An array-type force / tactile sensor and a self-moving robot

Abstract

This application belongs to the field of collision detection technology, and relates to an array-type force / tactile sensor and a self-moving robot. The array-type force / tactile sensor is installed on the self-moving robot, which includes a base and a side shell. The array-type force / tactile sensor includes M sensing units. The side shell is composed of at least one shell unit, and each shell unit is provided with at least one sensing unit. The sensing unit includes a sensing element and a detection element. One of the sensing element and the detection element abuts against the shell unit and is used to generate a relative displacement relative to the other of the sensing element and the detection element due to collision deformation. The detection element is used to generate a detection signal that changes uniquely with the relative displacement, and the sensing element is used to detect the detection signal. Compared with existing collision detection modules for self-moving robots, the array-type force / tactile sensor of this application can more completely and accurately detect whether a collision has occurred in the self-moving robot.

Description

Technical Field

[0001] This application relates to the field of collision detection technology, and in particular to an array-type force / tactile sensor and a self-moving robot. Background Technology

[0002] With the development of robotics technology, many types of self-moving robots, such as robotic vacuum cleaners, have been widely used. Although these self-moving robots are equipped with various obstacle avoidance modules, collisions can still occur due to the complexity of obstacles in the real world. Therefore, self-moving robots are usually also equipped with collision detection modules to detect collisions.

[0003] However, existing collision detection modules all require the collision plate of the self-moving robot to undergo significant displacement upon collision to achieve detection. Therefore, they can only detect large collision forces, not those that only cause minor deformation of the collision plate, resulting in insufficient collision detection accuracy. Furthermore, these modules require a pre-set anti-collision gap between the collision plate and the robot body, which limits the structural design of the self-moving robot. On the other hand, existing collision detection modules can only detect the collision force on the collision plate, not the collision damage to the entire side shell of the self-moving robot that may be impacted during movement. Therefore, the existing collision detection modules for self-moving robots lack comprehensive and accurate detection capabilities, making them prone to secondary collisions and damage. Utility Model Content

[0004] The purpose of this application is to provide an array-type force / tactile sensor and a self-moving robot to solve the technical problem that the collision detection module of the existing self-moving robot does not have complete and accurate detection capabilities.

[0005] On one hand, this application provides an array-type force / tactile sensor, which is installed on a self-moving robot. The self-moving robot includes a base and a side shell, with the side shell surrounding the base. The array-type force / tactile sensor includes M sensing units, and the side shell is composed of at least one shell unit. When the side shell is composed of multiple shell units, the multiple shell units are arranged sequentially along the direction of the side shell surrounding the base. Adjacent shell units cannot transmit collision deformation caused by their own collision to each other, and each shell unit is provided with at least one sensing unit.

[0006] The sensing unit includes a sensing element and a detection element. One of the sensing element and the detection element abuts against the housing unit and is used to generate a relative displacement relative to the other of the sensing element and the detection element caused by the collision deformation. The detection element is used to generate a test signal that changes uniquely with the relative displacement, and the sensing element is used to detect the test signal.

[0007] Optionally, each of the housing units is provided with at least three of the sensing units;

[0008] And / or, the sensing unit further includes a resilient soft shell that covers at least a portion of the detection element and abuts against the housing unit.

[0009] Optionally, the height of the housing unit is h, the closest distance from the top of the housing unit along the height direction of the M sensing units is h1, h1 ≥ 0.4 * h; the farthest distance from the top of the housing unit along the height direction of the M sensing units is h2, h2 ≤ 0.9 * h; and h2 - h1 ≤ 0.3 * h.

[0010] Optionally, the side shell is composed of three shell units, one of which is a first collision detection area, and the other two of which are second collision detection areas. The first collision detection area is located at the front end of the self-moving robot in its forward movement direction, and the two second collision detection areas are respectively connected to the first collision detection area at the head end and tail end in the direction surrounding the base.

[0011] Optionally, the first collision detection area is made of a flexible material, and the second collision detection area is made of a rigid material.

[0012] Optionally, A of the M sensing units are disposed in the first collision detection area, and B of the M sensing units are disposed in the second collision detection area, and A+B=M, where A and B are both positive integers;

[0013] When the value of M is 3, 5, 7, 9, 11, the value of A is 1, 1, 3, 3, 4, and the value of B is 2, 4, 4, 6, 7.

[0014] Alternatively, when the value of M is 4, 6, 8, 10, or 12, the value of A is 2, 2, 3, 3, or 4, and the value of B is 2, 4, 5, 7, or 8.

[0015] Optionally, the self-moving robot further includes j partitions, where j is an integer greater than or equal to 3, the j partitions are connected to the side shell, and the side shell is divided into j shell units by the j partitions.

