention.

[0017] In the picture,

[0018] 1 is the main body, 10 is the hollow cavity, 11 is the front panel, and 12 is the side panel.

[0019] 2 is a collision sensor.

[0020] 3 is the positioning groove.

[0021] 4 is a wire hole, 41 is a cable.

[0022] 5 represents the mounting hole, and 50 represents the vision inspection device. Detailed Implementation

[0023] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0024] It should be noted that if any directional indication (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial, etc.) is involved in the embodiments of this utility model, the directional indication is only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0025] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0026] like Figures 1 to 4 As shown, a collision avoidance structure for a cleaning robot that integrates cliff detection and collision detection includes:

[0027] The main body 1 is a hollow cavity 10 formed by rotational molding. The main body 1 includes a front plate 11 and side plates 12 extending rearward from both sides of the front plate 11.

[0028] A collision sensor 2 is mounted on the front wall of the bottom end of the main body 1 and protrudes outwards. The positioning groove has a wire hole through which a cable is passed. The collision sensor either encloses the cable within the wire hole or has a hole through which the sensing area of ​​the cable passes.

[0029] In the actual design, the main body 1 is formed by rotational molding, creating a hollow cavity 10. This provides the main body 1 with better support, resulting in greater structural stability when installed on the cleaning robot. Simultaneously, the hollow cavity 10 also provides good cushioning in both the vertical and horizontal directions, thus offering a good buffering effect for non-horizontal cleaning surfaces.

[0030] Meanwhile, the main body 1 formed by rotational molding has a predetermined degree of deformation, which improves the cushioning effect.

[0031] Furthermore, a collision sensor 2 is installed at the bottom of the main body 1 and its wall protrudes from the wall of the main body 1, thereby further improving the anti-collision function;

[0032] In the actual design, the main body 1 has a buffering effect on the Z-axis and the horizontal axis.

[0033] Specifically, the bottom end of the main body 1 is recessed with a positioning groove 3, and the collision sensor 2 is located in the positioning groove 3, thereby achieving installation stability.

[0034] In this embodiment of the utility model, the positioning groove 3 extends from the front wall of the main body 1 to both side walls.

[0035] Specifically, the collision sensor 2 is fixed in the positioning groove 3 by glue or screw.

[0036] In this embodiment of the utility model, the positioning groove 3 is provided with a wire passage hole 4, and the wire passage hole 4 is provided with a cable.

[0037] In this embodiment of the invention, the collision sensor is a pressure sensor, an infrared sensor, or a radar sensor, and they can also be combined in practice to improve the stability of the cleaning robot.

[0038] Specifically, the upper part of the main body 1 is provided with a through mounting hole 5, which is used to install a vision inspection device 50. This device is used to detect whether there are sudden potholes (cliffs) on the path that the robot's wheels are about to travel, to prevent the robot from getting stuck in potholes and being unable to move, and to avoid the robot falling into dangerous areas such as steps and stairs.

[0039] In this embodiment of the invention, the mounting hole 5 is inclined to effectively avoid obstacles and also to effectively protect the end of the visual inspection device 50.

[0040] Specifically, since the vision sensor has a small blind spot at the bottom front of the machine, a collision sensor is needed to prevent the robot from colliding with low obstacles.

[0041] In this embodiment of the invention, the main body 1 is made of LLDPE material. Linear low-density polyethylene (LLDPE) is a non-toxic, tasteless, and odorless milky-white granule with a density of 0.918–0.935 g / cm³. Compared with LDPE, it has a higher softening temperature and melting temperature, and advantages such as high strength, good toughness, high rigidity, good heat resistance, and good cold resistance. It also has good resistance to environmental stress cracking, impact strength, and tear strength.

[0042] In the structural molding of this product, it consists of two detachable molds. The two molds form a hollow structure and inject a predetermined LLDPE material fluid, which covers the inner cavity of the mold, thereby forming the main body 1.

[0043] The main body 1 is also provided with multiple locking holes, which facilitates the installation of the barbed structure.

[0044] The collision sensor indirectly acquires pressure, providing a flexible contact effect and effectively preventing damage to the pressure sensor.

[0045] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A collision avoidance structure for a cleaning robot that integrates cliff detection and collision detection, characterized in that, include: The main body is a hollow cavity formed by rotational molding, and the main body includes a front plate and side plates extending rearward from both sides of the front plate; A collision sensor is mounted on the front wall of the bottom of the main body and protrudes outwards.

2. The anti-collision structure of the cleaning robot as described in claim 1, which integrates cliff detection and collision detection, is characterized in that: The bottom of the main body is recessed with a positioning groove, and the collision sensor is located in the positioning groove.

3. The anti-collision structure of the cleaning robot as described in claim 2, which integrates cliff detection and collision detection, is characterized in that: The positioning groove extends from the front wall of the main body to both side walls.

4. The anti-collision structure of the cleaning robot as described in claim 3, which integrates cliff detection and collision detection, is characterized in that: The collision sensor is fixed in the positioning groove by glue or screws.

5. The anti-collision structure of the cleaning robot as described in claim 3, which integrates cliff detection and collision detection, is characterized in that: The positioning groove is provided with a wire passage hole, the wire passage hole is provided with a cable, and the collision sensor either wraps the cable inside or has a hole for the sensing area of ​​the cable to pass through.

6. The anti-collision structure of the cleaning robot as described in claim 5, which integrates cliff detection and collision detection, is characterized in that: The collision sensor is a pressure sensor, an infrared sensor, or a radar sensor.

7. The anti-collision structure of the cleaning robot as described in claim 1, which integrates cliff detection and collision detection, is characterized in that: The upper part of the main body is provided with a through mounting hole for mounting a visual inspection device.

8. The anti-collision structure of the cleaning robot as described in claim 7, which integrates cliff detection and collision detection, is characterized in that: The mounting holes are set at an angle.

9. The anti-collision structure of the cleaning robot as described in claim 1, which integrates cliff detection and collision detection, is characterized in that: The main body is made of LLDPE material.

Images