Abstract:
The present invention relates to an obstacle detection device, adapted for an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit. The first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; and the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.

Description:
FIELD OF THE INVENTION 
   The present invention relates to an obstacle detection device for autonomous mobile system, and more particular, to an obstacle detection device capable of detecting an abnormality of an autonomous mobile system, such as the mobile system is colliding with an object or missing a step, by the detection of whether the electrical conduction between two conducting parts of the autonomous mobile system is enabled or not. 
   BACKGROUND OF THE INVENTION 
   With rapid advance of technology, most of the common household appliances are equipped with automation and intelligent control abilities. Among all those intelligent automated household appliances, an intelligent robot vacuum cleaner may be one of the household appliances most treasured by modern people, since it can clean one&#39;s home by itself and thus free a person from miscellaneous and daily cleaning obligations. 
   Please refer to  FIG. 1 , which is a schematic diagram showing a robotic vacuum cleaner disclosed in TW Pat. No. 1220383. The robotic vacuum cleaner  1  of  FIG. 1  uses a linkage mechanism to detect and determine whether the robotic vacuum cleaner  1  is coming into contact with an obstacle. However, as the structure of the linkage mechanism is very complicated, the process for manufacturing the robotic vacuum cleaner  1  can be minute and complicated. 
   Please refer to  FIG. 2 , which is a schematic diagram showing an autonomous cleaning robot, disclosed in U.S. Pub. No. 20050251292. The an autonomous cleaning robot  2  of  FIG. 2  utilizes a synchronous detection scheme realized by a plurality of infrared sensors  21  for preventing the cleaning robot  2  from being blocked by furniture or falling off a stair. However, as the amounts of infrared reflected by obstacles made of different materials are different, a huge database must be built to assist a logistic control program so as to ensure the cleaning robot to have a low-cost, accurate detection ability. 
   Therefore, it is in need of an obstacle detection device for autonomous mobile system that can overcome the aforesaid shortcomings. 
   SUMMARY OF THE INVENTION 
   The primary object of the present invention is to provide an obstacle detection device capable of detecting an abnormality of an autonomous mobile system, such as the mobile system is colliding with an object or missing a step, by the detection of whether the electrical conduction between two conducting parts of the autonomous mobile system is enabled or not. 
   To achieve the above object, the present invention provides an obstacle detection device, adapted for detecting abnormalities of an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit; wherein, the first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality. 
   Preferably, a voltage source and a resistor are connected to the conducting wire. 
   Preferably, the reaction performed by the autonomous mobile system can be one of the following actions: stopping the moving of the autonomous mobile system, enabling the autonomous mobile system to turn and head in a random direction, and the like. 
   In addition, to achieve the above object, the present invention provides another obstacle detection device, adapted for detecting whether an autonomous mobile system is colliding with an obstacle, which comprises: a conducting wire, a pin and a conducting plate; wherein the pin, being arranged on a front bumper of the autonomous mobile system, further comprises a first conducting part, electrically connected to an end of the conducting wire; the conducting plate, being arranged on a base of the autonomous mobile system, further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As the autonomous mobile system collides with the obstacle, a reactive force will be generated to force the front bumper to press the pin while causing the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the collision. 
   Preferably, a pin bearer, having a pin hole boring therethrough for receiving the pin, is arranged at a position between the pin and the conducting plate, whereas the first conducting part of the pin is enabled to move reciprocatively inside the pin hole while the pin is inserted into the pin hole, and the second conducting part of the base is aligned to the pin hole for enabling the first conducting part can be moved to come into contact with the second conducting part. 
   Preferably, a voltage source and a resistor are connected to the conducting wire. 
   Preferably, a spring is arranged between the pin and the conducting plate in a manner that the elastic force of the spring can be used for enabling the pin to move reciprocatively, whereas the spring can be an article selected from the group consisting of a compression spring, a tension spring, a plate spring, and a torsion spring. 
   Preferably, the reaction performed by the autonomous mobile system can be one of the following actions: stopping the moving of the autonomous mobile system, enabling the autonomous mobile system to turn and head in a random direction, and the like. 