[0016] Optionally, the side housing is composed of a housing unit, and the housing unit has a roughly circular outline. The housing unit is provided with M sensing units at even intervals along its direction surrounding the base.

[0017] And / or, the value of M is one of 3, 5, 7, 9, 11, 4, 6, 8, 10, 12.

[0018] Optionally, the outline of the side shell is approximately N-sided, and the portion of the side shell corresponding to each side of the N-sided shape is set as the shell unit. Each shell unit is provided with q sensing units, and M = q * N, where q is a positive integer.

[0019] On the other hand, this application embodiment also provides a self-moving robot, which includes the above-mentioned array of force / tactile sensors, side housing, and base, with the side housing arranged around the base.

[0020] Compared with the prior art, the embodiments of this application have the following main advantages:

[0021] The array-type force / tactile sensor of this application embodiment uses a sensing element in its sensing unit to detect a signal to be detected. This signal changes uniquely with relative displacement, which is generated by collision deformation on the shell unit. Therefore, even a very small collision on the shell unit can be detected by the sensing unit. Compared to existing collision detection modules, the array-type force / tactile sensor of this application embodiment has higher detection accuracy. Furthermore, it has at least one sensing unit on each shell unit that makes up the side shell, thus enabling the detection of collision deformation on each shell unit. This allows for complete detection of the collision force on each shell unit on the side shell without any omissions. Therefore, compared to existing collision detection modules for self-moving robots, the array-type force / tactile sensor of this application embodiment can more completely and accurately detect whether a collision has occurred on the self-moving robot, reducing damage caused by secondary collisions. Attached Figure Description

[0022] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a top view of the array-type force / tactile sensor provided in the first embodiment of this application mounted on a self-moving robot.

[0024] Figure 2 A top view of the array-type force / tactile sensor installed in a self-moving robot, as provided in the second embodiment of this application.

[0025] Figure 3 A top view of the array-type force / tactile sensor installed in a self-moving robot, as provided in the third embodiment of this application.

[0026] Figure 4 This is a top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the fourth embodiment of this application.

[0027] Figure 5 A top view of the array-type force / tactile sensor installed in a self-moving robot, as provided in the fifth embodiment of this application.

[0028] Figure 6 This is a top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the sixth embodiment of this application.

[0029] Figure 7 This is a top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the seventh embodiment of this application.

[0030] Figure 8 This is a top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the eighth embodiment of this application.

[0031] Figure 9 This is a top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the ninth embodiment of this application.

[0032] Figure 10 This is a top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the tenth embodiment of this application.

[0033] Figure 11 A top view of the array-type force / tactile sensor installed in a self-moving robot, as provided in the eleventh embodiment of this application.

[0034] Figure 12 A top view of the array-type force / tactile sensor installed in a self-moving robot, as provided in the twelfth embodiment of this application;

[0035] Figure 13 A top view of the array-type force / tactile sensor installed in a self-moving robot, according to the thirteenth embodiment of this application;

[0036] Figure 14 A top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the fourteenth embodiment of this application;

[0037] Figure 15 A top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the fifteenth embodiment of this application;

[0038] Figure 16 A top view of the array-type force / tactile sensor installed in a self-moving robot, according to the sixteenth embodiment of this application.

[0039] Figure 17 A top view of the array-type force / tactile sensor installed on a self-moving robot, according to the seventeenth embodiment of this application.

[0040] Figure 18 A top view of the array-type force / tactile sensor installed in a self-moving robot, according to the eighteenth embodiment of this application.

[0041] Figure 19 A top view of the array-type force / tactile sensor installed on a self-moving robot, as provided in the nineteenth embodiment of this application;

[0042] Figure 20 A top view of the array-type force / tactile sensor installed in a self-moving robot, as provided in the twentieth embodiment of this application;

[0043] Figure 21 A top view of the array-type force / tactile sensor installed in a self-moving robot, according to the twenty-first embodiment of this application.

[0044] Figure 22 A top view of the array-type force / tactile sensor installed in a self-moving robot according to the twenty-second embodiment of this application;

[0045] Figure 23 To and Figure 1 A front view schematic diagram of the corresponding array-type force / tactile sensors installed on a self-moving robot;

[0046] Figure 24 for Figure 1 A magnified schematic diagram of the sensing unit in the image;

[0047] Figure 25 This is a structural block diagram showing the connection between an array-type force / tactile sensor and a self-moving robot controller, as provided in an embodiment of this application.

[0048] Figure label:

[0049] 100. Self-moving robot; 110. Base; 120. Side shell; 120a. Shell unit; 120b. Partition plate; 130. Main control board; 131. Controller;

[0050] 200, Array-type force / tactile sensor; 210, Sensing unit; 211, Sensing element; 212, Detecting element; 213, Mounting base; 214, Elastic element; 220, Processing unit. Detailed Implementation

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0052] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0054] The first part of this application provides an array of force / tactile sensors installed on a self-moving robot.

