CN205507107U - Intelligence cleaning device and subassembly is surveyed in collision thereof - Google Patents
Intelligence cleaning device and subassembly is surveyed in collision thereof Download PDFInfo
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- CN205507107U CN205507107U CN201520228591.8U CN201520228591U CN205507107U CN 205507107 U CN205507107 U CN 205507107U CN 201520228591 U CN201520228591 U CN 201520228591U CN 205507107 U CN205507107 U CN 205507107U
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- cavity
- cleaning equipment
- detecting ball
- magnetic detecting
- intelligent cleaning
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Abstract
The utility model relates to an intelligence cleaning device and subassembly is surveyed in collision thereof, this collision is surveyed the subassembly and is included: the ball is surveyed to magnetism, magnetism detection ball inside is first magnetic pole, the outside is the second magnetic pole, the holding base, it is greater than to be equipped with the specification on the holding base a cavity of ball is surveyed to magnetism, just the cavity is through an opening and external intercommunication, the holding base is kept away from the direction of cavity is first magnetic pole, is close to the direction of cavity is the second magnetic pole, the feasible only partial spheroid of limit structure that sets up on the holding base can be followed the opening part stretches out the cavity, the magnetic flow meter detects the holding base with the magnetic flux situation of change between the ball is surveyed to magnetism, in order to be used for the judgement intelligence cleaning device's the collision condition. Through this disclosed technical scheme, can avoid producing the collision noise at clean in -process to help promoting the life that the subassembly was surveyed in the collision.
Description
Technical field
It relates to Smart Home technical field, particularly relate to intelligent cleaning equipment and collision detection assembly thereof.
Background technology
Along with the development of technology, occur in that diversified automatic cleaning equipment, such as automatic sweeping machine device people, automatic floor cleaning machine people etc..Automatic cleaning equipment can automatically carry out clean operation, facilitates user.As a example by automatic sweeping machine device people, be swept by directly brush, the technology such as vacuum cleaning realizes local automatic cleaning.
Utility model content
The disclosure provides intelligent cleaning equipment and collision detection assembly thereof, to solve the deficiency in correlation technique.
First aspect according to disclosure embodiment, it is provided that the collision detection assembly of a kind of intelligent cleaning equipment, including:
Magnetic detecting ball, inside described magnetic detecting ball in the first magnetic pole, outside in the second magnetic pole；
Accommodating base, described accommodating base is provided with a specification cavity more than described magnetic detecting ball, and described cavity is in communication with the outside by an opening；Described accommodating base is the first magnetic pole away from the direction of described cavity, is the second magnetic pole near the direction of described cavity, keep the trend outwards departed from by described opening part when making described magnetic detecting ball be built in described cavity, and the position limiting structure arranged on described accommodating base makes only part sphere can stretch out described cavity from described opening part；
Fluxmeter, detects the magnetic flux change situation between described accommodating base and described magnetic detecting ball, for the collision situation judging described intelligent cleaning equipment.
Optionally,
Described opening, to contract, makes the bore diameter less than described magnetic detecting ball of described opening, to constitute described position limiting structure；
Or, described position limiting structure includes that two ends are respectively connecting to described magnetic detecting ball and the rope structure of described cavity bottom.
Optionally, described accommodating base includes:
First housing and the second housing, the first sunk area and the second sunk area matched it is respectively equipped with on described first housing and described second housing, and after described first housing and described second shell combination, described first sunk area and the second sunk area collectively form described cavity.
Second aspect according to disclosure embodiment, it is provided that a kind of intelligent cleaning equipment, including: the collision detection assembly of at least one the intelligent cleaning equipment as according to any one of above-described embodiment.
Optionally, described collision detection assembly is positioned at the upper edge, front end of described intelligent cleaning equipment, and the opening of cavity is oriented straight up in described collision detection assembly, make the top front end upper surface higher than described intelligent cleaning equipment of magnetic detecting ball in described cavity.
Optionally, described collision detection assembly is positioned at the edge, front side of the rear end boss of described intelligent cleaning equipment, and the opening of cavity is oriented 45 °, oblique upper in described collision detection assembly, make the top upper surface higher than described rear end boss of magnetic detecting ball in described cavity.
Optionally, also include:
Travelling control assembly, it is connected to the fluxmeter in described collision detection assembly, and when described fluxmeter detects that the magnetic flux change value between described accommodating base and described magnetic detecting ball reaches to preset changing value, send, to the hoofing part portion of described intelligent cleaning equipment, instruction of getting rid of poverty.
