CN211933924U

CN211933924U - Collision detection device and sweeper

Info

Publication number: CN211933924U
Application number: CN201922154110.4U
Authority: CN
Inventors: 不公告发明人
Original assignee: Huizhou Topband Electronic Technology Co Ltd
Current assignee: Huizhou Topband Electronic Technology Co Ltd
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2020-11-17
Anticipated expiration: 2029-12-04

Abstract

The utility model is suitable for the technical field of floor sweeping machines, and provides a collision detection device and a floor sweeping machine, which comprises a base and an upper cover movably arranged on the base; the base is provided with a spring for supporting the upper cover; the base is provided with a switch, and the upper cover is provided with a touch part corresponding to the switch; when the upper cover is collided, the touch part touches the switch to send a collision signal. The embodiment of the utility model provides a through set up the spring-supported upper cover on the base, make the upper cover bump in arbitrary direction, all can stretch or compression spring, make the upper cover produce the displacement, and then make the touching portion of covering produce the displacement, touch switch sends the collision signal to increase collision detection coverage, after external force disappears, spring elastic response makes the upper cover reset, and the collision detection coverage is wide, convenient to popularize and use.

Description

Collision detection device and sweeper

Technical Field

The utility model belongs to the technical field of the machine of sweeping the floor, especially, relate to a collision detection device and machine of sweeping the floor.

Background

Along with the continuous improvement of the living standard of people, the intelligent household appliances are more and more widely applied and have very wide market prospect. The floor sweeping robot is also called an automatic sweeper, an intelligent dust collector, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor cleaning work in a room by means of certain artificial intelligence.

The top of the machine body of the existing sweeper with the navigation planning function is provided with a laser radar which protrudes outwards, and when the sweeper works, the laser radar can rotate 360 degrees to detect the surrounding environment within a certain distance and construct a map. However, when the sweeper is used for sweeping, the sweeper often touches a table, a sofa and the like, at the moment, the sweeper body does not touch the table or the sofa but drills to the bottom of the table or the sofa, the laser radar protruding outwards touches the table or the sofa, the laser radar cover is collided, the laser radar is damaged, and the safety is poor.

For solving the problem, the existing sweeper adopts an infrared induction detection mode to detect peripheral objects on an outwards convex laser radar, so that the laser radar is prevented from colliding. However, the infrared induction detection is to realize the detection of peripheral objects by adopting multi-point acquisition, the coverage area is small, and the phenomenon of missed detection exists, so that the laser radar collides with the peripheral objects in the advancing process of the sweeper.

SUMMERY OF THE UTILITY MODEL

The utility model provides a collision detection device aims at solving the little problem of collision detection coverage.

The utility model is realized in such a way that a collision detection device comprises a base and an upper cover movably arranged on the base;

the base is provided with a spring for supporting the upper cover;

the base is provided with a switch, and the upper cover is provided with a touch part corresponding to the switch;

when the upper cover is collided, the touch part touches the switch to send a collision signal.

Furthermore, the positioning device also comprises at least two positioning columns, wherein the upper cover is provided with positioning holes corresponding to the positioning columns, and a swing space is arranged between the positioning holes and the positioning columns; the bottom of reference column with base fixed connection, the top of reference column is provided with prevents the upper cover from following the locating part that the top of reference column drops.

Furthermore, the upper cover comprises a body and a positioning plate arranged on the edge of the body, and the positioning hole is formed in the positioning plate.

Still further, the springs are provided with at least three.

Further, the springs are arranged at intervals along the circumference of the edge of the upper cover.

Furthermore, the switch comprises a first sub-switch, the base is provided with a plurality of first sub-switches, the side of each first sub-switch is provided with the touch part, and when the upper cover swings in the swing space range, the touch part touches the first sub-switches to send collision signals.

Furthermore, the switch comprises a second sub-switch, the top of the second sub-switch is provided with the touch part, and when the top of the upper cover is collided, the touch part touches the second sub-switch to send out a collision signal.