[0055] Force / tactile sensors refer to force sensors and / or tactile sensors used to detect force / tactile information, including one-dimensional, two-dimensional, or multi-dimensional force data.

[0056] The self-moving robot described in this application can be a cleaning robot such as a sweeping robot, mopping robot, or window cleaning robot; or any self-moving machine that requires collision detection based on contact force feedback information collected by force / tactile sensors (or in combination with other sensors), such as an AGV (Automated Guided Vehicle) or the chassis of a wheeled robot. For ease of understanding, this application mainly uses a sweeping robot as an example for detailed description.

[0057] The self-moving robot described in this application includes a shell and a base. The main structure and control circuitry of the robot are typically housed in the base. The shell covers the base, providing protection for the internal structure and enhancing aesthetics. The shell may include a bottom shell, a top shell, and side shells located between the bottom and top shells, with the side shells surrounding the base.

[0058] Example 1:

[0059] Taking a robotic vacuum cleaner as an example, the robotic vacuum cleaner in this embodiment of the application is equipped with a motion mechanism (not shown in the figure). This motion mechanism allows the robotic vacuum cleaner to move on a two-dimensional plane, which is referred to as the motion plane in this embodiment. The robotic vacuum cleaner also includes a base and side shells. The motion mechanism includes drive wheels, which are disposed at the bottom of the base to drive the robotic vacuum cleaner to move on the motion plane. The side shells are arranged around the base, so that the side shells are approximately perpendicular to the motion plane. In other words, the height direction of the side shells is approximately parallel to the normal direction of the motion plane. Therefore, it can be understood that the side shells are the parts most susceptible to collisions when the self-moving robot in this embodiment of the application moves.

[0060] Please see Figure 1-10 In this embodiment of the application, the array-type force / tactile sensor 200 is installed on the self-moving robot 100. The self-moving robot 100 includes a base 110 and a side shell 120. The side shell 120 is arranged around the base 110. The array-type force / tactile sensor 200 includes M sensing units. The M sensing units 210 are arranged on the side shell 120 at intervals around it.

[0061] It should be noted that "mutual spacing" here means that two adjacent sensing units do not overlap. The distance between two sensing units can be set to a large distance that is visible to the naked eye, or it can be set to a very small distance (e.g., 1 mm), both of which are within the scope of protection of this application. "Set on the side housing 120" here can mean that all of the sensing units 210 are mounted on the side housing 120; or it can mean that some components of the sensing units 210 are mounted on the base 110 or other components of the self-moving robot 100, while other components of the sensing units 210 are mounted on or abut against the side housing 120.

[0062] The side shell 120 is composed of multiple shell units 120a, which are arranged sequentially around the base 110 along the side shell 120. Adjacent shell units 120a cannot transmit collision deformation caused by collisions to each other. Each shell unit 120a is provided with at least one sensing unit 210.

[0063] The sensing unit 210 includes a sensing element 211 and a detection element 212. The detection element 212 abuts against the housing unit 120a and is used to generate a relative displacement relative to the sensing element 211 caused by the collision deformation of the housing unit 120a. The detection element 212 is also used to generate a test signal that changes uniquely with the relative displacement. The sensing element 211 is used to detect the test signal.

[0064] It should be noted that "the detection element 212 abuts against the housing unit 120a" can mean that all or part of the surface of the detection element 212 is in close contact with the corresponding housing unit 120a; or, as needed, a small gap (e.g., 1 mm) can be formed between the surface of the detection element 212 and the corresponding housing unit 120a, or a deformation transmission element (e.g., the elastic soft shell described below) can be provided between the detection element 212 and the housing unit 120a. As long as the detection element 212 can generate a relative displacement relative to the sensing element 211 by the collision deformation when the housing unit 120a undergoes collision deformation, it falls within the scope of protection of this application.

[0065] Understandably, since two adjacent housing units 120a cannot transmit the collision deformation caused by their own collision to each other, by providing at least one sensing unit 210 in each housing unit 120a, the collision deformation of each housing unit 120a can be detected by the sensing unit 210 provided thereon without any omission.

[0066] Specifically, in this embodiment, the sensing element 211 is a linear Hall element, and the detection element 212 is a magnetic material. Understandably, when the shell unit 120a of the self-propelled robot 100 collides, the shell unit 120a deforms due to the collision, causing the detection element 212, which is abutting against the shell unit 120a, to undergo a relative displacement relative to the sensing element 211. This relative displacement causes a change in the magnetic field strength at the location of the sensing element 211, allowing the sensing element 211 to detect the relative displacement by detecting the change in magnetic field strength (i.e., the signal to be detected). Ultimately, this enables the sensing unit 210 to detect the collision deformation of the shell unit 120a. It should be noted that the sensing element 211 detects the magnetic field strength (i.e., the signal to be detected) at its own location by detecting the Hall signal.