Embodiment of the disclosure that the technical scheme of offer can include following beneficial effect:
From above-described embodiment, the disclosure is by making accommodating like pole between base with magnetic detecting ball relative, enable magnetic detecting ball under the magneticaction produced that repels each other " suspension ", thus physical contact and consequent operating noise will not be produced during collision detection；Meanwhile, the magnetic detecting ball of suspension can produce the sensitiveest magnetic flux change to collision accident, thereby through the detection to magnetic flux change situation, it is possible to detect collision accident quickly and accurately.Additionally, due to magnetic penetration power is strong, and do not affected by dust, water etc., contribute to reducing collision detection assembly influence, the service life of prolongation collision detection assembly.
It should be appreciated that it is only exemplary and explanatory that above general description and details hereinafter describe, the disclosure can not be limited.
Accompanying drawing explanation
Accompanying drawing herein is merged in description and constitutes the part of this specification, it is shown that meets and embodiment of the disclosure, and for explaining the principle of the disclosure together with description.
Fig. 1 is the schematic cross-section of the collision detection assembly according to a kind of intelligent cleaning equipment shown in the disclosure one exemplary embodiment.
Fig. 2 is the schematic cross-section of the collision detection assembly according to the another kind of intelligent cleaning equipment shown in the disclosure one exemplary embodiment.
Fig. 3 is the perspective view of the accommodating base of the collision detection assembly according to a kind of intelligent cleaning equipment shown in the disclosure one exemplary embodiment.
Fig. 4 is the operation principle schematic diagram of the collision detection assembly according to a kind of intelligent cleaning equipment shown in the disclosure one exemplary embodiment.
Fig. 5 A-5B is the operation principle schematic diagram of the collision detection assembly according to the another kind of intelligent cleaning equipment shown in the disclosure one exemplary embodiment.
Fig. 6 is the schematic diagram of getting rid of poverty according to a kind of intelligent cleaning equipment shown in the disclosure one exemplary embodiment.
Detailed description of the invention
Here will illustrate exemplary embodiment in detail, its example represents in the accompanying drawings.When explained below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the disclosure.On the contrary, they only with describe in detail in appended claims, the disclosure some in terms of the example of consistent apparatus and method.
Fig. 1 is the schematic cross-section of the collision detection assembly according to a kind of intelligent cleaning equipment shown in the disclosure one exemplary embodiment, as it is shown in figure 1, this collision detection assembly may include that
Magnetic detecting ball 1, described magnetic detecting ball 1 internal in the first magnetic pole, outside in the second magnetic pole, ratio is in embodiment as shown in Figure 1, the first magnetic pole be N pole, the second magnetic pole be S pole；
Accommodating base 2, described accommodating base 2 is provided with a specification cavity 21 more than described magnetic detecting ball 1, and described cavity 21 is in communication with the outside by an opening 22；Described accommodating base 2 is the first magnetic pole i.e. N pole away from the direction of described cavity 21, is the second magnetic pole i.e. S pole near the direction of described cavity, keep the trend outwards departed from by described opening 22 when making described magnetic detecting ball 1 be built in described cavity 21, and the position limiting structure arranged on described accommodating base 2 makes only part sphere can stretch out described cavity 21 at described opening 22；
Fluxmeter 3, detects the magnetic flux change situation between described accommodating base 2 and described magnetic detecting ball 1, for the collision situation judging described intelligent cleaning equipment.
In the present embodiment, owing to the specification of cavity 21 is more than magnetic detecting ball 1 so that magnetic detecting ball 1 can move in cavity 21, then the magnetic flux change that fluxmeter 3 can cause based on magnetic detecting ball 1 motion, accurately detect the collision accident of generation.
In the present embodiment, between second magnetic pole and second magnetic pole of accommodating base 2 of magnetic detecting ball 1, the same sex is repelled each other, make magnetic detecting ball 1 under the effect of corresponding mutual expelling force, " pushed " to the opening 22 of cavity 21, and part sphere stretches out from this opening 22, then, when front exists barrier, first magnetic detecting ball 1 will come in contact with barrier, magnetic detecting ball 1 " is pushed back " to cavity 21 by barrier, and causes the magnetic flux change between magnetic detecting ball 1 and accommodating base 2.Further, after magnetic detecting ball 1 separates with barrier, magnetic detecting ball 1, under the active force that the same sex is repelled each other, will " be pushed to " at opening 22 again, automatically restores to the original state.
In the present embodiment, fluxmeter 3 can be Hall element etc.；Meanwhile, the position that arranges of fluxmeter 3 is not limited by the disclosure, it is only necessary to is positioned near magnetic detecting ball 1, can detect magnetic flux change.
