CN114652223B

CN114652223B - Mobile cleaning device and collision monitoring method thereof

Info

Publication number: CN114652223B
Application number: CN202210441365.2A
Authority: CN
Inventors: 李锐
Original assignee: Nilfisk Advance AS
Current assignee: Nilfisk AS
Priority date: 2022-04-25
Filing date: 2022-04-25
Publication date: 2023-09-05
Anticipated expiration: 2042-04-25
Also published as: CN114652223A

Abstract

The application provides a mobile cleaning device and a collision monitoring method thereof, wherein the mobile cleaning device comprises a collision sensing module (M), the collision sensing module (M) is arranged on at least part of the surface of the cleaning device, the collision sensing module (M) comprises a flexible pressure-sensitive sheet (10), and the pressure-sensitive sheet (10) can detect the pressure acted on the pressure-sensitive sheet. The movable cleaning equipment provided by the application has high reliability on collision monitoring, and the collision monitoring method provided by the application is timely in response.

Description

Mobile cleaning device and collision monitoring method thereof

Technical Field

The application relates to the field of cleaning, in particular to a movable cleaning device and a collision monitoring method thereof.

Background

A problem faced by mobile cleaning devices, such as road sweeper or car washer, in the process of going to more intelligent and safer is how to avoid collisions.

One approach is path optimization of the cleaning device's activity during travel, for example by using a non-contact sensor such as a camera to detect the position of an obstacle. However, during movement of the cleaning device, such non-contact sensors may have a dead zone for target detection, and another approach is to use a contact sensor to signal when it contacts an obstacle, so that the cleaning device stops moving further towards the obstacle.

However, since the obstacle may come from various directions, it is difficult for even the touch sensor to cover all the directions to be detected, and thus a blind area for obstacle recognition may still exist.

Disclosure of Invention

The application aims to overcome or at least alleviate the defects in the prior art and provide the movable cleaning equipment with higher safety performance and the collision monitoring method thereof.

According to a first aspect of the present application, there is provided a mobile cleaning appliance comprising a collision sensing module, wherein,

the collision sensing module is disposed on at least a portion of a surface of the cleaning device, and includes a flexible pressure sensitive sheet capable of detecting a pressure acting thereon.

In at least one embodiment, the collision sensing module further comprises a plastic layer covering at least one surface of the pressure sensitive sheet.

In at least one embodiment, the plastic layer covers both surfaces of the pressure-sensitive sheet to completely wrap the pressure-sensitive area of the pressure-sensitive sheet.

In at least one embodiment, the crash sensing module further comprises a housing, the pressure sensitive sheet being embedded within the housing.

In at least one embodiment, the housing is part of a housing of the mobile cleaning device.

In at least one embodiment, the housing is removably attachable to the housing of the mobile cleaning appliance.

In at least one embodiment, the surface of the housing forms, at least in part, a curved surface.

In at least one embodiment, the collision sensing module has a plurality of the plurality of pressure sensitive sheets from a plurality of the collision sensing modules are electrically connected to each other.

In at least one embodiment, the collision sensing module covers all directions of travel of the mobile cleaning device.

In at least one embodiment, the collision sensing module is capable of detecting at least one of the following actions:

the mobile cleaning device is bumped, the mobile cleaning device is tipped over, the mobile cleaning device is tampered with, and the mobile cleaning device is stolen.

According to a second aspect of the present application, there is provided a collision monitoring method of a mobile cleaning apparatus, wherein the mobile cleaning apparatus is a mobile cleaning apparatus according to the present application, the method comprising:

collecting a pressure signal from the collision sensing module of the mobile cleaning device;

signal comparison, judging whether the pressure signal exceeds a threshold value;

outputting an alarm signal if the pressure signal exceeds the threshold value; and

and carrying out data filtering under the condition that the pressure signal does not exceed the threshold value.

According to a third aspect of the present application, there is provided a collision monitoring method of a portable cleaning apparatus, characterized in that the portable cleaning apparatus is a portable cleaning apparatus according to the present application, the method comprising:

collecting a pressure signal from the collision sensing module of the mobile cleaning device; and

signal comparison, judging which of the first pressure interval, the second pressure interval and the third pressure interval the pressure signal falls into;

carrying out data filtering under the condition that the pressure signal falls into the first pressure interval;

outputting a first-level alarm signal under the condition that the pressure signal falls into the second pressure interval;

and outputting a secondary alarm signal under the condition that the pressure signal falls into the third pressure interval.