[0067] In other embodiments, the sensing unit 210 may also be based on commonly used sensors such as magnetoelectric sensors, piezomagnetic sensors, piezoelectric sensors, and photoelectric sensors. The corresponding sensing element 211 may be selected from coils, excitation and measurement windings, electrodes, and photoelectric sensor transmitters. The corresponding detection element 212 may be selected from magnetic circuit systems, piezomagnetic elements, piezoelectric elements, and photoelectric sensor receivers. This application does not limit the specific type of sensing unit.

[0068] In some other embodiments, the sensing element 211 may be positioned to abut against the housing unit 120a and, when the housing unit 120a undergoes collision deformation, be driven by the collision deformation to generate a relative displacement relative to the sensing element 212.

[0069] The array-type force / tactile sensor 200 of this application embodiment uses a sensing element 211 of its sensing unit 210 to detect a signal to be detected. This signal changes uniquely with relative displacement, which is generated by the collision deformation on the housing unit 120a. Therefore, even when a very small collision occurs on the housing unit 120a, the sensing unit 210 can detect the collision. Compared to existing collision detection modules, the array-type force / tactile sensor 200 of this application embodiment has higher detection accuracy. Furthermore, it has at least one sensing unit 210 on each housing unit 120a constituting the side housing 120, thus enabling the sensing unit to detect the collision deformation occurring on each housing unit. This allows for the complete detection of the collision force on each housing unit 120a on the side housing 120 without any omissions. Therefore, compared to existing collision detection modules for self-moving robots, the array-type force / tactile sensor of this application embodiment can more completely and accurately detect whether a collision has occurred on the self-moving robot, reducing damage caused by secondary collisions. Furthermore, since the sensing element 212 of the sensing unit 210 abuts against the housing unit 120a of the side housing 120, it can directly detect the collision force occurring on the side housing 120. Therefore, it is not necessary to separately set up anti-collision plates and reserve anti-collision gaps on the self-moving robot 100, thereby reducing the constraints on the structural design of the self-moving robot 100.

[0070] Please see Figure 25In one embodiment, the array-type force / tactile sensor 200 further includes a processing unit 220, which is communicatively connected to the sensing elements 211 of the M sensing units 210. When the sensing element 211 of a certain sensing unit 210 detects a signal to be detected, it sends the signal to the processing unit 220. The processing unit 220 can calculate the relative displacement of the detection element 212 of the corresponding sensing unit 210 relative to the sensing element 211 based on the received signal to be detected, and then calculate the magnitude of the collision force occurring on the corresponding housing unit 120a based on the relative displacement. Furthermore, when the processing unit 220 receives multiple relative displacements generated by multiple sensing units 210 disposed on the same housing unit 120a, if there are at least two intersecting lines in the directions of the relative displacements, it can solve for the position of the point of application of the collision force by solving a mathematical equation based on the intersection point. The magnitude of the collision force and the position of the point of application of the collision force calculated by the processing unit 220 are the tactile information detected by the array-type force / tactile sensor 200. The processing unit 220 is also communicatively connected to the controller 131 of the self-moving robot 100. The processing unit 220 is used to send tactile information to the controller 131 of the self-moving robot 100, so that the controller 131 can send corresponding control commands based on the tactile information, so that the self-moving robot 100 can react accordingly. For example, the controller 131 can issue control commands to control the self-moving robot 100 to decelerate, turn, or stop moving forward, thereby avoiding a second collision between the self-moving robot 100 and an obstacle that has already been collided with.

[0071] Specifically, the processing unit 220 is mounted on the base 110 of the self-moving robot 100. More specifically, the processing unit 220 can be integrated into the control motherboard 130 of the self-moving robot 100, which is mounted on the base 110, thereby facilitating the setup of the processing unit 220 and saving costs.

[0072] In some other embodiments, the array force / tactile sensor 200 may not have a processing unit 220. Instead, the sensing elements 211 of the M sensing units 210 are directly connected to the controller 131 of the self-moving robot 100, so that the controller 131 performs the same function as the processing unit 220. The magnitude of the collision force and the position of the point of application of the collision force are directly calculated by the controller 131.

[0073] In one embodiment, the sensing unit 210 further includes an elastic soft shell (not shown) that covers at least a portion of the detection element 212 and abuts against the housing unit 120a. Understandably, by abutting the housing unit 120a, the elastic soft shell undergoes elastic deformation upon impact with the housing unit 120a, thereby causing a relative displacement of the detection element 212 relative to the sensing element 211. In other words, the detection element 212 abuts against the side housing 120 via the elastic soft shell.

[0074] Specifically, in one embodiment, the material of the elastic soft shell is silicone.