Further, the end face of the touching portion is provided with a touching inclined face.

The utility model also provides a sweeper, be in including host computer, setting controller, setting on the host computer are in lidar and lid on the host computer are established last aforesaid arbitrary above-mentioned collision detection device, the controller with the switch is connected.

Furthermore, the upper cover comprises a body, a containing cavity for containing the laser radar is arranged on the body, and a light transmission groove is formed in the side wall of the containing cavity.

The embodiment of the utility model provides a through set up the spring-supported upper cover on the base, make the upper cover bump in arbitrary direction, all can stretch or compression spring, make the upper cover produce the displacement, and then make the touching portion of covering produce the displacement, touch switch sends the collision signal to increase collision detection coverage, after external force disappears, spring elastic response makes the upper cover reset, this simple structure, with low costs, and the collision detection coverage is wide, convenient to popularize and use.

Drawings

Fig. 1 is a schematic structural view of a sweeper provided by the present invention;

fig. 2 is a schematic perspective view of a collision detection device provided by the present invention;

FIG. 3 is an exploded view of FIG. 2;

FIG. 4 is a schematic view of the base assembly of FIG. 2;

FIG. 5 is a schematic view of the cover opening and closing operation of FIG. 2;

fig. 6 is a cross-sectional view of fig. 2.

In the figure, the light-transmitting device comprises a base 1, a base 11, a positioning column 12, a limiting groove 13, a limiting rod 2, an upper cover 21, a positioning hole 22, a touch part 23, a body 24, a positioning plate 25, a limiting column 3, a limiting part 4, a wheel 5, a spring 6, a switch 601, a first sub-switch 602, a second sub-switch 7, a main machine 8, a containing cavity 9 and a light-transmitting groove.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiment of the utility model comprises a base and an upper cover movably arranged on the base; the base is provided with at least two positioning columns, the upper cover is provided with positioning holes corresponding to the positioning columns, and swing spaces are arranged between the positioning holes and the positioning columns; the base is provided with at least three springs for supporting the upper cover; the base is provided with a switch, and the upper cover is provided with a touch part corresponding to the switch; when the upper cover is collided, the touch part touches the switch to send a collision signal. The embodiment of the utility model provides a through set up the spring-supported upper cover on the base, make the upper cover bump in arbitrary direction, all can stretch or compression spring, make the upper cover produce the displacement, and then make the touching portion of covering produce the displacement, touch switch sends the collision signal to increase collision detection coverage, after external force disappears, spring elastic response makes the upper cover reset, this simple structure, with low costs, and the collision detection coverage is wide, convenient to popularize and use.

Example one

The utility model provides a collision detection device, which is shown by combining the attached

drawings

3 and 5 and comprises a base 1 and an upper cover 2 movably arranged on the base 1; the base 1 is provided with a spring 5 for supporting the upper cover 2; the base 1 is provided with a switch 6, and the upper cover 2 is provided with a touch part 22 corresponding to the switch 6; when the upper cover 2 is collided, the touch part 22 touches the switch 6 to generate a collision signal.

The base 1 is provided with at least three springs 5 for supporting the upper cover 2, so that the position of the upper cover 2 is convenient to reset. Because the number of the springs 5 is at least three, and three supporting points form a supporting surface, the supporting effect of the springs 5 on the upper cover 2 is better, and the inclination of the upper cover 2 is avoided. For example, when there is one spring 5, and the upper cover 2 is supported by only one spring 5, there is one supporting point between the upper cover 2 and the base 1, so that the spring 5 recovers elasticity when the upper cover 2 is under pressure, the upper cover 2 may tilt to the other side, and the safety is not high, and at this time, two supporting points (such as a supporting column, a supporting platform, etc.) may be disposed on the base 1 instead of the spring 5. When there are two springs 5, the upper cover 2 will be inclined to the side of the two springs 5, and a supporting point may be provided on the base 1 instead of the springs 5. Therefore, it is preferable to provide at least three springs 5 for supporting the upper cover 2, but it is also possible to provide one or two springs 5, the other support being replaced by other support points, and it is also within the scope of the present application. When the spring 5 is three, the upper cover 2 is supported by the three supporting points of the spring 5, the three supporting points form a supporting surface, the upper cover 2 is stably supported, the upper cover 2 cannot incline when the spring 5 is restored to the original position, and the safety is high.

