Anti-collision structure for a cleaning device and cleaning device
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 麦悦未来智能科技(苏州)有限公司
- Filing Date
- 2025-06-24
- Publication Date
- 2026-07-07
Smart Images
Figure CN224461634U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of smart homes, specifically to an anti-collision structure for cleaning equipment. Furthermore, this utility model also relates to a cleaning equipment incorporating this anti-collision structure. Background Technology
[0002] With the rapid development of smart home and robotics technologies, robotic vacuum cleaners have become an important part of modern household cleaning. The market demand for efficient and intelligent home cleaning equipment is constantly increasing, driving many manufacturers to continuously invest in research and development in areas such as navigation, obstacle recognition, and path planning. To achieve truly unattended cleaning, robotic vacuum cleaners must possess reliable collision detection and obstacle avoidance capabilities to protect themselves and the home environment, thereby enhancing the user experience.
[0003] Early robotic vacuum cleaners mostly used collision detection technology combining mechanical springs and limit switches. This structure was simple and inexpensive, but it was not sensitive to minor collisions, and the switches were susceptible to mechanical wear and accumulated errors. To address these issues, some related technologies introduced infrared, ultrasonic, or laser distance sensors to achieve non-contact distance measurement and warning. However, the distance sensors, exposed on the outside of the robot body, are easily bumped or covered by dust, leading to inaccurate distance measurement or damage.
[0004] Therefore, how to provide an anti-collision structure with a reasonable placement to achieve good detection results is an urgent technical problem to be solved. Utility Model Content
[0005] The purpose of this invention is to solve the problem of how to provide an anti-collision structure with a reasonable arrangement to achieve good collision detection and distance detection effects.
[0006] To achieve the above objectives, the first aspect of this utility model provides an anti-collision structure for a cleaning device, which includes a collision sensor and a distance sensor. The collision sensor is arranged to be further away from the center of the cleaning device than the corresponding distance sensor. The collision sensor and the distance sensor are respectively connected to the control unit of the cleaning device to transmit the collected information to the control unit.
[0007] In some embodiments, the collision sensor is disposed on the outside of the housing of the cleaning device, and / or the distance sensor is disposed on the inside of the housing.
[0008] In some embodiments, the collision sensor is a thin-film resistive sensor, a thin-film capacitive sensor, a strain gauge sensor, or a piezoelectric ceramic, and / or, the distance sensor is a capacitive sensor, a photoelectric sensor, or an inductive sensor.
[0009] In some embodiments, the collision sensor and the distance sensor are at least partially offset from each other in the circumferential or vertical direction of the housing of the cleaning device.
[0010] In some embodiments, a flexible element is provided on the outside of the collision sensor to at least partially cover the collision sensor.
[0011] In some embodiments, the collision sensor, the distance sensor, and the housing are provided with through holes, and the flexible element includes a positioning post passing through the through hole to fix the flexible element to the housing.
[0012] In some embodiments, the collision sensor is electrically connected to a collision detection circuit for detecting the intensity of a collision, which is capable of outputting signals of different intensities depending on the intensity of the collision.
[0013] In some embodiments, multiple distance sensors are arranged circumferentially around the cleaning device to measure the distance to obstacles at various angles.
[0014] In some embodiments, a plurality of distance sensors are arranged around the housing, wherein a collision sensor is arranged between adjacent distance sensors to measure collisions occurring at various angles.
[0015] A second aspect of this utility model provides a cleaning device that includes the aforementioned anti-collision structure for cleaning devices.
[0016] The above technical solution ensures that the collision sensor and distance sensor can operate normally without interfering with each other, thereby enabling the cleaning equipment to avoid collisions as much as possible and to react to obstacles and collisions that occur.
[0017] When the cleaning equipment is running, a distance sensor positioned closer to the center of the cleaning equipment detects the distance between external obstacles and the cleaning equipment, and transmits this distance to the control unit inside the cleaning equipment. This allows the cleaning equipment to react accordingly to obstacles in its movement path, thereby avoiding collisions with obstacles.
[0018] When the cleaning equipment is impacted, the collision sensor located in the impacted part can be directly impacted and transmit the collision signal to the control unit inside the cleaning equipment, so that it can make a corresponding response after the collision, such as moving in the opposite direction of the collision to avoid further collisions.