[0075] Please see Figure 23 In one embodiment, the height of the housing unit 120a is h, that is, the height of the side housing 120 is h. Among the M sensing units 210, the closest distance to the top of the housing unit 120a along the height direction of the housing unit 120a is h1, h1 ≥ 0.4 * h; the farthest distance among the M sensing units 210 along the height direction of the housing unit 120a from the top of the housing unit 120a is h2, h2 ≤ 0.9 * h; and h2 - h1 ≤ 0.3 * h.

[0076] Understandably, when the housing unit 120a is impacted, torsional stress and overturning stress will be generated on the housing unit 120a. If the sensing unit 210 is set too high or too low on the housing unit 120a, the relative displacement generated by its detection element 212 will be too small, which is not conducive to the detection of the impact force. In this embodiment, the distance between the sensing unit 210 and the top of the housing unit 120a is limited to 0.4*h-0.9*h. Therefore, regardless of where the impact point of the housing unit 120a is located in the height direction, the detection element 212 of the sensing unit 210 can generate a sufficiently large relative displacement with respect to the sensing element 211 according to the impact deformation of the housing unit 120a. This allows the detection signal that changes uniquely with the relative displacement to be detected by the sensing element 211, thereby ensuring that the sensing unit 210 can detect the impact force when the housing unit 120a is impacted at any point in the height direction. Furthermore, the distances between the M sensing units 210 and the top of the housing unit 120a satisfy h2-h1≦0.3*h, so the relative displacements generated by the M sensing units 210 are relatively close. In the process of calculating the relative displacement based on the detection signal detected by the sensing units 210 and then calculating the above-mentioned tactile information, the computing resources can be saved and the calculation speed can be guaranteed.

[0077] Please see Figure 1-10In one embodiment, the side shell 120 is composed of three shell units 120a. One of the three shell units 120a is a first collision detection area, and the other two of the three shell units 120a are second collision detection areas. The first collision detection area is located at the front end of the self-moving robot 100 in its forward movement direction, and the two second collision detection areas are respectively connected to the front end and the rear end of the first collision detection area in the direction surrounding the base 110.

[0078] Understandably, by setting the shell unit 120a of the side shell 120 in this way, it is convenient for the structural design of the side shell 120 itself, without causing too much impact on the structural design of the side shell 120 itself, and the first collision detection area is the part of the side shell 120 that bears more collision detection, while the second collision detection area is the part of the side shell 120 that bears less collision detection. This is also in line with the distribution law of collisions that occur when the self-moving robot 100 moves.

[0079] Please see Figure 1-10 In one embodiment, the two second collision detection areas are connected to each other and form a U-shape. By setting the two second collision detection areas in this way, it is possible to achieve the goal of completely detecting collisions occurring in the two second collision detection areas by setting at least one sensing unit 210 on each second collision detection area. Furthermore, the connection between the two U-shaped second collision detection areas is an arc shape, which provides a smooth transition, facilitates an aesthetically pleasing visual effect, and simplifies the structural design of the side shell 120.

[0080] Specifically, in this embodiment, the two second collision detection areas are configured as an integrally connected unit.

[0081] In one embodiment, the first collision detection area is made of a flexible material, such as silicone, thermoplastic elastomer (TPE), thermoplastic polyurethane (TPU), styrene-butadiene rubber-styrene (SBS), styrene-ethylene-butene-styrene (SEBS), etc.; the second collision detection area is made of a rigid material, such as rigid plastic, metal alloy, fiberglass reinforced plastic (GFRP), carbon fiber composite material, etc.

[0082] Understandably, because the first collision detection area is located at the front end of the self-moving robot 100 in its forward movement direction, it is the most likely part of the side shell 120 of the self-moving robot 100 to be involved in a collision. Therefore, detecting the collision force at this location is particularly important. Using a flexible material for the first collision detection area allows the collision deformation generated in the first collision detection area to be transmitted better and faster, thus better ensuring the accuracy and completeness of the collision detection. In contrast, collisions occur less frequently in the second collision detection area, and the self-moving robot 100 typically houses more other important components between the inner sides of the two second collision detection areas. Therefore, increasing the strength of the second collision detection area to protect these inner components is more important. Thus, in this embodiment, a rigid material is chosen as the material for the second collision detection area to improve its strength.

[0083] In some embodiments, the first collision detection area can be configured as a collision plate for the self-moving robot 100. The collision plate can be movably connected to the base 110 via an elastic buffer, allowing it to compress the elastic buffer and move towards the second collision detection area upon impact to buffer the collision force from external obstacles. Alternatively, the collision plate can be directly fixed to the base 110, acting as the collision point for the self-moving robot 100 upon impact, preventing external obstacles from directly impacting other important components inside the collision plate. When the collision plate is directly fixed to the second collision detection area, there is no need to provide an anti-collision gap between the collision plate and the second collision detection area, allowing for more flexible structural design and a smaller footprint for the self-moving robot 100.