The switch 6 is provided on the base 1, and the touching portion 22 corresponding to the switch 6 is provided on the upper cover 2. Because the spring 5 can be stretched in the up-down direction and the circumferential side direction and can be elastically restored, when the upper cover 2 is collided, the upper cover 2 can move and drive the touch part 22 to touch the switch 6 to send out a collision signal, so that the collision detection efficiency of the upper cover 2 is improved, and after the collision force disappears, the upper cover 2 and the touch part 22 of the upper cover 2 are driven to be restored to the original position under the action of the elastic restoring force of the spring 5, so that the touch part 22 is separated from the switch 6.

In this embodiment, as shown in fig. 6, the upper cover 2 is provided with a plurality of limiting posts 25, the base is provided with a plurality of limiting grooves 12, the plurality of limiting grooves 12 are provided with limiting rods 13 corresponding to the plurality of limiting posts 25, two ends of the spring 5 are respectively sleeved on the limiting posts 25 and the limiting rods 13, when the upper cover 2 is collided, the spring 5 is prevented from falling off, and the structure of the fixed spring 5 enables the spring 5 to have a good resetting effect and high safety. The spring 5, the limiting column 25 and the limiting rod 13 can be slightly interfered with each other, and the spring 5, the limiting column 25 and the limiting rod 13 are in interference fit with each other, so that the spring 5 cannot easily fall off the limiting column 25 and the limiting rod 13 when the upper cover 2 is subjected to larger collision force.

The embodiment of the utility model provides a support the upper cover through set up spring 5 on the base, make upper cover 2 bump in arbitrary direction, all can stretch or compression spring 5, make upper cover 2 produce the displacement, and then make the touching portion 22 of covering produce the displacement, touch switch sends the collision signal to increase collision detection coverage, after external force disappears, spring 5 elastic response makes upper cover 2 reset, this simple structure, and is with low costs, and the collision detection coverage is wide, convenient to popularize and use.

Example two

In an optional embodiment of the present invention, as shown in fig. 2 and 3, the collision detecting device includes at least two positioning pillars 11, a positioning hole 21 corresponding to the positioning pillars 11 is disposed on the upper cover 2, and a swing space is disposed between the positioning hole 21 and the positioning pillars 11; the bottom of reference column with base fixed connection, the top of reference column 11 is provided with prevents that upper cover 2 follows the locating part 3 that the top of reference column 11 drops.

Specifically, the positioning column 11 and the base 1 may be an integral body, or the positioning column may be detachably connected to fix the positioning column on the base 1. The top end of the positioning column 11 refers to the end far away from the base 1. The size of locating hole 21 is greater than reference column 11, and the clearance between locating hole 21 and reference column 11 has just formed the swing space, and the clearance is bigger, and the swing space is bigger.

Through being provided with two at least reference column 11 on base 1, be provided with on upper cover 2 with the corresponding locating hole 21 of reference column 11, through inserting reference column 11 in locating hole 21, realize spacing between upper cover 2 and the base 1, can further avoid upper cover 2 to take place to drop with spring 5 when great collision, and can prevent that spring 5 is excessively tensile, lead to spring 5 elastic fatigue and influence spring 5's life. Because a swing space is arranged between the positioning hole 21 and the positioning column 11, the upper cover 2 can move in the swing space range.

In this embodiment, the limiting member 3 is a limiting plate or a housing of an application device, and the like, and has a good limiting effect and is convenient to disassemble and assemble. The limiting part 3 can prevent the upper cover 2 from falling off from the top end of the positioning column 11, but does not influence the up-and-down movement of the upper cover 2 along the axial direction of the positioning column 11.