From above-described embodiment, the disclosure is by making accommodating like pole between base 2 with magnetic detecting ball 1 relative, make magnetic detecting ball 1 under the magneticaction produced that repels each other " suspension ", thus can will not produce physical contact and consequent operating noise during collision detection；Meanwhile, the magnetic detecting ball 1 of suspension can produce the sensitiveest magnetic flux change to collision accident, thereby through the detection to magnetic flux change situation, it is possible to detect collision accident quickly and accurately.Additionally, due to magnetic penetration power is strong, and do not affected by dust, water etc., contribute to reducing collision detection assembly influence, the service life of prolongation collision detection assembly.
1, position limiting structure
As an exemplary embodiment, as it is shown in figure 1, opening 22 to contract, can make the bore diameter less than magnetic detecting ball 1 of described opening 22, magnetic detecting ball 1 just cannot depart from cavity 21 from opening 22, thus constitute position limiting structure.In this embodiment, by the course of processing of accommodating base 2 is simply controlled and adjusts, can by the size limitation of opening 22 at zone of reasonableness, thus realize magnetic detecting ball 1 spacing.
As another exemplary embodiment, as in figure 2 it is shown, position limiting structure includes that two ends are respectively connecting to the rope structure 23 bottom described magnetic detecting ball 1 and described cavity 21.In this embodiment, when carrying out spacing by rope structure 23 to magnetic detecting ball 1, it is not necessary to the size of special concern opening 22, the bore that such as can make opening 22 is identical with the inner diameter of cavity 21, forms the cavity 21 of " tubbiness "；Meanwhile, accommodating base 2 can use integral structure, it is also possible to directly from opening 22, magnetic detecting ball 1 is put into cavity 21 and is connected to rope structure 23, contributes to simplifying the installation process of magnetic detecting ball 1.
2, accommodating base 2
Based on the different limit methods to magnetic detecting ball 1, accommodating base 2 also likely to be present different structure.Such as when the rope structure 23 that position limiting structure is shown in Fig. 2, accommodating base 2 can be integrated, and i.e. directly the one end at the accommodating base 2 of integration forms cavity 21, and magnetic detecting ball 1 directly can put into cavity 21 from opening 22.
And when position limiting structure be the opening 22 shown in Fig. 1 constitute to contract time, accommodating base 2 needs to be formed by multiple structural groupings.As shown in Figure 3, accommodating base 2 can be made up of two parts, i.e. first housing 2A and the second housing 2B, the first sunk area 211 and the second sunk area 212 matched it is respectively equipped with on described first housing 2A and described second housing 2B, and after described first housing 2A and described second housing 2B combination, described first sunk area 211 and the second sunk area 211 collectively form described cavity 21.Wherein it is possible to when the first housing 2A and the second housing 2B is combined, magnetic detecting ball 1 is put in cavity 21, then the seam between the first housing 2A and the second housing 2B is carried out encapsulation process, thus obtains the accommodating base 2 of entirety.
3, operation principle
As an exemplary embodiment, the collision detection assembly of the intelligent cleaning equipment in any of the above-described embodiment, can be installed at the upper edge, front end of intelligent cleaning equipment, and the opening of cavity is oriented straight up in described collision detection assembly, make the top front end upper surface higher than described intelligent cleaning equipment of magnetic detecting ball in described cavity.
As shown in Figure 4, collision detection assembly is arranged on sweeping robot 10 and (is used for illustrating, can also be other intelligent cleaning equipment) front end (left side in Fig. 4), when cavity 21 opening straight up time, when then observing from the side shown in Fig. 4, it can be seen that the magnetic detecting ball 1 protruded from front top.Magnetic detecting ball 1 slightly above sweeping robot 10, ensures that certain safe altitude, contributes to reducing the stranded probability of sweeping robot 10.
Therefore, when barrier 20 is not disposed in ground, sweeping robot 10 can not determine the existence of barrier 20 by the buffer (not shown) of the front end face (i.e. the leftmost side of Fig. 4) of fore-end, and walk to the left side shown in Fig. 4 along cleaning circuit always.Assuming that the front end of sweeping robot 10 is just below barrier 20, then sweeping robot 10 can sail into below barrier 20, but once exist as there is the situations such as part sunken regions (such as bottom of cabinet is likely to be due to use for a long time and there is the phenomenon that subregion sinks) bottom ground injustice, barrier 20, it is possible to cause sweeping robot 10 to be stuck in below barrier 20.Therefore, if barrier 20 is higher than the end face of sweeping robot 10 but less than magnetic detecting ball 1, will be at sweeping robot 10 when sailing into bottom barrier 20, magnetic detecting ball 1 is made to be pushed in cavity 21 by the bottom of barrier 20, now fluxmeter 3 can accurately detect corresponding magnetic flux change, then the travelling control assembly 4 in sweeping robot 10 can be when described fluxmeter 3 detects that the magnetic flux change value between described accommodating base 2 and described magnetic detecting ball 1 reaches to preset changing value (i.e. judging that magnetic detecting ball 1 is pushed in cavity 21), instruction of getting rid of poverty is sent to the hoofing part portion of sweeping robot 10, sweeping robot 10 is helped to leave the bottom of barrier 20.