[0084] Please see Figure 1-10 In one embodiment, the projection of the first collision detection area onto the motion plane of the self-moving robot 100 is approximately in the shape of a line segment, that is, the first collision detection area is a straight, non-bent structure. Since the first collision detection area is made of a flexible material, when the first collision detection area is subjected to a collision and undergoes collision deformation, the collision deformation can be smoothly transmitted to any position on the first collision detection area along its length. Therefore, even if only one sensing unit 210 is provided on the first collision detection area, the collision occurring on the entire first collision detection area can be detected.

[0085] Please see Figure 1-10 In one embodiment, the sensing units 210 disposed on the two second collision detection areas are symmetrical to each other, so that the collision detection accuracy of the array force / tactile sensor 200 is consistent on the two second collision detection areas.

[0086] In this embodiment of the application, A of the M sensing units 210 are disposed in the first collision detection area, and B of the M sensing units 210 are disposed in the second collision detection area, and A+B=M, where A and B are both positive integers.

[0087] Understandably, all of the sensing units 210 are located on the first collision detection area and the second collision detection area, so as to maximize the use of the sensing units 210 to detect collisions on the side shell 120.

[0088] Please see Figure 1-5 In the embodiments of this application, when the value of M is 3, 5, 7, 9, 11 respectively, the value of A is 1, 1, 3, 3, 4 respectively, and the value of B is 2, 4, 4, 6, 7 respectively.

[0089] Please see Figure 6-10 In the embodiments of this application, when the value of M is 4, 6, 8, 10, 12, the value of A is 2, 2, 3, 3, 4, and the value of B is 2, 4, 5, 7, 8.

[0090] Understandably, when the value of M is one of the five odd numbers (3, 5, 7, 9, and 11), the angle range between any two adjacent sensing units 210 and the central axis of the side housing 120 can be [105°, 135°], [57°, 87°], [36°, 66°], [30°, 50°], and [30°, 36°], respectively. When the value of M is one of the five even numbers (4, 6, 8, 10, and 12), the angle range between any two adjacent sensing units 210 and the central axis of the side housing 120 can be [75°, 105°], [45°, 75°], [30°, 60°], [30°, 42°], and 30°, respectively.

[0091] exist Figure 1-10 In the embodiment shown, the value of M is in the range of [3, 12]. Setting the number of sensing units 210 within this range ensures that the interval between any two adjacent sensing units 210 is not too small, thus facilitating the installation and setting of the sensing units 210 and avoiding mutual interference between adjacent sensing units 210. Furthermore, M being greater than or equal to 3 also ensures that the sensing units 210 can completely surround the side shell 120, thereby ensuring that M sensing units 210 can completely detect any collisions that the entire side shell 120 may experience.

[0092] In some embodiments, the value of M is one of the four numbers 9, 10, 11 and 12, and each housing unit 120a of the side housing 120 is provided with at least three sensing units 210, so that when each housing unit 120a is subjected to any collision, at least two of the relative displacements generated by the multiple sensing units 210 provided on it can intersect. In this way, the position of the point of application of the collision force can be obtained by solving the mathematical equations based on the intersection point, avoiding the possibility that the relative displacements in two directions may not be obtained when only one or two sensing units 210 are provided.

[0093] Please see Figure 24 In one embodiment, the sensing unit 210 further includes a fixed base 213 and an elastic member 214. The fixed base 213 is fixedly connected to the base 110 of the self-moving robot 100, and one end of the elastic member 214 is fixedly connected to the fixed base 213 (for example, the fixed base 213 forms a receiving groove to accommodate the elastic member 214, and the elastic member 214 is housed in the receiving groove, with one end of the elastic member 214 fixedly connected to the bottom of the receiving groove); the other end of the elastic member 214 is fixedly connected to the detection element 212; and the elastic member 214 is in an elastically compressed state and has an elastic restoring force, so that the detection element 212 abuts against the housing unit 120a of the side housing 120 through the elastic restoring force. The sensing element 211 of the sensing unit 210 is fixedly disposed on the fixed base 213 at a part that does not contact the elastic member 214. Figure 24 (Not shown).

[0094] Specifically, the base 110 of the self-moving robot 100 forms a mounting groove at the position corresponding to each sensing unit 210, so that the mounting base 213 of the sensing unit 210 can be embedded in the mounting groove to facilitate the fixed connection between the sensing unit 210 and the robot.

[0095] Specifically, the elastic element 214 can be any existing or future structural component with elastic force, such as various springs.