In at least one embodiment, the outputting a primary alarm signal if the pressure signal falls within the second pressure interval includes:

outputting a first-level alarm signal; and

data filtering is performed.

In at least one embodiment, the outputting a secondary alarm signal in case the pressure signal falls within the third pressure interval includes:

outputting a secondary alarm signal; and

and judging whether the secondary alarm signal is released, and performing data filtering under the condition that the secondary alarm signal is released.

The movable cleaning device provided by the application has high reliability for collision monitoring. The collision monitoring method according to the application responds in time.

Drawings

Fig. 1 is a schematic view of a mobile cleaning device according to one embodiment of the application.

Fig. 2 is a schematic view of a cross section of a collision sensing module of a mobile cleaning apparatus according to one embodiment of the application.

Fig. 3 is a schematic view of a pressure sensitive sheet of a collision sensing module of a mobile cleaning apparatus according to one embodiment of the application.

Fig. 4 and 5 are schematic views of a collision sensing module of a mobile cleaning apparatus according to an embodiment of the present application.

Fig. 6 is a schematic diagram of the connection of the collision sensing module to the control unit according to one embodiment of the application.

Fig. 7 is a schematic diagram of a method of monitoring a collision of a mobile cleaning apparatus according to one embodiment of the application.

Fig. 8 is a schematic view of a method of monitoring a collision of a mobile cleaning apparatus according to another embodiment of the present application.

Reference numerals illustrate:

s a mobile cleaning device; m collision sensing module; 10 a pressure sensitive sheet; 11 plastic layers; a 12-shell; 13 a connecting piece; 14 wires; an H shell.

Detailed Description

Exemplary embodiments of the present application are described below with reference to the accompanying drawings. It should be understood that these specific illustrations are for the purpose of illustrating how one skilled in the art may practice the application, and are not intended to be exhaustive of all of the possible ways of practicing the application, nor to limit the scope of the application.

Next, the mobile cleaning apparatus according to the present application will be described by taking an automatic travel sweeper as an example.

Referring to fig. 1, in the present embodiment, according to the usage convention of the mobile cleaning apparatus (also simply referred to as cleaning apparatus) S, the conventional traveling direction thereof is defined as a front F, and a rear B, a left side L, and a right side R are defined thereby. It should be understood that while the cleaning device S is traveling in most operating conditions in a forward direction F, this is not necessary, i.e. it may also be traveling in other directions as desired.

The cleaning device S has a housing H on which a collision sensing module M is mounted. In the present embodiment, the collision sensing module M is mounted in a region near the lower portion of the front side of the housing H.

It should be noted that, in other possible embodiments, the collision sensing module M may be mounted in other areas of the housing H, as desired. For example, the collision sensing module M may be disposed at a middle or upper portion of the housing H; for another example, the collision sensing module M may be disposed at the rear side or the left side or the right side of the housing H; even, the collision sensing module M may be provided to the housing H in a form of surrounding the housing H by approximately or equal to 360 °. Still even further, the collision sensing module M may be provided to the housing H in a form of substantially entirely covering the housing H.

The surface of the collision-sensing module M is not limited to a plane, but may be a curved surface to accommodate the surface shape of the housing H.

Referring to fig. 2, a specific structure of the collision sensing module M will be described. In the present embodiment, the collision sensing module M includes a pressure sensitive sheet 10, a plastic layer 11, and a housing 12.

Referring also to fig. 3, the pressure-sensitive sheet 10 is also referred to as a pressure-sensitive film, which is a sheet-like material having flexibility. The pressure-sensitive sheet 10 is integrated with a sensor element capable of detecting pressure, such as a piezoelectric sensor element or a piezoresistive sensor element. The pressure sensitive sheet 10 includes a wire 14 for transmitting a signal. Such pressure sensitive films are of the prior art and are not described in detail herein.

To achieve a wide range of pressure monitoring, the pressure-sensitive sheet 10 has a large length and width, for example, for the pressure-sensitive sheet 10 that is fully unfolded into a planar shape, its dimension in either direction in the plane is not less than 5 cm, or its dimension in either direction in the plane is not less than 10 cm.