[0019] The collision sensor and distance sensor arranged in this invention differ from those in the prior art, allowing them to operate without interference. The collision sensor, as the first point of contact with the system, preferentially withstands external impacts; while the distance sensor is placed inside, avoiding direct impact or obstruction, thus ensuring the long-term reliability and accuracy of the ranging element.
[0020] Therefore, the anti-collision structure provided by this utility model can prevent the collision sensor and the distance sensor from interfering with each other, and provide good collision detection and distance detection effects. Attached Figure Description
[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a cross-sectional structural schematic diagram of one embodiment of the present invention;
[0023] Figure 2 This is a cross-sectional view of one embodiment of the present invention after the flexible component has been installed;
[0024] Figure 3 This is a partial structural schematic diagram of the distance sensor in one embodiment of the present invention;
[0025] Figure 4 This is a schematic diagram of the collision detection circuit in one embodiment of the present invention.
[0026] Figure 5 This is a top view of one embodiment of the present invention.
[0027] Figure 6 This is a top view of another embodiment of the present invention;
[0028] Figure 7 This is a top view of another embodiment of the present invention;
[0029] Figure 8 This is a top view structural diagram of another embodiment of the present invention.
[0030] Explanation of reference numerals in the attached figures
[0031] 1. Collision sensor; 11. Collision sensor unit; 12. Detection circuit power supply; 13. Pull-up resistor; 14. Signal output terminal; 2. Distance sensor; 21. Sensing electrode; 22. Shielding layer; 23. Adhesive layer; 3. Housing; 4. Flexible component; 41. Positioning post. Detailed Implementation
[0032] The embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this utility model by way of example, but should not be used to limit the scope of this utility model. This utility model can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
[0033] These embodiments are provided to make the present invention thorough and complete, and to fully express the scope of the present invention to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values set forth in these embodiments should be interpreted as merely exemplary and not as limiting.
[0034] It should be noted that, in the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0035] Furthermore, the terms "first," "second," and similar words used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range. Words such as "including" or "comprising" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.
[0036] It should also be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.
[0037] All terms used in this invention have the same meaning as understood by one of ordinary skill in the art to which this invention pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.
[0038] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.
[0039] To achieve the above objectives, the first aspect of this utility model provides an anti-collision structure for cleaning equipment, such as... Figure 1 , Figure 2 and Figures 5-8 As shown, it includes a collision sensor 1 and a distance sensor 2. The collision sensor 1 is arranged further away from the center of the cleaning equipment than the corresponding distance sensor 2. The collision sensor 1 and the distance sensor 2 are respectively connected to the control unit of the cleaning equipment to transmit the collected information to the control unit.
[0040] It is understood that cleaning equipment can be any automated device with autonomous movement and automatic cleaning functions, including but not limited to robot vacuums, robot mops, and self-propelled vacuum cleaners.
[0041] The number of collision sensor 1 and distance sensor 2 can be one or more.
[0042] The collision sensor 1 and the corresponding distance sensor 2 refer to the distance sensor 2 located between the collision sensor 1 and the center of the cleaning equipment, and closest to the collision sensor 1, with the straight line pointing from the collision sensor 1 to the center of the cleaning equipment as the detection direction.
[0043] The arrangement of the collision sensor 1 and the distance sensor 2 in the technical solution of this utility model ensures that both the collision sensor 1 and the distance sensor 2 can operate normally without interfering with each other, thereby enabling the cleaning equipment to avoid collisions as much as possible and to react to obstacles and collisions that occur.
[0044] When the cleaning equipment is running, distance sensor 2, which is set closer to the center of the cleaning equipment, detects the distance between external obstacles and the cleaning equipment and transmits the distance to the control unit inside the cleaning equipment. This allows the cleaning equipment to react accordingly to obstacles in its movement path, thereby avoiding collisions with obstacles.
[0045] When the cleaning equipment is hit, the collision sensor 1 located in the impacted part can be directly impacted and transmit the collision signal to the control unit inside the cleaning equipment so that it can react accordingly after being hit, such as moving in the opposite direction of the collision to avoid further collisions.