[0096] Understandably, by adopting the above structure, each sensing unit 210 can be fixedly connected to the self-moving robot 100 using a simple structure; and based on the elastic restoring force of the elastic element 214, the detection element 212 abuts against the housing unit 120a, thereby enabling each sensing unit 210 to have good collision detection capability; in addition, by adopting the above structural design, the overall structure of the self-moving robot 100 after installing the array force / tactile sensor 200 is more compact, occupies less space, and has high reliability.

[0097] In some other embodiments, the sensing unit 210 may not have the elastic element 214. The sensing unit includes a mounting base, which is fixed to the base 110 of the self-moving robot 100. A portion of the housing unit 120a near the side housing 120 of the mounting base is configured as the aforementioned elastic soft shell. The sensing element 211 is fixed to the other part of the mounting base except for the elastic soft shell or fixed to the base. The detection element 212 is covered inside the elastic soft shell, and the elastic soft shell abuts against the housing unit 120a. This not only realizes the installation of the sensing unit 210, but also enables the detection element 212 to generate a relative displacement with respect to the sensing element 211 when the housing unit 120a collides with it due to the deformation of the elastic soft shell caused by the collision deformation of the housing unit 120a. This structure of the sensing unit 210 and its installation method are also within the scope of protection of this application.

[0098] The second part of this application embodiment also provides a self-moving robot 100, which includes the above-described array-type force / tactile sensor 200, side housing 120 and base 110, with the side housing 120 arranged around the base 110.

[0099] It should be noted that the base 110 here refers to the main body of the self-moving robot 100 which is surrounded inside the side housing 120. The base 110 can be equipped with a motion mechanism and other functional components of the self-moving robot (for example, in the case of a sweeping robot, a cleaning mechanism is also installed on the base). The controller 131 of the self-moving robot 100 can also be set inside the base.

[0100] In one embodiment, the base 110 is equipped with the motion mechanism of the self-moving robot 100 and the main control board 130. The main control board 130 is equipped with the controller 131 of the self-moving robot 100 and the aforementioned processing unit 220.

[0101] Example 2:

[0102] Please see Figure 11 In another embodiment: the self-moving robot 100 includes j partitions 123, where j is an integer greater than or equal to 3, the j partitions 123 are connected to the side shell 120, and the side shell 120 is divided into j shell units 120a by the j partitions 123.

[0103] Understandably, by setting the partition plate 123, it is possible to better ensure that the side shell 120 is divided into j independent shell units 120a, and to better ensure that the deformation caused by the collision on a single shell unit 120a will not be transmitted to other adjacent shell units 120a. As a result, the collision detection accuracy that can be performed by setting the sensing unit 210 is higher for each shell unit 120a, and the integrity of the collisions detected by setting the array force / tactile sensor 200 is also better guaranteed for the entire self-moving robot 100.

[0104] Please see Figure 11 In one embodiment, the number of sensing units 210 provided on each housing unit 120a is equal, thereby ensuring that the accuracy of collision detection on each housing unit 120a is consistent, and also enabling the tactile information calculated by the array force / tactile sensor 200 to be more accurate.

[0105] Example 3:

[0106] Please see Figure 12-21 In another embodiment: the side housing 120 consists of only one housing unit 120a, and the outline of the housing unit 120a is approximately circular. The housing unit 120a is provided with M sensing units 210 evenly spaced along its direction surrounding the base 110.

[0107] In this embodiment, the side shell 120 is composed of a single shell unit 120a, meaning the entire side shell 120 is the shell unit 120a, and the outline of the shell unit 120a is approximately circular. Therefore, to ensure consistent collision detection accuracy at any position on this shell unit 120a, M sensing units 210 are evenly spaced along the direction of the shell unit 120a surrounding the base 110. This means the spacing between any two adjacent sensing units 210 is uniform, ensuring that the angle formed by any two adjacent sensing units 210 on the shell unit 120a and the central axis of the side shell 120 is equal. This arrangement ensures that the sensing units 210 are evenly distributed on the side shell 120, thereby enabling uniform and complete detection of potential collisions to the entire side shell 120.

[0108] Please see Figure 12 In this embodiment, the value of M is 3, and the angle formed by any two adjacent sensing units 210 and the central axis of the side housing 120 is 120°.

[0109] Please see Figure 13-21In some other embodiments, the value of M can be one of 5, 7, 9, 11, 4, 6, 8, 10, 12; correspondingly, the included angle formed by any two adjacent sensing units 210 and the central axis of the side housing 120 is 72°, 51.43°, 40°, 32.73°, 90°, 60°, 45°, 36° and 30°.

[0110] Understandably, in Figure 12-21 In the embodiment shown, by setting the value of M to be greater than or equal to 3, at least two of the M relative displacements generated by the M sensing units 210 on the shell unit 120a when it collides can intersect in the direction of the straight line. Thus, the position of the point of application of the collision force can be obtained by solving the mathematical equations based on the intersection point, avoiding the possibility that the relative displacements in two directions may not be obtained when only one or two sensing units 210 are set.

