Collision detection device and cleaning robot
By designing a collision detection device with a swing arm and reset structure in the cleaning robot, the problem of high configuration cost of collision detection mechanism is solved, achieving the effects of cost reduction and structural simplicity.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGZHOU HAOQIN ROBOT TECHNOLOGY CO LTD
- Filing Date
- 2025-06-26
- Publication Date
- 2026-06-02
AI Technical Summary
The high cost of collision detection mechanisms in existing cleaning robots.
Design a collision detection device, including a swing arm, a collision detection module, and a reset structure. The relative movement between the collision identifier and the trigger element is realized by the rotation of the swing arm to generate a collision signal, and the accuracy and reliability of the collision detection module are ensured by the reset structure.
The number of collision detection modules has been reduced, thus lowering manufacturing costs. At the same time, the simple structure ensures the normal operation of the cleaning robot.
Smart Images
Figure CN224310672U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of cleaning robot inspection, and in particular to a collision detection device and a cleaning robot. Background Technology
[0002] Collision detection (especially when combined with sensors on the buffer) was crucial for early cleaning robots to achieve basic navigation. By sensing collisions, the robot knew there was an obstacle ahead, triggering a "touch-back-turn" behavior to gradually explore and cover the space.
[0003] Common window cleaning robots have a collision detection mechanism deployed at each of the four corners of the chassis. This mechanism detects whether the robot collides with the edge of the window during the cleaning process. The standard configuration for this single collision detection mechanism has three switches: one in the X direction, one in the Y direction, and one in the Z direction. Utility Model Content
[0004] Therefore, it is necessary to provide a collision detection device and a cleaning robot to address the issue of high configuration costs of collision detection mechanisms in cleaning robots.
[0005] A collision detection device is mounted on the chassis of a cleaning robot, the device comprising:
[0006] A swing arm, one end of which is rotatably connected to the chassis via a pivot, and the other end of which is connected to a collision component;
[0007] A collision detection module, comprising a collision identifier and a first trigger, wherein one of the collision identifier and the first trigger is disposed on the swing arm and the other is disposed on the chassis;
[0008] The collision component can collide with obstacles in at least two different directions relative to the chassis. When the collision component collides with an obstacle, the swing arm rotates relative to the chassis, and the first trigger component is displaced from a first position relative to the collision recognizer, generating a collision signal and feeding it back to the controller of the cleaning robot.
[0009] A reset structure is provided, which is used to reset the first trigger element to the first position after the collision element detaches from the obstacle.
[0010] In one embodiment, the swing arm includes a fixed end and a movable end. The fixed end is rotatably connected to the chassis. A sliding groove is provided on the chassis. The movable end is inserted into the sliding groove and connected to the collision member. The movable end can slide relative to the sliding groove. When the first trigger member is in the first position, the movable end can slide to both ends of the sliding groove.
[0011] In one embodiment, the collision detector is a photoelectric switch, and the first trigger is a baffle structure with two compartments. When the first trigger is located at the first position, the light path emitted by the collision detector falls on the gap between the two baffle structures. When the first trigger moves away from the collision detector relative to the first position, the light path emitted by the collision detector falls on one of the baffle structures.
[0012] In one embodiment, the collision identifier is a micro switch, and the first trigger is two spaced-apart bump structures. When the first trigger is located at the first position, the pressing end of the collision identifier is located in the gap between the two bump structures. When the first trigger is displaced relative to the collision identifier in a direction away from the first position, the pressing end of the collision identifier abuts against one of the bump structures.
[0013] In one embodiment, there are two mounting brackets, which are spaced apart. There are four industrial cameras and four light source units. Two industrial cameras and two light source units are mounted on one mounting bracket, and the four industrial cameras are arranged in a rectangular pattern.