[0046] The collision sensor 1, positioned at the front, and the distance sensor 2, positioned at the rear, differ from the arrangement in the prior art, allowing them to operate without interference. The collision sensor 1, as the first force-bearing interface, preferentially withstands external impacts; while the distance sensor 2 is placed inside, avoiding direct impact or obstruction, thus ensuring the long-term reliability and accuracy of the ranging element.
[0047] Therefore, the anti-collision structure provided by this utility model can prevent the collision sensor 1 and the distance sensor 2 from interfering with each other, and provide good collision detection and distance detection effects.
[0048] It is understandable that, provided that collision sensor 1 is positioned further away from the center of the cleaning equipment relative to the corresponding distance sensor 2, collision sensor 1 and distance sensor 2 can be arranged in any relative position. For example... Figures 5-8 As shown, the collision sensor 1 and the distance sensor 2 can be completely overlapped, partially overlapped, or not overlapped in the direction away from the center of the cleaning equipment; the collision sensor 1 can be arranged above the distance sensor 2 or below the distance sensor 2.
[0049] In some embodiments, provided that the collision sensor 1 and the distance sensor 2 are arranged sequentially from the outside to the inside in the radial direction, the collision sensor 1, the distance sensor 2, and the housing 3 can be arranged in any relative positional relationship. For example Figures 5-8 As shown, the collision sensor 1 and the distance sensor 2 can both be set on the outside or inside of the housing 3, or the collision sensor 1 can be set on the outside of the housing 3 and the distance sensor 2 can be set inside the housing 3.
[0050] Collision sensor 1 can be configured to indicate whether a collision has occurred via a signal, or it can be configured to reflect the magnitude of the impact force received by transmitting signals of different intensities, thereby reflecting the magnitude of the collision. Distance sensor 2 can be configured to detect the presence of obstacles within a specific distance, or it can be configured to detect the numerical distance between obstacles.
[0051] Collision sensor 1 and distance sensor 2 can be connected to the control unit in the cleaning equipment via any means that can transmit signals, such as electrical connection or wireless connection.
[0052] In some embodiments, the collision sensor 1 may be configured to include a periphery baffle, which is connected to the sensing part of the collision sensor 1 that receives force and sends signals via an elastic element, thereby reducing the damage caused by the collision through the elastic element and the baffle while being able to transmit the impact force to the sensing part.
[0053] In some embodiments, such as Figure 1 and Figure 2 As shown, the collision sensor 1 is disposed on the outside of the housing 3 of the cleaning device, and / or the distance sensor 2 is disposed on the inside of the housing 3.
[0054] When the distance sensor 2 is installed outside the housing 3, if the cleaning equipment collides with an obstacle, the distance sensor 2 will be sandwiched between the housing 3 and the obstacle. This allows the distance sensor 2 to measure the distance between the external obstacle and the cleaning equipment while protected, preventing damage to the distance sensor 2 upon impact. The housing 3 can be provided with different mounting grooves and / or through holes depending on the type of distance sensor 2, or it can be made of a non-interfering material, allowing the distance sensor 2 to operate normally inside the housing 3 without interference. For example, if the distance sensor 2 is a photoelectric distance sensor, through holes can be made in the housing 3 so that the housing 3 does not obstruct the distance sensor 2 from the obstacle, preventing the housing 3 from affecting the distance sensor 2. If the distance sensor 2 is a capacitive distance sensor, the housing 3 can be made of a material with a low dielectric constant. Because low dielectric constant materials have weak polarization ability, they hardly introduce additional capacitance due to polarization, and have low attenuation of the electric field, thus minimizing the impact on the capacitive distance sensor 2.
[0055] When the collision sensor 1 is located inside the housing 3, the housing 3 will be scratched by obstacles after a collision, affecting the user experience. By placing the collision sensor 1 on the outside of the housing 3, the housing 3 can be prevented from being scratched or even damaged after a collision. At the same time, the collision sensor 1 can directly contact the obstacle when a collision occurs, thereby directly absorbing the impact force and accurately reflecting the collision situation.
[0056] In some embodiments, the collision sensor 1 is a thin-film resistive sensor, a thin-film capacitive sensor, a strain gauge sensor, or a piezoelectric ceramic, and / or, the distance sensor 2 is a capacitive sensor or a photoelectric sensor.
