The present application claims priority to Chinese Patent Application No. 202221594236.9, filed on Jun. 24, 2022. The entire contents of the above-listed application are hereby incorporated by reference for all purposes.
With the development of technologies, smart home products are applied more and more extensively, such as the application of cleaning devices like a sweeping robot. The sweeping robot usually uses a sensor such as a Laser Distance Sensor (LDS) for automatic navigation so as to achieve cleaning and dust absorption of the floor. The LDS is generally located at the highest position of the sweeping robot, and a height of the LDS determines the ability of the sweeping robot to enter a low space.
During the operation of the sweeping robot, collision detection is used to avoid or bypass obstacles. In the related art, structures for collision detection of the sweeping robot are relatively complex and need to be improved.
The disclosure relates to the field of cleaning devices, in particular to a collision detection apparatus and a cleaning device.
According to a first aspect of an example of the disclosure, a collision detection apparatus is provided, including:
According to a second aspect of an example of the disclosure, a cleaning device is provided, including the collision detection apparatus described in the first aspect.
It can be understood that the above general descriptions and the following detailed descriptions are illustrative and explanatory, and are not intended to limit the disclosure.
The accompanying drawings here, which are incorporated in and constitute a part of this specification, illustrate examples consistent with the disclosure and, together with the specification, serve to explain the principles of the disclosure.
Examples will be described in detail herein, instances of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different accompanying drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the examples below are not intended to represent all implementations consistent with the disclosure. Rather, they are merely instances of apparatuses and methods consistent with some aspects of the disclosure.
In an example, as shown in
The switch 3 is disposed in the base 2. The elastic assembly 4 is disposed in the base 2, one end of the elastic assembly 4 is connected with the base 2, and the other end of the elastic assembly 4 is connected with the switch 3. One side of the cover 1 is movably connected with the base 2 to move within a set range. An abutting part 101 is disposed on one side of the cover 1, and the abutting part 101 is clamped with a preset portion of the elastic assembly 4. Under a state that the cover 1 has a collision and moves in a set direction, the abutting part 101 is forced to push the preset portion, so as to drive the other end of the elastic assembly 4 to press and trigger the switch 3, and the switch 3 is configured to report a collision event when being triggered.
In an example, as shown in
In an example, as shown in
Referring to
In an example, the cover 1 is connected with the base 2, and may move relative to the base 2 within a set range under a connection state. Referring to
The set direction includes a first direction or a second direction. When the sweeping robot moves, the first direction is also a moving direction of the sweeping robot in a horizontal direction. The second direction may be a vertical direction. The set range includes, for example, moving by a first distance in the first direction, and/or moving by a second distance in the second direction.
In one example, when the front of the sweeping robot has a collision, the cover 1 may move backwards in the first direction, and the abutting part 101 of the cover 1 is configured to push and squeeze the preset portion of the elastic assembly 4, so as to trigger the switch 3 through the elastic assembly 4.
In another example, when the top (upper portion) of the sweeping robot has a collision, the cover 1 may move downwards in the second direction, and the abutting part 101 of the cover 1 is configured to push and squeeze the preset portion of the elastic assembly 4, so as to trigger the switch 3 through the elastic assembly 4.
In the collision detection apparatus of the disclosure, the abutting part 101 disposed on the cover 1 is matched with the elastic assembly 4, when a collision external force exists, the abutting part 101 moves to drive the elastic assembly 4 to move so as to trigger the switch 3, so that the switch 3 can report the collision event in time when being triggered. In the disclosure, the structure is simple, and the collision detection sensitivity and efficiency are high.
In an example, as shown in
In an example, as shown in
In an example, the collision detection apparatus further includes first fixing pieces 5, one ends of the first fixing pieces 5 are assembled with the limiting holes 102, and the other ends of the first fixing pieces 5 are fixedly connected with the base 2, so as to connect the cover 1 with the base 2. The first fixing pieces 5 may be screws, one ends of the screws are assembled with the limiting holes 102 in a limited manner, and the other ends of the screws are fixedly connected with bolt columns 204 on the base 2.