EXAMPLE III

In an alternative embodiment of the present invention, as shown in fig. 2 and 3, the upper cover 2 includes a body 23 and a positioning plate 24 disposed at an edge of the body 23, and the positioning hole 21 is opened on the positioning plate 24. The body 23 is used to mount a device to be protected, such as a radar or the like. Through the design, the positioning column 11 on the base 1 can pass through the positioning hole 21 and be fixedly connected with the limiting part 3, so that the positioning plate 24 and the upper cover 2 can be effectively limited. The spring 5 may support the positioning plate 24, and thus the upper cover 2.

Example four

In an alternative embodiment of the present invention, as shown in fig. 3-4, the springs 5 are circumferentially spaced along the edge of the upper cover 2. When the springs 5 are arranged in a circle, the included angle between the adjacent two springs 5 and the circle center is less than 180 degrees. Above-mentioned mode of arranging can make and to spring 5 upper cover 2 holding power equilibrium, when upper cover 2 received the collision simultaneously, touching portion 22 touch switch 6 sent the collision signal, and the back is got rid of to external force, enables upper cover 2 and carries out quick location and reset effect, and the security is high.

Further, the springs 5 need to be scattered as far as possible when being arranged along the edge circumference of the upper cover 2, so that the situation that the springs 5 are too close to cause overlarge elasticity of part of positions and influence on the overall positioning and resetting effect of the upper cover 2 is avoided.

EXAMPLE five

In an optional embodiment of the present invention, as shown in fig. 4-5, the switch 6 includes a first sub-switch 601, the base 1 is provided with a plurality of first sub-switches 601, a side of the first sub-switch 601 is provided with a touch portion 22, and when the upper cover 2 swings in the swing space, the touch portion 22 touches the first sub-switch 601 to send a collision signal.

Referring to fig. 5, when there are two first sub-switches 601, the moving direction of the collision detection device is set forward, and one of the keys is set toward the left front, and the other is set toward the right front, so that when the upper cover is collided by the forward direction, any collision detection effect in the forward direction can be achieved. In this case, the first sub switch 601 is used to detect collision information of the front and both oblique front sides of the upper cover, for example, a direction in fig. 5, where the a direction is a horizontal direction, so as to detect collision force received around the upper cover. Through the arrangement of the keys on the first sub-switch 601 corresponding to the side touch portions 22 of the upper cover, the side touch portions 22 collide with the first sub-switch 601 to send out collision signals, and therefore the collision detection effect of the first sub-switch 601 on the side of the upper cover 2 is improved. The two first sub-switches 601 can implement collision detection in the forward direction.

When the number of the first sub-switches 601 is four, the keys of the first sub-switch 601 are arranged to face one to the front left, one to the front right, one to the rear left, and one to the rear right, and the touch portions 22 are arranged to correspond to the four directions of the keys of the first sub-switch 601. When the upper cover 2 is collided with the side surface, the touch part 22 touches the key of the first sub-switch 601 to send a collision signal, so that the collision detection of the side surface around the upper cover is realized, and the detection effect of the side collision of the upper cover is increased. When the upper cover 2 is partially stressed, the upper cover 2 moves backwards and triggers the first sub switch 601 at the rear end, the main machine 7 performs processing after being fed back by the first sub switch 601, and when the stress disappears, the main machine resets by using the twisting force of the spring 5. The four first sub-switches 601 can realize the all-directional collision detection.

EXAMPLE six

In an optional embodiment of the present invention, as shown in fig. 4-5, the switch 6 includes a second sub-switch 602, the top of the second sub-switch 602 is provided with a touch portion 22, and when the top of the upper cover 2 is collided, the touch portion 22 touches the second sub-switch 602 to send a collision signal. Because the top of the second sub-switch 602 is provided with the touch portion 22, and the touch portion 22 of the second sub-switch 602 is perpendicular to the base 1, when the top of the upper cover 2 is collided, the touch portion 22 touches the second sub-switch 602 to send out a collision signal, so as to detect the acting force of the upper cover 2 pressed downwards, thereby determining the collision direction of the upper cover 2. When the collision detection device enters a low space (such as the bottom of a sofa) along with the whole machine equipment, if the bottom of the low space touches the upper cover 2, at the moment, the collision detection device detects that the collision exists, the whole machine equipment stops advancing or changes the direction, and the whole machine equipment is prevented from continuously advancing and being stuck at the bottom of the sofa.