As another exemplary embodiment, when intelligent cleaning equipment top is provided with the rear end boss higher than front end end face, the collision detection assembly of the intelligent cleaning equipment in any of the above-described embodiment, the edge, front side of this rear end boss can also be arranged at, and the opening of cavity is oriented 45 °, oblique upper in described collision detection assembly, make the top upper surface higher than described rear end boss of magnetic detecting ball in described cavity.
As shown in Figure 5A, collision detection assembly is arranged on front side (i.e. the left side of Fig. 5 A) edge of the rear end boss 101 of sweeping robot 10, and there is angle α between horizontal direction in the opening of cavity 21, such as this angle α can be 45 °, and the peak of the magnetic detecting ball 1 stretched out from cavity 21 is slightly above boss 101, ensure that certain safe altitude, contribute to reducing the stranded probability of sweeping robot 10.
Therefore, when barrier 20 is not disposed in ground, its height is higher than the height of the Laser emission of the laser ranging system LDS (not shown) in the boss of sweeping robot 10, but the height less than boss, therefore LDS does not scan the existence of barrier 20, and walks to the left side shown in Fig. 5 A along cleaning circuit always.Assuming that the front end of sweeping robot 10 is far below barrier 20, then the front end of sweeping robot 10 can directly be sailed into below barrier 20, if but boss 101 is higher than barrier 20, then and sweeping robot 10 will be unable to sail into below barrier 20；Or, if boss 101 is just below barrier 20, then sweeping robot 10 can sail into below barrier 20 just, but once exist as there is the situations such as part sunken regions (such as bottom of cabinet is likely to be due to use for a long time and there is the phenomenon that subregion sinks) bottom ground injustice, barrier 20, it is possible to cause sweeping robot 10 to be stuck in below barrier 20 because of boss 101.Therefore, if barrier 20 is higher than the end face of rear end boss 101 but less than magnetic detecting ball 1, as shown in Figure 5 B, will be at sweeping robot 10 when sailing into bottom barrier 20, magnetic detecting ball 1 is made to be pushed in cavity 21 by the bottom of barrier 20, now fluxmeter 3 can accurately detect corresponding magnetic flux change, then the travelling control assembly 4 in sweeping robot 10 can be when described fluxmeter 3 detects that the magnetic flux change value between described accommodating base 2 and described magnetic detecting ball 1 reaches to preset changing value (i.e. judging that magnetic detecting ball 1 is pushed in cavity 21), instruction of getting rid of poverty is sent to the hoofing part portion of sweeping robot 10, sweeping robot 10 is helped to leave the bottom of barrier 20.
Intelligent cleaning equipment can be got rid of poverty by the travelling control assembly 4 as shown in Fig. 4, Fig. 5 A-5B.As shown in Figure 6, assuming that in intelligent cleaning equipment 10, include being arranged at front edge and the collision detection assembly of the edge, front side of rear end boss simultaneously, and at the depression angle shown in Fig. 6, corresponding magnetic detecting ball 1A and magnetic detecting ball 1B can be respectively seen.
When intelligent cleaning equipment 10 is cleaned operation along cleaning circuit 5, it is assumed that magnetic detecting ball 1B is pushed by barrier, causes detecting corresponding magnetic flux change, then need to get rid of poverty intelligent cleaning equipment 10 process.As an exemplary embodiment, due to during clean operation, the barrier that collision detection component detection arrives, sofa often, the furniture such as cabinet, and the end face of these furniture is the most rectangular, i.e. magnetic detecting ball 1B is likely to be hindered by some rectangular edges of furniture, thus intelligent cleaning equipment 10 can be made along this possible rectangular edges walking, the most in figure 6 to the left side walking of cleaning circuit 5 originally, and again attempt to the travel direction walking to originally, the such as walking of the top in Fig. 6, if barrier still being detected, then illustrate not yet to leave the edge scope of this furniture, first other positions on cleaning circuit 5 can be cleaned, the most first select to clean downwards, after waiting above cleaning circuit 5 return of edge, again attempt to.
Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to other embodiment of the disclosure.The application is intended to any modification, purposes or the adaptations of the disclosure, and these modification, purposes or adaptations are followed the general principle of the disclosure and include the undocumented common knowledge in the art of the disclosure or conventional techniques means.Description and embodiments is considered only as exemplary, and the true scope of the disclosure and spirit are pointed out by claim below.
It should be appreciated that the disclosure is not limited to precision architecture described above and illustrated in the accompanying drawings, and various modifications and changes can carried out without departing from the scope.The scope of the present disclosure is only limited by appended claim.
Claims (7)
1. the collision detection assembly of an intelligent cleaning equipment, it is characterised in that including:
Magnetic detecting ball, inside described magnetic detecting ball in the first magnetic pole, outside in the second magnetic pole；
Accommodating base, described accommodating base is provided with a specification cavity more than described magnetic detecting ball, and described cavity is in communication with the outside by an opening；Described accommodating base is the first magnetic pole away from the direction of described cavity, is the second magnetic pole near the direction of described cavity, keep the trend outwards departed from by described opening part when making described magnetic detecting ball be built in described cavity, and the position limiting structure arranged on described accommodating base makes only part sphere can stretch out described cavity from described opening part；
Fluxmeter, detects the magnetic flux change situation between described accommodating base and described magnetic detecting ball, for the collision situation judging described intelligent cleaning equipment.
Assembly the most according to claim 1, it is characterised in that
Described opening, to contract, makes the bore diameter less than described magnetic detecting ball of described opening, to constitute described position limiting structure；
Or, described position limiting structure includes that two ends are respectively connecting to described magnetic detecting ball and the rope structure of described cavity bottom.
Assembly the most according to claim 1, it is characterised in that described accommodating base includes:
First housing and the second housing, the first sunk area and the second sunk area matched it is respectively equipped with on described first housing and described second housing, and after described first housing and described second shell combination, described first sunk area and the second sunk area collectively form described cavity.
4. an intelligent cleaning equipment, it is characterised in that include the collision detection assembly of at least one the intelligent cleaning equipment as according to any one of claim 1-3.
Intelligent cleaning equipment the most according to claim 4, it is characterized in that, described collision detection assembly is positioned at the upper edge, front end of described intelligent cleaning equipment, and the opening of cavity is oriented straight up in described collision detection assembly, make the top front end upper surface higher than described intelligent cleaning equipment of magnetic detecting ball in described cavity.
Intelligent cleaning equipment the most according to claim 4, it is characterized in that, described collision detection assembly is positioned at the edge, front side of the rear end boss of described intelligent cleaning equipment, and the opening of cavity is oriented 45 °, oblique upper in described collision detection assembly, make the top upper surface higher than described rear end boss of magnetic detecting ball in described cavity.
Intelligent cleaning equipment the most according to claim 4, it is characterised in that also include:
Travelling control assembly, it is connected to the fluxmeter in described collision detection assembly, and when described fluxmeter detects that the magnetic flux change value between described accommodating base and described magnetic detecting ball reaches to preset changing value, send, to the hoofing part portion of described intelligent cleaning equipment, instruction of getting rid of poverty.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520228591.8U CN205507107U (en) | 2015-04-15 | 2015-04-15 | Intelligence cleaning device and subassembly is surveyed in collision thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520228591.8U CN205507107U (en) | 2015-04-15 | 2015-04-15 | Intelligence cleaning device and subassembly is surveyed in collision thereof |
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| Publication Number | Publication Date |
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| CN205507107U true CN205507107U (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520228591.8U Withdrawn - After Issue CN205507107U (en) | 2015-04-15 | 2015-04-15 | Intelligence cleaning device and subassembly is surveyed in collision thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105988139A (en) * | 2015-04-15 | 2016-10-05 | 小米科技有限责任公司 | Intelligent cleaning device, collision detection assembly, de-trapping method and de-trapping device of intelligent cleaning device |
-
2015
- 2015-04-15 CN CN201520228591.8U patent/CN205507107U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105988139A (en) * | 2015-04-15 | 2016-10-05 | 小米科技有限责任公司 | Intelligent cleaning device, collision detection assembly, de-trapping method and de-trapping device of intelligent cleaning device |
| CN105988139B (en) * | 2015-04-15 | 2018-06-19 | 小米科技有限责任公司 | Intelligent cleaning equipment and its collision detection component, method and apparatus of getting rid of poverty |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160824 Effective date of abandoning: 20180619 |
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| AV01 | Patent right actively abandoned |