[0014] In one embodiment, the device further includes a drop detection module, which includes a drop identifier and a second trigger. The drop identifier is disposed on the swing arm or the chassis. The second trigger is movably connected to the swing arm and is movable relative to the chassis, forming at least a second position and a third position. When the end of the second trigger away from the chassis abuts against the cleaning surface, the second trigger is in the second position. When the end of the second trigger away from the chassis detaches from the cleaning surface, the second trigger is in the third position, triggering the drop identifier to generate a drop signal and feeding it back to the controller of the cleaning robot.
[0015] In one embodiment, the drop detector is a photoelectric switch, the second trigger includes a detection rod, a shield, and a spring, the collision member has a first through hole in the center, the chassis has a second through hole coaxially arranged with the first through hole, the shield abuts against the second through hole, one end of the detection rod passes through the first through hole and the second through hole in sequence and is connected to the shield in a transmission connection, the two ends of the spring are respectively connected to the detection rod and the swing arm, when the second trigger is in the second position, the light path emitted by the drop detector falls on the shield.
[0016] In one embodiment, a circuit board is provided on the swing arm, and the circuit board is communicatively connected to the controller of the cleaning robot, the fall detector, and the collision detector, and the fall detector and the collision detector are all distributed on the circuit board.
[0017] In one embodiment, the reset structure includes an elastic plate, and a limiting groove adapted to the shape of the elastic plate is provided on the chassis. One end of the elastic plate is connected to the swing arm, and the other end is inserted into the limiting groove.
[0018] In one embodiment, the reset structure includes a tension spring, the two ends of which are connected to the swing arm and the chassis, respectively.
[0019] In one embodiment, the cross-section of the collision element is circular.
[0020] A second aspect of this application provides a cleaning robot, including a robot body, a chassis, and a collision detection device as described in any of the above claims. The robot body is mounted on the chassis, and the number of collision detection devices is not less than two, with the collision detection devices spaced apart at the corners of the chassis.
[0021] The collision detection devices in the above embodiments have at least the following beneficial effects:
[0022] The collision detection device disclosed in this application has a swing arm with its two ends connected to a chassis and a collision component, respectively. When the collision component is impacted, it drives the swing arm to rotate relative to the chassis. The collision detection module includes a collision identifier and a first trigger, which are respectively mounted on the swing arm and the chassis. When the swing arm rotates relative to the chassis, relative movement occurs between the collision identifier and the first trigger. Specifically, when the collision component does not collide, the collision identifier remains at a first position relative to the first trigger. When the collision component collides, the swing arm rotates, causing the collision identifier to move away from the first position relative to the first trigger, thereby generating a collision signal to detect whether a collision has occurred. By having the collision component collide with obstacles in two different directions relative to the chassis to generate a collision signal, the number of collision detection modules can be reduced, which not only reduces the manufacturing cost of the finished product but also simplifies the structure. The collision detection device also includes a reset structure, which resets the first trigger to the first position after the collision component detaches from the obstacle, preventing the collision detection module from continuously outputting a collision signal and ensuring the normal operation of the cleaning robot. Attached Figure Description
[0023] Figure 1 This is one of the structural schematic diagrams of a collision detection device;
[0024] Figure 2This is the second schematic diagram of the collision detection device.
[0025] Figure 3 This is a cross-sectional view of the collision detection device.
[0026] The correspondence between the reference numerals and the component names is as follows:
[0027] 100 Chassis, 101 Sliding groove, 102 Second through hole, 103 Limiting groove;
[0028] 10 swing arm, 110 fixed end, 120 movable end;
[0029] 20 collision component, 201 first through hole;
[0030] 30 Collision detection module, 31 Collision recognizer, 32 First trigger;
[0031] 40 Reset Structure;
[0032] 50 Drop detection module, 51 Drop identifier, 52 Second trigger, 521 Detection rod, 522 Blocking component, 523 Spring;
[0033] 60 circuit boards. Detailed Implementation
[0034] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.
[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.
[0036] The following describes some embodiments of the collision detection device of the present invention with reference to the accompanying drawings.