[0057] Specifically, the collision sensor 1 may include a thin-film resistive sensor, a thin-film capacitive sensor, a strain gauge sensor, or a piezoelectric ceramic sensor, etc. The thin-film resistive and thin-film capacitive sensors include thin-film resistive and capacitive elements, respectively. When subjected to force and deformation, the parameters of the thin-film resistance or capacitance change and are detected by the collision detection circuit, thus reflecting the magnitude of the impact force during a collision. The strain gauge sensor includes a strain gauge and a Wheatstone bridge circuit. When the strain gauge is subjected to pressure and deformation, a small change in resistance occurs. The Wheatstone bridge circuit is connected to the strain gauge and amplifies the change in resistance, thereby detecting the intensity of the collision based on this change. The piezoelectric ceramic sensor includes a piezoelectric ceramic and an amplification circuit. When the piezoelectric ceramic is subjected to a collision, the surface charge redistributes, generating a voltage proportional to the impact force across its terminals. This voltage is amplified by the amplification circuit to reflect the magnitude of the impact force during the collision.
[0058] The distance sensor 2 can be selected from either a capacitive or photoelectric sensor. The capacitive sensor includes a distance sensing electrode and a distance detection circuit. The distance sensing electrode and the obstacle form a variable capacitor, and the distance detection circuit detects the value of the variable capacitor and outputs the value to the control module of the cleaning equipment. The photoelectric sensor includes a light emitting-receiving module. The light can be laser or infrared light. The light emitting-receiving module calculates the distance between the obstacle and the cleaning equipment by detecting the flight time or reflection intensity of the light.
[0059] The key design parameters of each sensor can be selected and calibrated according to the required ranging range, accuracy and environmental conditions, so that those skilled in the art can realize the functions described in this utility model without creative experiments.
[0060] In some embodiments, such as Figure 1 and Figure 2 As shown, the collision sensor 1 and the distance sensor 2 are at least partially offset from each other in the circumferential or height direction of the housing 3 of the cleaning device.
[0061] When collision sensor 1 and distance sensor 2 are selected from specific types, signal interference may occur between them. For example, if distance sensor 2 is a capacitive distance sensor, the wire connected to collision sensor 1 will introduce induced noise, thus interfering with the detection of the capacitive distance sensor 2 placed at the rear. If distance sensor 2 is a photoelectric distance sensor, it is necessary to ensure that there is no obstruction between distance sensor 2 and the obstacle. In this case, collision sensor 1 will block the photoelectric distance sensor 2 placed at the rear and the obstacle, making it unable to detect the distance between it and the obstacle.
[0062] By at least partially offsetting the collision sensor 1 and the distance sensor 2, interference between them can be avoided, allowing both to function normally. For example, when the capacitive distance sensor 2 is offset from the collision sensor 1, at least a portion of the detection electrodes of the distance sensor 2 can be kept away from the wires and operate unaffected. When the detection portion of the photoelectric distance sensor 2 is offset from the collision sensor 1, it can directly detect obstacles without being obstructed. This arrangement ensures a compact and space-saving anti-collision structure while allowing both the collision sensor 1 and the distance sensor 2 to function normally.
[0063] In some embodiments, such as Figure 3 As shown, the distance sensor 2 includes a sensing electrode 21 and a shielding layer 22 disposed outside the sensing electrode 21, and the shielding layer 22 is provided with through holes.
[0064] In some embodiments, such as Figure 3 As shown, the distance sensor 2 includes a shielding layer 22 disposed inside the sensing electrode 21.
[0065] By setting the shielding layer 22, interference from the external electromagnetic environment on the distance sensor 2 can be prevented, thereby improving the detection accuracy of the distance sensor 2 and preventing detection problems caused by electromagnetic interference in the external environment. Simultaneously, to ensure that the sensing electrode is not shielded by the shielding layer 22, through holes are provided on the shielding layer 22 located outside the sensing electrode 21, allowing at least the portion of the sensing electrode 21 exposed through the through holes to detect the distance to the obstacle support. Furthermore, the through holes on the shielding layer 22 can also be used to define the sensing direction of the sensing electrode 21, thereby defining the detection direction of the distance sensor 2. The shielding layer 22 arranged as described above can also reduce external environmental interference in non-detection directions, thereby improving the detection accuracy of the distance sensor 2.