Returning to fig. 2, both surfaces of the pressure-sensitive sheet 10 of the present embodiment are covered with a plastic layer 11. The plastic layer 11 is made of materials including, for example: one or more of silica gel, fluororubber, nitrile rubber, and polyurethane rubber. The plastic layers 11 on both sides form a wrap around the pressure-sensitive sheet 10, so that the pressure-sensitive sheet 10 can be integrated more easily into the housing 12 made of plastic.

For example, the pressure-sensitive sheet 10 wrapped with the plastic layer 11 may be injection-molded with the housing 12 as a unitary structure by means of in-mold injection molding.

It should be noted that in other possible embodiments, the pressure-sensitive sheet 10 may be covered with the plastic layer 11 on only one side, or the pressure-sensitive sheet 10 may be connected to the housing 12 by other means without covering the plastic layer 11.

To achieve coverage of the large-area housing 12 by the pressure-sensitive sheet 10, a plurality of small-area pressure-sensitive sheets 10 may be spread apart and electrically connected together in series or in parallel to form a collision-sensing module M having a large surface area.

Of course, it is also possible to choose to have each housing 12 have a smaller area, and to have a plurality of housings 12 spread out to cover a large area of the casing H, and to electrically connect the pressure-sensitive sheets 10 of the plurality of housings 12 together in series or in parallel. In this way, a plurality of electrically connected crash sensing modules M are formed. This way, the manufacturing, installation and maintenance of the collision sensing module M is facilitated. For example, when the collision sensing module M in a certain area fails or is damaged, only one or a plurality of collision sensing modules M in the area need to be replaced, so that the cost of the consumable is low, and the whole shell H of the cleaning device S is not affected.

To facilitate electrical connection of the plurality of crash sensing modules M, one or more electrical connection interfaces may be provided for connecting the wires 14 of the crash sensing modules M.

Fig. 4 and 5 show a structure of the collision sensing module M that is convenient to mount with the housing H. The side of the collision sensing module M facing the housing H is formed with a plurality of connection members 13. In the present embodiment, the connector 13 has a columnar shape, and the end portion thereof is formed in a substantially conical shape or a mushroom shape. The end of the connecting piece 13 has elasticity. Correspondingly, the respective areas of the housing H may be formed with a plurality of holes (not shown in the drawings), and the ends of the connection members 13 pass through the holes located in the housing H, thereby mounting the collision sensing module M to the housing H. The elastic connecting piece 13 enables the collision sensing module M to be quickly and conveniently assembled and disassembled relative to the shell H.

It should be appreciated that the crash sensing module M and the housing H can also be coupled together in other configurations.

In other possible embodiments, the housing 12 of the crash sensing module M may be part of the housing H, or the crash sensing module M may be integrated within the housing H. That is, in this embodiment, the housing 12 and the case H are not strictly distinguished, and they are integral.

Next, the operation of the collision sensing module M will be described with reference to fig. 6 and 7.

The collision sensing module M is electrically connected with the control unit U. The control unit U comprises a sampling unit, a signal processing unit and an alarm unit.

The sampling unit is used for acquiring the pressure signal acquired by the collision sensing module.

The signal processing unit is used for carrying out digital processing on the pressure signal acquired by the sampling unit and comparing the processed signal with a set threshold value. If the signal does not exceed the threshold value, the cleaning equipment S is considered to be not collided or not collided remarkably, and the normal movement of the cleaning equipment S is not required to be interfered; if the signal is greater than the threshold value, it is considered that the cleaning device S collides, which needs to be braked and/or checked.

The alarm unit is used for outputting an alarm signal under the condition that the signal processing unit judges that collision occurs. The alarm signal may be one or more of an acoustic, optical, electrical signal. For example, as for the electrical signal, it can be used as a control signal for the travel drive motor of the cleaning device S or as an input signal for a braking system, so that the cleaning device in travel is braked urgently.

A method of monitoring a collision of the cleaning device S according to the present embodiment will be described with reference to fig. 7.

And S1, collecting a pressure signal. During the travel of the cleaning device S, the collision sensing module M continuously detects the pressure acting thereon, and the sampling unit collects the pressure signal.

And S2, signal processing. The signal processing unit is used for carrying out digital processing on the pressure signal acquired by the sampling unit to obtain a processed pressure signal.

And S3, comparing signals. The pressure signal is compared with a preset threshold value to determine whether the pressure signal exceeds the threshold value.