[0037] like Figures 1 to 3 As shown, this embodiment discloses a collision detection device, which is installed on the chassis 100 of a cleaning robot. The device includes:
[0038] The swing arm 10 has one end rotatably connected to the chassis 100 via a pivot, and the other end connected to the collision component 20.
[0039] The collision detection module 30 includes a collision identifier 31 and a first trigger 32. One of the collision identifier 31 and the first trigger 32 is disposed on the swing arm 10, and the other is disposed on the chassis 100.
[0040] The collision member 20 can collide with at least two obstacles in different directions relative to the chassis 100. When the collision member 20 collides with an obstacle, the swing arm 10 rotates relative to the chassis 100, and the first trigger member 32 is displaced from the first position relative to the collision recognizer 31, generating a collision signal and feeding it back to the controller of the cleaning robot.
[0041] The reset structure 40 is used to reset the first trigger 32 to the first position after the collision member 20 is separated from the obstacle.
[0042] The collision detection device disclosed in this application has two ends of the swing arm 10 connected to the chassis 100 and the collision element 20, respectively. When the collision element 20 is hit, it can drive the swing arm 10 to rotate relative to the chassis 100. The collision detection module 30 includes a collision identifier 31 and a first trigger element 32. The collision identifier 31 and the first trigger element 32 are respectively set on the swing arm 10 and the chassis 100. When the swing arm 10 rotates relative to the chassis 100, a relative movement occurs between the collision identifier 31 and the first trigger element 32. Specifically, when the collision element 20 does not cause a collision, the collision identifier 31 stays at a first position relative to the first trigger element 32. When the collision element 20 is hit, the swing arm 10 rotates, causing the collision identifier 31 to move away from the first position relative to the first trigger element 32, thereby generating a collision signal to detect whether the collision element 20 has been hit. The collision component 20 can collide with obstacles in two different directions relative to the chassis 100 to generate collision signals, which reduces the number of collision detection modules 30, thus lowering the manufacturing cost of the finished product and simplifying its structure. The collision detection device is also equipped with a reset structure 40, which resets the first trigger 32 to the first position after the collision component 20 disengages from the obstacle, preventing the collision detection module 30 from continuously outputting collision signals and ensuring the normal operation of the cleaning robot.
[0043] The collision detection module 30 can detect whether the collision component 20 has collided. The collision detection module 30 includes a collision recognizer 31 and a first trigger 32. When there is no relative movement between the collision recognizer 31 and the first trigger 32, the collision recognizer 31 determines that the current collision component 20 has not collided. When there is relative movement between the collision recognizer and the first trigger 32, the collision recognizer 31 determines that the current collision component 20 has collided and generates a collision signal to be fed back to the controller of the cleaning robot.
[0044] Specifically, one end of the swing arm 10 is rotatably connected to the chassis 100 via a rotating shaft, and the other end of the swing arm 10 is connected to the collision member 20. When the collision member 20 collides with an obstacle, the collision member 20 drives the swing arm 10 to rotate relative to the chassis 100, causing relative movement between the collision identifier 31 and the first trigger member 32, thereby realizing collision detection of the collision member 20.
[0045] The collision element 20 can collide with obstacles in at least two different directions relative to the chassis 100. Specifically, taking the collision element 20 distributed in the upper left corner of the chassis 100 as an example, the projection of the collision element 20 along the height direction of the cleaning robot falls at least partially outside the range of the two adjacent sides of the chassis 100. The collision element 20 can collide with obstacles in front or on the left, so that the collision element 20 can trigger the collision recognizer 31 and the first trigger 32 to move relative to each other regardless of whether the collision element 20 collides with obstacles in front or on the left.
[0046] The reset structure 40 can be used to reset the first trigger 32 to the first position after the collision member 20 is separated from the obstacle. The first position refers to the relative position of the collision identifier 31 and the first trigger 32 when the collision member 20 is not involved in a collision. When the collision member 20 is involved in a collision, the collision identifier 31 and the first trigger 32 will move relative to each other, and the collision identifier 31 will move away from the first position. After the collision member 20 is separated from the obstacle, the reset structure 40 resets the collision identifier 31 to the first position and stops generating collision signals.