[0066] The shielding layer 22, located inside the sensing electrode 21, is positioned between the sensing electrode 21 and the internal environment of the cleaning equipment. This shields the signal interference from the internal circuits and components of the cleaning equipment, thereby improving the accuracy of the distance sensor 2.
[0067] The collision sensor 1 and the distance sensor 2 can be fixed to the inside or outside of the housing 3 in any way, for example, by bolting them to the housing 3.
[0068] In some embodiments, such as Figure 3 As shown, an adhesive layer 23 is provided on the outer side of the shielding layer 22 to fix the distance sensor 2 to the inner or outer side of the housing 3 by adhesive bonding. Compared with fixing with bolts, using adhesive bonding can avoid drilling holes in the housing 3, reducing the manufacturing process of the housing 3 while ensuring the structural strength of the housing 3.
[0069] In some embodiments, such as Figure 2 As shown, a flexible element 4 is provided on the outside of the collision sensor 1, which at least partially covers the collision sensor 1.
[0070] The collision sensor 1, located on the outside of the housing 3, will come into direct contact with the obstacle when a collision occurs. When the obstacle is relatively hard, the collision with the obstacle will cause the outer surface of the collision sensor 1 to be scratched and leave scratches. This will not only affect the appearance of the product and reduce the consumer experience, but may also damage the collision sensor 1.
[0071] By setting the flexible component 4, a buffer can be formed between the collision sensor 1 and the obstacle, thereby preventing external obstacles from leaving marks on the collision sensor 1 and preventing excessive collisions from damaging the collision sensor 1.
[0072] Provided that the collision sensor 1 can be completely subjected to the impact generated by the collision, the flexible component 4 can be made of any material or thickness, such as silicone. By adjusting the material and thickness of the flexible component 4, its elasticity and impact absorption capacity can be adjusted, so that the flexible component can prevent external obstacles from colliding with the collision sensor 1 and leaving marks on the collision sensor 1 without significantly attenuating the impact force signal, and ensure that the collision sensor 1 can withstand sufficient impact force to send a collision signal.
[0073] The flexible component 4 can be configured to wrap only the outer surface of the collision sensor 1, or it can be configured to wrap the entire outer side of the housing 3 to obtain a greater protection range while preventing obstacles from leaving scratches on the outer surfaces of the collision sensor 1 and the housing 3.
[0074] The flexible component 4 can be fixed to the outside of the collision sensor 1 by adhesive or other fixing methods, or it can be detachably set on the outside of the collision sensor.
[0075] In some embodiments, such as Figure 2As shown, the collision sensor 1, the distance sensor 2, and the housing 3 are provided with through holes, and the flexible component 4 includes a positioning post 41 that passes through the through hole to fix the flexible component 4 to the housing 3.
[0076] By using the positioning post 41, the flexible part 4 can be fixed to the outside of the collision sensor 1, and it can be positioned in a predetermined position through the through hole and the positioning post 41 to prevent the flexible part 4 from falling out of the predetermined position and exposing the collision sensor 1 during the movement of the cleaning equipment, which would cause the collision sensor 1 to be damaged in a collision.
[0077] In some embodiments, the collision sensor 1 is electrically connected to a collision detection circuit for detecting the collision intensity, which is capable of outputting signals of different intensities depending on the collision intensity.
[0078] like Figure 4 As shown, the collision detection circuit includes a collision sensor unit 11, a detection circuit power supply 12, a pull-up resistor 13, and a signal output terminal 14. The detection circuit power supply 12 and the pull-up resistor 13 provide a reference level for the collision detection circuit and output the signal to an external circuit through the signal output terminal 14. The collision sensor unit 11 is configured as a thin-film resistor whose resistance decreases when subjected to pressure.
[0079] When a collision occurs, the collision sensor unit 11 is subjected to the impact, and its resistance changes according to the magnitude of the impact, thereby causing a change in the voltage level of the signal output terminal 14. By adding a device capable of reading the voltage level to the signal output terminal 113, the change in resistance of the collision sensor unit 11 can be obtained, thus determining the magnitude of the impact force received by the collision sensor unit 11. This information is then sent to the cleaning equipment, allowing the cleaning equipment to determine its action after the collision based on the magnitude of the impact force, such as stopping or moving in the opposite direction.