In an example, the limiting holes 102 extend by a first distance in the first direction, so that the cover 1 can move by the first distance in the first direction. As shown in a direction of
In an example, as shown in
In an example, the set direction includes the first direction or the second direction, and the second direction is the vertical direction. As shown in
In an example, as shown in
In the example, when the sweeping robot has a collision from the front or the top (upper portion), the cover 1 will move in the first direction or the second direction. During the movement, the limiting parts 103 can effectively limit a moving distance of the cover 1, and the first slopes 1031 of the limiting parts 103 and the second slopes 2011 of the matching parts 201 are slidably matched, so that the stability of the cover 1 in the relative movement process can be effectively improved. In addition, the sliding cooperation between the first slopes 1031 and the second slopes 2011 is also helpful for the reset of the cover 1 when the collision external force disappears, and for details, please refers to the description of the following examples.
In an example, as shown in
In the example, as shown in
The abutting part 101 is located on a side of the rear of the cover 1, and the clamping structure formed by the inclined unit 1011 and the vertical unit 1012 in the abutting part 101 faces the elastic assembly 4. The first slopes 1031 of the limiting parts 103 are disposed at one end away from the abutting part 101, and an inclined direction of the first slopes 1031 may match the movement and reset directions of the cover 1.
In combination with movement directions shown by the arrows in
In an example, as shown in
The example of the disclosure illustrates the elastic assembly 4 in the form of the torsion spring 401.
In an example, as shown in
In an example of the disclosure, the torsion spring 401 includes the main body part 4011, a first arm 4012, and a second arm 4013; the main body part 4011 sleeves the second fixing piece 402, one end of the first arm 4012 is connected with one end of the main body part 4011, and the other end of the first arm 4012 is connected with the base 2; and one end of the second arm 4013 is connected with the other end of the main body part 4011, and the other end of the second arm 4013 is in contact connection with the switch 3. The first arm 4012 and the second arm 4013 extend from the main body part 4011 of the torsion spring 401 respectively, and a length of the first arm 4012 is smaller than that of the second arm 4013. When the cover 1 moves due to a collision, the abutting part 101 may push the main body part 4011 to rotate clockwise around the second fixing piece 402, so that the second arm 4013 triggers the switch 3.
In an example of the disclosure, the base 2 is provided with a first support part 202 and a second support part 203, the first arm 4012 is fixedly connected with the first support part 202, and a set position of the second arm 4013 is in overlap joint with the second support part 203, and the set position is spaced by a third distance from one end of the second arm 4013 for contacting the switch 3. In the example, the set position is, for example, a middle position of the second arm 4013, a middle position of the second arm 4013 is in overlap joint with the second support part 203, and an end portion of the second arm 4013 is in contact with the switch 3. Alternatively, the set position is located between the middle position and one end of the second arm 4013 for contacting the switch 3. The first arm 4012 is snap-fitted or interference-fitted with the first support part 202. Thus, the overlap joint between the second arm 4013 and the second support part 203 can not only effectively support the second arm 4013, but also ensure that the end portion of the second arm 4013 can still move and trigger the switch when the force is applied.
In one example of the disclosure:
After the collision is eliminated, under the action of the elastic force of the torsion spring 401, the abutting part 101 is pushed to reset, and the first slopes 1031 of the limiting parts 103 in the cover 1 slide relatively with the second slopes 2011 of the matching parts 201, so that the cover 1 ascends to reset.
In another example of the disclosure:
After the collision is eliminated, under the action of the elastic force of the torsion spring 401, the abutting part 101 is pushed to reset, and the first slopes 1031 of the limiting parts 103 in the cover 1 slide relatively with the second slopes 2011 of the matching parts 201, so that the cover 1 ascends to reset.
In an example, as shown in
The example of the disclosure illustrates the elastic assembly 4 in the form of the swing rod 404.
As shown in
In the example of the disclosure, the mode that the tension spring 403 and the swing rod 404 are matched to trigger the switch 3 has higher triggering precision and better sensitivity than the mode of the torsion spring 401.
In an example, as shown in
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In the present example, as shown in
In the example of the disclosure, the photoelectric switch requires less force for triggering, and the swing rod 404 moves to cut off the light paths to achieve triggering, so the sensitivity is further improved.
In an example, the disclosure further provides a cleaning device, including the collision detection apparatus of any one of the foregoing examples.
Other implementation solutions of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. The disclosure is intended to cover any variations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the disclosure as come within known or customary practice in the art. It is intended that the specification and examples be considered as examples merely, with a true scope of the disclosure being indicated by the following claims.
It will be appreciated that the disclosure is not limited to the exact construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope of the disclosure. It is intended that the scope of the disclosure merely be limited by the appended claims.
Number | Date | Country | Kind |
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202221594236.9 | Jun 2022 | CN | national |