[0047] It should be noted that cleaning robots can be either window cleaning robots or floor sweeping robots.
[0048] like Figures 1 to 3 As shown, in addition to the features of the above embodiments, this embodiment further defines that: the swing arm 10 includes a fixed end 110 and a movable end 120. The fixed end 110 is rotatably connected to the chassis 100. A sliding groove 101 is provided on the chassis 100. The movable end 120 is inserted into the sliding groove 101 and connected to the collision member 20. The movable end 120 can slide relative to the sliding groove 101. When the first trigger member 32 is in the first position, the movable end 120 can slide to both ends of the sliding groove 101.
[0049] The collision detection device in the above embodiment further defines a sliding groove 101 on the chassis 100 to restrict the sliding path of the movable end 120, and when the first trigger 32 is in the first position, both ends of the movable end 120 and the sliding groove 101 have sliding space, so that the collision member 20 can make relative movement between the first trigger 32 and the collision recognizer 31 regardless of which direction the collision member 20 is subjected to.
[0050] When the collision member 20 does not collide, the first trigger member 32 is in a first position relative to the collision identifier 31. At this time, the movable end 120 can be in the center of the sliding groove 101 and can slide towards both ends of the sliding groove 101. For example, taking the collision member 20 in the upper left corner of the chassis 100 as an example, when the collision member 20 is collided with an obstacle in front, the swing arm 10 rotates counterclockwise relative to the chassis 100 and the movable end 120 slides towards the left end of the sliding groove 101; when the collision member 20 is collided with an obstacle on the left, the swing arm 10 rotates clockwise relative to the chassis 100 and the movable end 120 slides towards the right end of the sliding groove 101.
[0051] As shown in Figure 1, in addition to the features of the above embodiments, this embodiment further specifies that: the collision identifier 31 is a photoelectric switch, the first trigger 32 is a baffle structure with two compartments distributed. When the first trigger 32 is in the first position, the light path emitted by the collision identifier 31 falls on the gap between the two baffle structures. When the first trigger 32 is displaced relative to the collision identifier in a direction away from the first position, the light path emitted by the collision identifier 31 falls on one of the baffle structures.
[0052] Specifically, when the first trigger 32 is in the first position relative to the collision recognizer 31, the light emitted by the photoelectric switch falls into the gap between the two baffles. At this time, the photoelectric switch determines that the collision member 20 has not collided. However, when the swing arm 10 is collided with the collision member 20, the swing arm 10 rotates relative to the chassis 100, causing the photoelectric switch to rotate relative to the baffle structure. At the same time, due to the restriction of the sliding groove 101, the light emitted by the photoelectric switch is blocked by the baffle structure. At this time, the photoelectric switch determines that the collision member 20 has collided, thereby outputting a collision signal and feeding it back to the controller of the cleaning robot.
[0053] In addition to the features of the above embodiments, this embodiment further specifies that: the collision recognizer 31 is a micro switch, the first trigger 32 is two spaced protrusion structures, when the first trigger 32 is in the first position, the pressing end of the collision recognizer 31 is located in the gap between the two protrusion structures, and when the first trigger 32 is displaced relative to the collision recognizer in a direction away from the first position, the pressing end of the collision recognizer 31 abuts against one of the protrusion structures.
[0054] Specifically, when the first trigger 32 is in the first position relative to the collision recognizer 31, the pressing end of the micro switch is located in the gap between the two protrusion structures, and the pressing end of the micro switch does not receive the pressing action of the protrusion structure. At this time, the micro switch determines that the collision member 20 has not collided. However, when the swing arm 10 is collided with the collision member 20, the swing arm 10 rotates relative to the chassis 100, causing the micro switch to rotate relative to the protrusion structure. At the same time, due to the restriction of the sliding groove 101, the pressing end of the micro switch is pressed by one of the protrusion structures. At this time, the photoelectric switch determines that the collision member 20 has collided, thereby outputting a collision signal and feeding it back to the controller of the cleaning robot.