[0080] The signal output terminal 14 can be configured as any device capable of reading the level of the collision sensor unit 11, such as an analog-to-digital signal converter (ADC). Through the signal output terminal 14, the magnitude of the collision force after a collision can be transmitted to the control module inside the cleaning equipment, enabling the control module to read the collision force data and determine the action after the collision.
[0081] In some embodiments, such as Figures 5-8 As shown, multiple distance sensors 2 are arranged around the circumference of the cleaning equipment to measure the distance to obstacles at various angles.
[0082] With the distance sensor 2 surrounding the outer casing 3, when the cleaning equipment moves on the horizontal plane, the distance sensor 2 can detect obstacles in all directions and send the signal of the presence of obstacles to the control module inside the cleaning equipment, so as to slow down the walking speed of the cleaning equipment and take obstacle avoidance actions to prevent the cleaning equipment from colliding with obstacles.
[0083] In some embodiments, the distance sensor 2, arranged around the housing 3, is configured to determine whether an obstacle exists within a predetermined distance and output an indication signal indicating the presence or absence of an obstacle. By determining whether an obstacle exists, the cleaning device can avoid it when the distance sensor 2 indicates the presence of an obstacle, thus providing an early warning to prevent collisions. For the distance sensor 2 configured as described above, since it does not need to output a specific distance value but only needs to determine whether an obstacle exists, the circuitry of the distance sensor 2 does not need to include structures and components capable of outputting specific values. Furthermore, since it does not need to output accurate values, the specific detection component in the distance sensor 2, such as the sensing electrode 21, can use a lower-precision sensing electrode 21. Through the above configuration, the cost of the distance sensor 2 can be reduced, thereby expanding the detection range by using multiple distance sensors 2 while maintaining a low cost.
[0084] In some embodiments, such as Figures 5-8 As shown, multiple distance sensors 2 are arranged around the outer shell 3, and a collision sensor 1 is arranged between adjacent distance sensors 2 to measure collisions occurring at various angles.
[0085] By setting a collision sensor 1 between adjacent distance sensors 2, it is possible to prevent the collision sensor 1 from obstructing the distance sensor 2 in the detection direction of the distance sensor 2, thereby making the detection of the distance sensor 2 more accurate.
[0086] like Figure 6 As shown, the collision sensor 1, which is positioned between the distance sensors 2, can be positioned inside the housing 3.
[0087] like Figure 7 As shown, the collision sensor 1, which is positioned between the distance sensors 2, can be positioned on the outside of the housing 3.
[0088] In some embodiments, such as Figure 5 As shown, the collision sensor 1 and the distance sensor 2 are arranged in the forward direction of the cleaning equipment, and are also arranged on one of the sides relative to the forward direction.
[0089] For some floor-mounted cleaning devices, especially robotic vacuum cleaners, a dedicated wall-following cleaning mode is often designed to ensure thorough cleaning of areas against the walls. In this mode, one side of the cleaning device approaches the wall until the distance is sufficient to clean the floor directly beneath it. The device then stops approaching the wall and begins moving forward to start cleaning. Maintaining the same distance from the wall on one side in this mode allows for cleaning of the area beneath the wall without collision. Furthermore, some whole-house cleaning programs may include this wall-following cleaning mode. After cleaning the areas beneath the walls of the room using this mode, the program can determine the dimensions and shape of the walls based on the device's movement path, allowing it to plan the next step of the cleaning process and complete the whole-house cleaning.
[0090] For the aforementioned wall-following cleaning mode, the cleaning equipment needs to be able to detect the distance between itself and the wall to ensure that it can perform wall-following cleaning. Some cleaning equipment can detect the distance between itself and the wall using a lidar sensor mounted on its top. However, lidar sensors have blind spots and cannot accurately measure the distance between the cleaning equipment's casing 3 and the wall. Therefore, relying solely on lidar is insufficient for wall-following cleaning, and a distance sensor 2 needs to be installed on one side of the cleaning equipment's forward direction. Furthermore, in the aforementioned wall-following cleaning mode, the cleaning equipment needs to stop in time and change its direction of movement when it is about to collide with the wall in front of it. Therefore, a distance sensor 2 also needs to be installed in the forward direction of the cleaning equipment. By installing distance sensors 2 in only these two directions, wall-following cleaning can be guaranteed, eliminating the need to place distance sensors 2 on the rest of the casing 3, thus saving the cost of additional distance sensors 2.