Specifically, as shown in fig. 5, the second sub switch 602 is used for performing collision detection on the B direction of the upper cover 2, and the second sub switch 602 is vertically arranged on the base 1, so that the first sub switch 601 is arranged corresponding to the touch portion 22, which is convenient for the upper cover 2 to enable the second sub switch 602 to send a collision signal when being squeezed, thereby improving the effect of collision detection in the B direction (vertical direction). When the top end of the upper cover 2 is stressed, the upper cover 2 moves downwards and triggers the second sub switch 602, and when the stress disappears, the upper cover 2 is reset by the tension of the spring 5.

EXAMPLE seven

In an optional embodiment of the present invention, on the basis of the sixth embodiment, as shown in fig. 5, the end surface of the touching portion 22 is provided with a touching inclined surface. Therefore, the touch part 22 can touch the second sub switch 602 during top collision or touch the second sub switch 602 during side collision, so that the detection effect of collision of the upper cover 2 is improved, and the safety is high.

Example eight

In an alternative embodiment of the present invention, as shown in fig. 4, the switch 6 comprises a tact switch 6 or snap dome. The tact switch 6 is called a key switch 6, when the pressure-applying switch 6 is used, the function of the pressure-applying switch 6 is closed and switched on in the operation direction of the switch 6 under the condition that the operation force is met, when the pressure is relieved, the switch 6 is switched off, and the internal structure of the pressure-applying switch is switched on and off by the stress change of the metal elastic sheet. For example, the model is 6 × 6 × 5, specifically, 6mm long × 6mm wide × 5mm high, where 5mm high is 13.5mm of the base + 1.5mm of the handle of the switch 6. Of course, the model may be 6mm long × 6mm wide × 12mm high, and the height of 12mm is 13.5mm + 8.5mm of the switch 6 stem.

The metal dome is called as a key dome or metal dome, snap dome, and the working principle of the key dome is as follows: the key elastic sheet on the film key is positioned on a conductive part on a PCB (printed Circuit Board), when the key elastic sheet is pressed, the central point of the elastic sheet is concave, and the elastic sheet is contacted with a Circuit on the PCB to form a loop, so that current passes through, and the whole product can normally work. For example, the model is 4.8 × 4.8 × 0.8, etc., which is expressed in the same manner as the above-mentioned tact switch 6 model, and will not be described here.

Example nine

The utility model also provides a sweeper, as shown in fig. 1, including host computer 7, the controller (not shown in the figure) of setting on host computer 7, set up lidar and the lid on host computer 7 and establish the above-mentioned embodiment one to eight arbitrary collision detection device of embodiment on lidar, the controller is connected with switch 6.

The Controller is a Micro Control Unit (MCU) (micro Controller Unit) and is used for controlling the laser radar and the wheel 4 arranged below the main machine 7 to move. When the switch 6 is touched by the touch portion 22 of the upper cover 2, the touch portion 22 touches the switch 6 to generate a collision signal.

Collision detection device's upper cover 2 receives outside collision back, the touching part 22 on the upper cover 2 touches with switch 6, switch 6 will touch signal transmission and give the controller, controller main control system 7 stops to need to advance or the redirecting, prevent that the repeated collision from leading to the machine of sweeping the floor to damage, and collision detection device lid is established on laser radar, the foreign object is at first met collision detection device's upper cover 2, at this moment, controller main control system 7 stops to advance or the redirecting, protection laser radar that can be fine, prevent that laser radar from being collided or being blocked in narrow and small space.