[0055] like Figure 1 and Figure 3 As shown, in addition to the features of the above embodiments, this embodiment further includes a drop detection module 50. The drop detection module 50 includes a drop identifier 51 and a second trigger 52. The drop identifier 51 is disposed on the swing arm 10 or the chassis. The second trigger 52 is movably connected to the swing arm 10 and can move relative to the chassis 100, forming at least a second position and a third position. When the end of the second trigger 52 away from the chassis 100 abuts against the cleaning surface, the second trigger 52 is in the second position. When the end of the second trigger 52 away from the chassis 100 is removed from the cleaning surface, the second trigger 52 is in the third position, triggering the drop identifier 51 to generate a drop signal and feeding it back to the controller of the cleaning robot.
[0056] The collision detection device in the above embodiment further defines the fall detector 51 to determine whether the cleaning robot is at risk of falling based on the position of the second trigger 52, effectively preventing the cleaning robot from falling from a height and avoiding serious damage to the machine itself.
[0057] The drop detection module 50 can be used to detect whether the cleaning robot has detached from the cleaning surface, thus preventing the risk of a fall. The drop detection module 50 may include a drop detector 51 and a second trigger. The drop detector 51 can determine whether the cleaning robot is at risk of falling based on the position of the second trigger. Specifically, the second trigger has a second position and a third position relative to the chassis 100. When the second trigger is in contact with the cleaning surface, it remains in the second position, at which point the drop detector 51 determines that the cleaning robot is not at risk of falling. Once the second trigger detaches from the cleaning surface, it moves from the second position to the third position, at which point the drop detector 51 determines that the cleaning robot is at risk of falling and generates a drop signal to be fed back to the cleaning robot's controller.
[0058] like Figure 1 and Figure 3As shown, in addition to the features of the above embodiments, this embodiment further specifies that: the drop detector 51 is a photoelectric switch, the second trigger 52 includes a detection rod 521, a shield 522 and a spring 523, the collision member 20 has a first through hole 201 in the center, the chassis 100 has a second through hole 102 coaxially arranged with the first through hole 201, the shield 522 abuts against the second through hole 102, one end of the detection rod 521 passes through the first through hole 201 and the second through hole 102 in sequence and is connected to the shield 522 in a transmission connection, the two ends of the spring 523 are respectively connected to the detection rod 521 and the swing arm 10, when the second trigger 52 is in the second position, the light path emitted by the drop detector 51 falls on the shield 522.
[0059] The second and third positions refer to two positional states of the detection rod 521 along the height direction of the cleaning robot. When the detection rod 521 is in the second position, the light path emitted by the fall detector 51 falls on the blocking member 522. When the detection rod 521 is in the third position, the light path emitted by the fall detector 51 is not blocked by the blocking member 522. Specifically, when the cleaning robot is performing a cleaning task, the cleaning robot adheres to the cleaning surface by suction or its own gravity. The detection rod 521 overcomes the elastic force of the spring 523 and remains in the second position. When the detection rod 521 moves outside the cleaning surface, it moves from the second position to the third position due to the elastic force of the spring 523. The fall detector 51 determines that the cleaning robot is at risk of falling and therefore generates a fall signal and feeds it back to the controller of the cleaning robot.
[0060] like Figures 1 to 3 As shown, in addition to the features of the above embodiments, this embodiment further specifies that: a circuit board 60 is provided on the swing arm 10, and the circuit board 60 is communicatively connected to the controller, fall detector 51 and collision detector 31 of the cleaning robot, and the fall detector 51 and collision detector 31 are both distributed on the circuit board 60.