[0091] The second aspect of this utility model provides a cleaning device, which includes the above-described anti-collision structure for cleaning devices.
[0092] Cleaning equipment equipped with the aforementioned anti-collision structure can prevent collisions with obstacles through distance sensor 2, and in the event of an unavoidable collision, it obtains the intensity of the collision through collision sensor 1 and determines the next action of the cleaning equipment based on the collision intensity. In this anti-collision structure, collision sensor 1 can accurately measure and report the intensity of the collision, while distance sensor 2 is not directly impacted by the collision, reducing the risk of damage to distance sensor 2 due to collisions.
[0093] Specifically, the distance sensor 2 in the anti-collision unit is connected to the control unit within the cleaning equipment via a circuit and sends signals. When an obstacle appears within a predetermined range, the distance sensor 2 sends a signal indicating the obstacle's presence, causing the control unit to determine the next action, such as stopping operation or adjusting its direction of movement, thereby preventing a collision between the cleaning equipment and the obstacle. Multiple distance sensors 2 are arranged in different directions, enabling the cleaning equipment to determine the specific location of the obstacle. In the event of an unexpected collision, the collision sensor 1, located on the outer side of the housing 3, directly collides with the obstacle, receiving the impact directly and sending the impact force to the control unit. The control unit then determines the next action based on the intensity of the collision, such as an emergency stop or returning to the predetermined trajectory to continue cleaning. Simultaneously, because the collision sensor 1 is located further out, the distance sensor 2, positioned closer to the center of the cleaning equipment, is not directly impacted during a collision, thus preventing damage to the distance sensor 2.
[0094] The various embodiments of this utility model have now been described in detail. To avoid obscuring the concept of this utility model, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.
[0095] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any manner.
Claims
1. A collision-resistant structure for cleaning equipment, characterized in that, include: Collision sensor (1) and distance sensor (2); The collision sensor (1) is arranged further away from the center of the cleaning equipment relative to the corresponding distance sensor (2); The collision sensor (1) and distance sensor (2) are respectively connected to the control unit of the cleaning equipment to transmit the collected information to the control unit.
2. The anti-collision structure for cleaning equipment according to claim 1, characterized in that, The collision sensor (1) is disposed on the outside of the housing (3) of the cleaning equipment, and / or the distance sensor (2) is disposed on the inside of the housing (3).
3. The anti-collision structure for cleaning equipment according to claim 1, characterized in that, The collision sensor (1) is a thin-film resistive sensor, a thin-film capacitive sensor, a strain gauge sensor or a piezoelectric ceramic, and / or the distance sensor (2) is a capacitive sensor, a photoelectric sensor or an inductive sensor.
4. The anti-collision structure for cleaning equipment according to claim 1, characterized in that, The collision sensor (1) and the distance sensor (2) are at least partially offset from each other in the circumferential or height direction of the housing (3) of the cleaning equipment.
5. The anti-collision structure for cleaning equipment according to claim 1, characterized in that, The collision sensor (1) has a flexible element (4) that at least partially covers the collision sensor (1) on its outer side.
6. The anti-collision structure for cleaning equipment according to claim 5, characterized in that, The collision sensor (1), distance sensor (2) and housing (3) are provided with through holes, and the flexible member (4) includes a positioning post (41) that passes through the through hole to fix the flexible member (4) on the housing (3).
7. The anti-collision structure for cleaning equipment according to claim 1, characterized in that, The collision sensor (1) is electrically connected to a collision detection circuit for detecting collision intensity, which is capable of outputting signals characterizing different collision intensities.
8. The anti-collision structure for cleaning equipment according to claim 1, characterized in that, Multiple distance sensors (2) are arranged around the circumference of the cleaning equipment to measure the distance to obstacles at various angles.
9. The anti-collision structure for cleaning equipment according to claim 8, characterized in that, A plurality of distance sensors (2) are provided around the housing (3) of the cleaning equipment, wherein a collision sensor (1) is provided between adjacent distance sensors (2) to measure collisions occurring at various angles.
10. A cleaning device, characterized in that, Includes the anti-collision structure for cleaning equipment as described in any one of claims 1-9.