If the pressure signal exceeds the threshold value, step S4 is executed, and an alarm signal is outputted. The alarm signal is, for example, one or more of an acoustic, an optical, an electrical signal.

If the pressure signal does not exceed the threshold, step S5 is executed, and the data is filtered, and the process returns to step S1 to perform a new round of real-time detection.

Alternatively, another method of monitoring the cleaning device S for collisions is described in connection with fig. 8.

The signal processing unit using this method can classify the pressure signal, for example, into a first pressure zone, a second pressure zone and a third pressure zone which are arranged in order from small to large. The upper limit of the first pressure interval is a first threshold, the second pressure interval is larger than the first threshold and smaller than or equal to the second threshold, and the third pressure interval is larger than the second threshold.

When the pressure signal falls into the first pressure interval, the alarm unit does not perform alarm operation.

When the pressure signal falls within the second pressure interval, the alarm unit performs a primary alarm, for example, the cleaning device S brakes. The primary alarm may be automatically released, for example, when the pressure signal decreases to fall within the first pressure interval, the primary alarm may be automatically released immediately, or after a short duration. For example, when an operator or other person or thing in the environment actively or passively touches the cleaning device S, the cleaning device S stops traveling until the touched person or thing leaves. An active touch is, for example, a need for the operator to additionally guide the movement of the cleaning device S and to pause it. A passive touch is for example that another person in the environment has unintentionally touched the cleaning device S, but the force of the touch is small and the touched person can be immediately away from the cleaning device S.

When the pressure signal falls within the third pressure interval, the alarm unit performs a secondary alarm, e.g. the cleaning device S brakes, and the warning light lights up and/or the warning sound sounds. The secondary alarm needs to be released after confirmation by the operator, for example, the operator needs to operate a certain controller before the secondary alarm can be released. Secondary alarms are typically caused by large impacts and therefore need to be relieved while ensuring safety.

Specifically, in this collision monitoring method, the following are performed:

Step S31, signal comparison. The pressure signal is compared with a first threshold value, and whether the pressure signal exceeds the first threshold value is judged.

If the pressure signal does not exceed the first threshold, step S5 is performed, and data filtering is performed, and the process returns to step S1 to perform a new round of real-time detection.

If the pressure signal exceeds the first threshold, step S32 is executed to compare the pressure signal with the second threshold, and determine whether the pressure signal exceeds the second threshold.

In the case that the pressure signal does not exceed the second threshold, step S41 is performed, and a primary alarm signal is output. Step S5 is then performed.

In case the pressure signal exceeds the second threshold, step S42 is performed to output a secondary alarm signal. Then, step S6 is executed to judge whether the secondary alarm is released. In the case where the secondary alarm is released, step S5 is performed.

It should be understood that in the case where there are a plurality of the collision sensing modules M, or in the case where one collision sensing module M includes a plurality of the pressure-sensitive sheets 10, the sampling unit will take as an output signal the largest pressure value among the pressures detected by the plurality of the pressure-sensitive sheets 10.

It will be appreciated that the above-described embodiments and portions of aspects or features thereof may be suitably combined.

The present application has at least one of the following advantages:

(i) The mobile cleaning device according to the application can be provided with a crash sensing module on the exterior over a large area, so that a possible crash can be detected almost without dead angles.

(ii) Since the pressure sensitive sheet is flexible, the shape of the crash sensing module according to the present application can be made as desired, and is not limited to being planar, and can cover non-planar surfaces or corner areas of the mobile cleaning device.

(iii) The collision sensing module has simple structure, thin thickness and light weight, and is easy to be installed on a shell of the movable cleaning equipment.

(iv) The pressure sensitive sheet of the crash sensing module may be covered with a plastic layer so as to be conveniently embedded in the housing in the form of, for example, in-mold injection molding.

(v) The collision sensing module has a modularized design, and can adapt to different models of the mobile cleaning equipment by modifying parameters of a control program.

Of course, the present application is not limited to the above-described embodiments, and various modifications may be made to the above-described embodiments of the present application by those skilled in the art in light of the present teachings without departing from the scope of the present application. For example:

(i) Although the above embodiment describes the mobile cleaning apparatus by taking the sweeper (also referred to as the floor washing vehicle) as an example, the mobile cleaning apparatus according to the present application may not be limited to the sweeper, but may be other mobile cleaning apparatus.