[0061] The collision detection device in the above embodiment further specifies that a circuit board 60 is set on the swing arm 10, and the drop detector 51 and the collision detector 31 are both distributed on the circuit board 60. The circuit board 60 supplies power to the drop detector 51 and the collision detector 31, and transmits the corresponding drop signals and collision signals to the controller of the cleaning robot. This can reduce wiring and reduce the complexity of the internal space of the cleaning robot. At the same time, since the collision detector 31 recognizes the position change of the second trigger 52 in a different direction than the collision detector 31 recognizes the position change of the first trigger 32, the drop detector 51 will not misidentify when the swing arm 10 rotates relative to the chassis 100, thus ensuring the accuracy and reliability of the detection.
[0062] like Figure 2As shown, in addition to the features of the above embodiments, this embodiment further defines that: the reset structure 40 includes an elastic plate, and a limiting groove 103 adapted to the shape of the elastic plate is provided on the chassis 100. One end of the elastic plate is connected to the swing arm 10, and the other end is inserted into the limiting groove 103.
[0063] The collision detection device in the above embodiment further defines that one end of the elastic plate is connected to the swing arm 10, and the other end is adapted to the limiting groove 103. When the collision member 20 is not hit by an obstacle, the swing arm 10 is kept in a fixed position by the cooperation of the elastic plate and the limiting groove 103. When the collision member 20 collides with the obstacle, the collision member 20 drives the swing arm 10 to rotate relative to the chassis 100. At this time, the elastic plate undergoes elastic deformation. When the collision member 20 leaves the obstacle, the swing arm 10 automatically returns to its original position under the force of the elastic member restoring its elastic deformation.
[0064] In addition to the features of the above embodiments, this embodiment further specifies that: the reset structure 40 includes a tension spring, and the two ends of the tension spring are respectively connected to the swing arm 10 and the chassis 100.
[0065] The collision detection device in the above embodiment further defines that one end of the tension spring is connected to the swing arm 10 and the other end is connected to the chassis 100. When the collision member 20 is not hit by an obstacle, the tension spring maintains a certain length to keep the swing arm 10 in a fixed position. When the collision member 20 collides with an obstacle, the collision member 20 drives the swing arm 10 to rotate relative to the chassis 100. At this time, the tension spring is stretched and undergoes elastic deformation. When the collision member 20 leaves the obstacle, the swing arm 10 automatically returns to its original position under the force of the tension spring restoring its elastic deformation.
[0066] like Figure 1 and Figure 2 As shown, in addition to the features of the above embodiments, this embodiment further defines that the cross-section of the collision member 20 is circular.
[0067] The collision detection device in the above embodiment further defines the cross-sectional shape of the collision member 20 as circular, which can reduce the contact area between the collision member 20 and the obstacle, reduce the friction between the two, and make it easier for the collision member 20 to detach from the obstacle.
[0068] This embodiment also provides a cleaning robot, which includes a robot body, a chassis 100 and the aforementioned collision detection device. The robot body is mounted on the chassis 100, and the number of collision detection devices is not less than two, with the collision detection devices spaced apart at the corners of the chassis 100.
[0069] The number of collision detection devices distributed on the chassis 100 can be no less than two. For example, there can be two collision detection devices, one located at the upper left corner of the chassis 100 and the other at the lower right corner. Based on this distribution, collision detection can be performed along the four sides of the chassis 100 without the need for excessive detection devices, thus reducing product manufacturing costs. In other embodiments, the number of collision detection devices can also be three or four.
[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0071] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A collision detection device, mounted on the chassis of a cleaning robot, characterized in that, include: A swing arm (10), one end of which is rotatably connected to the chassis (100) via a pivot, and the other end is connected to the collision member (20); The collision detection module (30) includes a collision identifier (31) and a first trigger (32). One of the collision identifier (31) and the first trigger (32) is disposed on the swing arm (10) and the other is disposed on the chassis (100). The collision member (20) can collide with at least two obstacles in different directions relative to the chassis (100). When the collision member (20) collides with an obstacle, the swing arm (10) rotates relative to the chassis (100), and the first trigger member (32) is displaced from the first position relative to the collision recognizer (31), generating a collision signal and feeding it back to the controller of the cleaning robot. A reset structure (40) is used to reset the first trigger (32) to the first position after the collision member (20) is removed from the obstacle.