Example ten

In an optional embodiment of the present invention, as shown in fig. 1 and 5, the upper cover 2 includes a body 23, the body 23 is provided with a containing cavity 8 for placing the laser radar, and the side wall of the containing cavity 8 is provided with a light-transmitting groove 9.

Through placing laser radar in holding chamber 8 for the whole small of collision detection device, the installation of being convenient for. As the light transmission groove 9 is formed in the side wall of the accommodating cavity 8, laser radar can project laser through the light transmission groove 9, and scanning around is facilitated.

To sum up, the embodiment of the utility model comprises a base 1 and an upper cover 2 movably arranged on the base 1; at least two positioning columns 11 are arranged on the base 1, positioning holes 21 corresponding to the positioning columns 11 are arranged on the upper cover 2, and a swing space is arranged between the positioning holes 21 and the positioning columns 11; the base 1 is provided with a spring 5 for supporting the upper cover 2; a switch is arranged on the base 1, and a touch part 22 corresponding to the switch is arranged on the upper cover 2; when the upper cover 2 is collided, the touch part 22 touches the switch to send a collision signal. The embodiment of the utility model provides a support upper cover 2 through set up at least three spring 5 on base 1, make upper cover 2 bump in arbitrary direction, all can tensile or compression spring 5, make upper cover 2 produce the displacement, and then make the touching portion 22 on the upper cover 2 produce the displacement, touch switch sends the collision signal, thereby increase collision detection coverage, after external force disappears, spring 5 elastic reply makes upper cover 2 reset, this simple structure, and is with low costs, and collision detection coverage is wide, convenient to popularize and use. After collision detection device's upper cover 2 received outside collision, the touching part 22 on the upper cover 2 touched with switch 6, switch 6 will touch signal transmission and give the controller, controller main control system 7 stops to need to advance or redirecting, prevent that repeated collision from leading to the machine of sweeping the floor to damage, and collision detection device lid is established on laser radar, the foreign object is at first touchhed collision detection device's upper cover 2, this moment, controller main control system 7 stops to advance or redirecting, protection laser radar that can be fine, prevent that laser radar from being collided or being blocked in narrow and small space.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A collision detection device is characterized by comprising a base and an upper cover movably arranged on the base;

the base is provided with a spring for supporting the upper cover;

2. The collision detecting device according to claim 1, further comprising at least two positioning posts, wherein the upper cover is provided with positioning holes corresponding to the positioning posts, and a swing space is provided between the positioning holes and the positioning posts; the bottom of reference column with base fixed connection, the top of reference column is provided with prevents the upper cover from following the locating part that the top of reference column drops.

3. The collision detecting device according to claim 2, wherein the upper cover includes a body and a positioning plate provided at an edge of the body, the positioning hole being opened in the positioning plate.

4. The collision detecting device according to claim 1, wherein the springs are provided in at least three.

5. The collision detecting device according to claim 4, wherein the springs are circumferentially spaced along the upper cover edge.

6. The apparatus according to claim 1, wherein the switch includes a first sub-switch, the base is provided with a plurality of first sub-switches, the first sub-switches are provided with the touch portions at sides thereof, and when the upper cover swings within the swing space, the touch portions touch the first sub-switches to generate the collision signal.

7. The collision detecting device according to claim 4 or 5, wherein the switch includes a second sub-switch, the second sub-switch is provided with the touching portion at a top thereof, and the touching portion touches the second sub-switch to generate the collision signal when the top of the upper cover is collided.

8. The collision detecting device according to claim 7, wherein an end surface of the touching portion is provided with a touching slope.

9. A sweeper is characterized by comprising a host, a controller arranged on the host, a laser radar arranged on the host and the collision detection device which is covered on the laser radar and is arranged according to any one of claims 1 to 8, wherein the controller is connected with the switch.

10. The sweeper according to claim 9, wherein the upper cover comprises a body, the body is provided with a containing cavity for placing the laser radar, and a light-transmitting groove is formed in a side wall of the containing cavity.