[0111] Example 4

[0112] In this embodiment, the outline of the side shell 120 of the self-moving robot 100 is approximately N-sided. The portion of the side shell 120 corresponding to each side of the N-sided shape is set as a shell unit 120a. Each shell unit 120a is provided with q sensing units, and M = q * N, where q is a positive integer.

[0113] Understandably, when the side shell 120 of the self-propelled robot 100 is configured to be approximately N-sided, the portions of the side shell 120 corresponding to each side of the N-sided shape are arranged sequentially along the direction of the side shell 120 surrounding the base 110, and adjacent portions cannot transfer collision deformation caused by their own collisions to each other. Therefore, the portions of the side shell 120 corresponding to each side of the N-sided shape are all shell units 120a. At least one sensing unit 210 is provided for each shell unit 120a to detect possible collisions, and in order to ensure that the collision detection accuracy of each shell unit 120a is consistent, each shell unit 120a needs to be equipped with q sensing units 210.

[0114] Furthermore, in this embodiment, each housing unit 120a is uniformly equipped with q sensing units 210 at intervals, so that the collision detection accuracy of each housing unit 120a is the same.

[0115] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An array force / tactile sensor mounted to a self-moving robot, the self-moving robot comprising a base and a side housing disposed around the base, characterized in that, The array-type force / tactile sensor includes M sensing units. The side housing is composed of at least one housing unit. When the side housing is composed of multiple housing units, the multiple housing units are arranged sequentially along the direction of the side housing surrounding the base. Adjacent housing units cannot transmit collision deformation caused by their own collision to each other. Each housing unit is provided with at least one sensing unit. The sensing unit includes a sensing element and a detection element. One of the sensing element and the detection element abuts against the housing unit and is used to generate a relative displacement relative to the other of the sensing element and the detection element caused by the collision deformation. The detection element is used to generate a test signal that changes uniquely with the relative displacement, and the sensing element is used to detect the test signal.

2. The array force / tactile sensor according to claim 1, wherein, Each of the aforementioned housing units is provided with at least three of the aforementioned sensing units; And / or, the sensing unit further includes a resilient soft shell that covers at least a portion of the detection element and abuts against the housing unit.

3. The array force / tactile sensor of claim 1, wherein, The height of the housing unit is h. Among the M sensing units, the closest distance to the top of the housing unit along the height direction is h1, h1 ≥ 0.4 * h; the farthest distance among the M sensing units along the height direction to the top of the housing unit is h2, h2 ≤ 0.9 * h; and h2 - h1 ≤ 0.3 * h.

4. The array force / tactile sensor according to any one of claims 1-3, wherein, The side shell is composed of three shell units, one of which is a first collision detection area, and the other two of which are second collision detection areas. The first collision detection area is located at the front end of the self-moving robot in its forward movement direction, and the two second collision detection areas are respectively connected to the first collision detection area at the head and tail ends in the direction surrounding the base.

5. The array force / tactile sensor of claim 4, wherein, The first collision detection area is made of a flexible material, while the second collision detection area is made of a rigid material.

6. The array force / tactile sensor of claim 4, wherein, A of the M sensing units are disposed in the first collision detection area, and B of the M sensing units are disposed in the second collision detection area, and A + B = M, where A and B are both positive integers; When the value of M is 3, 5, 7, 9, 11, the value of A is 1, 1, 3, 3, 4, and the value of B is 2, 4, 4, 6, 7. Alternatively, when the value of M is 4, 6, 8, 10, or 12, the value of A is 2, 2, 3, 3, or 4, and the value of B is 2, 4, 5, 7, or 8.

7. The array force / tactile sensor according to any of claims 1-3, wherein, The self-moving robot also includes j partitions, where j is an integer greater than or equal to 3, the j partitions are connected to the side shell, and the side shell is divided into j shell units by the j partitions.

8. The array force / tactile sensor according to any one of claims 1-3, wherein, The side housing is composed of a housing unit, and the housing unit has a roughly circular outline. M sensing units are evenly spaced along the direction of the housing unit surrounding the base. And / or, the value of M is one of 3, 5, 7, 9, 11, 4, 6, 8, 10, 12.

9. The array force / tactile sensor according to any of claims 1-3, wherein, The outline of the side shell is approximately N-sided. The portion of the side shell corresponding to each side of the N-sided shape is set as a shell unit. Each shell unit is provided with q sensing units, and M = q * N, where q is a positive integer.

10. A self-moving robot, characterized by, The self-moving robot includes an array of force / tactile sensors as described in any one of claims 1 to 9, a side housing, and a base, the side housing being disposed around the base.

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