2. The collision detection device according to claim 1, characterized in that, The swing arm (10) includes a fixed end (110) and a movable end (120). The fixed end (110) is rotatably connected to the chassis (100). The chassis (100) has a sliding groove (101). The movable end (120) is inserted into the sliding groove (101) and connected to the collision member (20). The movable end (120) can slide relative to the sliding groove (101). When the first trigger member (32) is in the first position, the movable end (120) can slide to both ends of the sliding groove (101).
3. The collision detection device according to claim 2, characterized in that, The collision detector (31) is a photoelectric switch, and the first trigger (32) is a baffle structure with two compartments. When the first trigger (32) is located in the first position, the light path emitted by the collision detector (31) falls on the gap between the two baffle structures. When the first trigger (32) moves away from the collision detector in a direction away from the first position, the light path emitted by the collision detector (31) falls on one of the baffle structures.
4. The collision detection device according to claim 2, characterized in that, The collision identifier (31) is a micro switch, and the first trigger (32) is two spaced protrusion structures. When the first trigger (32) is located in the first position, the pressing end of the collision identifier (31) is located in the gap between the two protrusion structures. When the first trigger (32) is displaced relative to the collision identifier in a direction away from the first position, the pressing end of the collision identifier (31) abuts against one of the protrusion structures.
5. The collision detection device according to any one of claims 1 to 4, characterized in that, It also includes a drop detection module (50), which includes a drop identifier (51) and a second trigger (52). The drop identifier (51) is disposed on the swing arm (10) or the chassis. The second trigger (52) is movably connected to the swing arm (10). The second trigger (52) can move relative to the chassis (100) and form at least a second position and a third position. When the end of the second trigger (52) away from the chassis (100) abuts against the cleaning surface, the second trigger (52) is in the second position. When the end of the second trigger (52) away from the chassis (100) is removed from the cleaning surface, the second trigger (52) is in the third position, triggering the drop identifier (51) to generate a drop signal and feed it back to the controller of the cleaning robot.
6. The collision detection device according to claim 5, characterized in that, The drop detector (51) is a photoelectric switch. The second trigger (52) includes a detection rod (521), a shield (522), and a spring (523). The collision member (20) has a first through hole (201) in the center. The chassis (100) has a second through hole (102) coaxially arranged with the first through hole (201). The shield (522) abuts against the second through hole (102). One end of the detection rod (521) passes through the first through hole (201) and the second through hole (102) in sequence and is connected to the shield (522) in a transmission connection. The two ends of the spring (523) are respectively connected to the detection rod (521) and the swing arm (10). When the second trigger (52) is in the second position, the light path emitted by the drop detector (51) falls on the shield (522).
7. The collision detection device according to claim 6, characterized in that, The swing arm (10) is provided with a circuit board (60), which is communicatively connected to the controller of the cleaning robot, the fall detector (51), and the collision detector (31), and the fall detector (51) and the collision detector (31) are all distributed on the circuit board (60).
8. The collision detection device according to claim 1 or 2, characterized in that, The reset structure (40) includes an elastic plate, and a limiting groove (103) adapted to the shape of the elastic plate is provided on the chassis (100). One end of the elastic plate is connected to the swing arm (10), and the other end is inserted into the limiting groove (103). or, The reset structure (40) includes a tension spring, the two ends of which are connected to the swing arm (10) and the chassis (100) respectively.
9. The collision detection device according to claim 1, characterized in that, The cross-section of the collision element (20) is circular.
10. A cleaning robot, characterized in that, The system includes a robot body, a chassis (100), and a collision detection device as described in any one of claims 1-9. The robot body is mounted on the chassis (100), and the number of collision detection devices is not less than two. The collision detection devices are distributed at intervals at the corners of the chassis (100).