(ii) Although the anti-collision function is particularly suitable for cleaning devices in an autonomous mode, the mobile cleaning device according to the application is not limited to being autonomous, or the mobile cleaning device according to the application may comprise a plurality of driving modes including an autonomous mode.

(iii) When there are a plurality of collision sensing modules, the plurality of collision sensing modules can also be controlled relatively independently, for example, different pressure judgment thresholds can be set for the collision sensing modules in different areas.

(iv) The signal processing unit may grade the pressure signal more than three levels, depending on the control accuracy requirements.

(v) The collision sensing module may also at least partly be a structure of suspending the main body of the cleaning device, e.g. the housing of the cleaning device comprises a housing main body and a collision preventing portion suspending the housing main body, the collision sensing module being arranged at least at the collision preventing portion of the housing.

(vi) The term collision according to instant application may be used in a broad sense to include a collision sensing module having a compressive contact with other objects or persons or animals. For example, the collision sensing module may detect the following: the roll or tip of the cleaning device, the cleaning device is deliberately hit and theft of the cleaning device is performed. This allows the above-mentioned undesired pressure contact of the cleaning device to be detected effectively in time, since the collision-sensing module can cover the cleaning device over a large area.

Claims

1. A mobile cleaning appliance comprising:

a collision sensing module (M) arranged on at least part of the surface of the cleaning device, the collision sensing module (M) comprising a flexible pressure sensitive sheet (10), the pressure sensitive sheet (10) being capable of detecting a pressure acting thereon,

wherein the collision sensing module (M) further comprises a housing (12), the housing (12) being part of a housing (H) of the mobile cleaning device,

the plurality of collision sensing modules (M) are arranged, and a plurality of pressure-sensitive sheets (10) from the plurality of collision sensing modules (M) are electrically connected in parallel; and

a control unit that acquires the pressure signal acquired by the collision sensing module (M) and judges whether the pressure signal exceeds a prescribed threshold value,

wherein the control unit performs the following control: performing data filtering under the condition that the pressure signal is not more than a first threshold value; outputting a primary alarm signal which can be automatically released by the mobile cleaning equipment under the condition that the pressure signal is judged to be larger than the first threshold value and smaller than or equal to a second threshold value; and outputting a secondary alarm signal to be relieved by an operator when the pressure signal is judged to be larger than the second threshold value.

2. A mobile cleaning device according to claim 1, wherein the collision sensing module (M) further comprises a plastic layer (11), the plastic layer (11) covering at least one surface of the pressure sensitive sheet (10).

3. A mobile cleaning device according to claim 2, characterized in that the plastic layer (11) covers both surfaces of the pressure-sensitive sheet (10) to completely encase the pressure-sensitive area of the pressure-sensitive sheet (10).

4. A mobile cleaning device according to any one of claims 1 to 3, characterized in that the pressure sensitive sheet (10) is embedded within the housing (12).

5. A mobile cleaning appliance according to claim 1, wherein the housing (12) is detachably connectable with the housing (H) of the mobile cleaning appliance.

6. A mobile cleaning device according to claim 1, characterized in that the surface of the housing (12) at least partly forms a curved surface.

7. A mobile cleaning apparatus according to claim 1, characterized in that the collision sensing module (M) covers all directions of travel of the mobile cleaning apparatus.

8. The mobile cleaning device according to claim 1, characterized in that the collision sensing module (M) is capable of detecting at least one of the following actions:

9. A collision monitoring method of a mobile cleaning apparatus, characterized in that the mobile cleaning apparatus is a mobile cleaning apparatus according to any one of claims 1 to 8, the method comprising:

collecting a pressure signal from the collision sensing module (M) of the mobile cleaning device; and

outputting a primary alarm signal which can be automatically released by the movable cleaning equipment under the condition that the pressure signal falls into the second pressure interval;

and outputting a secondary alarm signal to be relieved by an operator under the condition that the pressure signal falls into the third pressure interval.

10. The collision monitoring method of a portable cleaning apparatus according to claim 9, wherein outputting the primary alarm signal that the portable cleaning apparatus can automatically release in the case where the pressure signal falls within the second pressure zone "comprises:

outputting the primary alarm signal; and

data filtering is performed.

11. The method of claim 9, wherein outputting a secondary alarm signal to be released by an operator when the pressure signal falls within the third pressure zone comprises:

outputting the secondary alarm signal; and