   Moreover, to achieve the above object, the present invention provides further another obstacle detection device, adapted for detecting whether an autonomous mobile system is colliding with an obstacle, which comprises: a conducting wire, a first reed and a second reed; wherein, the first reed, being arranged on a front bumper of the autonomous mobile system, further comprises a first conducting part, electrically connected to an end of the conducting wire; the second reed, being arranged on a base of the autonomous mobile system, further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As the autonomous mobile system collides with the obstacle, a reactive force will be generated to force the front bumper to press the first reed while causing the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the collision. 
   Preferably, a voltage source and a resistor are connected to the conducting wire. 
   Preferably, an end of the first reed is connected to a side of an insulating plate while another side of the insulating plate is connected to an end of the second reed. 
   Preferably, the reaction performed by the autonomous mobile system can be one of the following actions: stopping the moving of the autonomous mobile system, enabling the autonomous mobile system to turn and head in a random direction, and the like. 
   In addition, the present invention provides further another obstacle detection device, adapted for detecting whether an autonomous mobile system is colliding with an obstacle, which comprises: a conducting wire, a spring and a limit switch; wherein, the two ends of the spring are respectively affixed to a front bumper and a frame of the autonomous mobile system; the limit switch is arranged at the frame of the autonomous mobile system while connecting the two ends of the limit switch respectively to the two ends of the conducting wire. As the autonomous mobile system collides with the obstacle, a reactive force will be generated by the spring to force the front bumper to press a reed of the limit switch so as to enable an electrical conduction of the limit switch and thus enable the limit switch to issue an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the collision. 
   Preferably, a voltage source and a resistor are arranged at the conducting wire. 
   Preferably, two protrusions are respectively arranged at the two ends of the inner side of the front bumper for enabling the two to press upon the reed of the limit switch so as to activate the electrical conduction of the limit switch. 
   Preferably, the reaction performed by the autonomous mobile system can be one of the following actions: stopping the moving of the autonomous mobile system, enabling the autonomous mobile system to turn and head in a random direction, and the like. 
   Furthermore, to achieve the above object, the present invention provides yet another obstacle detection device, adapted for detecting whether an autonomous mobile system is missing a step, which comprises: a conducting wire, a telescopic rod and a sensing seat; wherein, the telescopic rod, being arranged on a base of the autonomous mobile system, further comprises a first conducting part, electrically connected to an end of the conducting wire while being coupled to a roller of the autonomous mobile system so as to be driven to move thereby; the sensing seat, being arranged on a frame of the autonomous mobile system, further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As the autonomous mobile system misses a step enabling the roller to hang in the air, the a telescopic rod is enabled to extend causing the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the missing of step. 
   Preferably, a voltage source and a resistor are connected to the conducting wire. 
   Preferably, a spring is arranged surrounding the telescopic rod in a manner that the first conducting part is separated from the second conducting part for breaking the electrical conduction between the two as the spring is being pressed by a pressing force, and the first conducting part is driven to contact with the second conducting part for enabling the electrical conduction as the spring is relieved from the pressing force, wherein the spring can be an article selected from the group consisting of a compression spring, a tension spring, a plate spring, and a torsion spring. 
   Preferably, the reaction performed by the autonomous mobile system can be one of the following actions: enabling the autonomous mobile system to start moving backward, enabling the autonomous mobile system to turn and head in a random direction, and the like. 
   In addition, the present invention provides yet another obstacle detection device, adapted for detecting whether an autonomous mobile system is missing a step, which comprises: a conducting wire, a spring and a limit switch; wherein, the two ends of the spring are respectively affixed to a front bumper and a frame of the autonomous mobile system; the limit switch is arranged at the frame of the autonomous mobile system while connecting the two ends of the limit switch respectively to the two ends of the conducting wire. As the autonomous mobile system collides with the obstacle, a reactive force will be generated by the spring to force the front bumper to press a reed of the limit switch so as to enable an electrical conduction of the limit switch and thus enable the limit switch to issue an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the collision. 
   Preferably, a voltage source and a resistor are arranged at the conducting wire. 
   Preferably, two protrusions are respectively arranged at the two ends of the inner side of the front bumper for enabling the two to press upon the reed of the limit switch so as to activate the electrical conduction of the limit switch. 
   Preferably, the reaction performed by the autonomous mobile system can be one of the following actions: stopping the moving of the autonomous mobile system, enabling the autonomous mobile system to turn and head in a random direction, and the like. 
   Other aspects and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, illustrating by way of example the principles of the present invention. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIG. 1  is a schematic diagram showing a robotic vacuum cleaner disclosed in TW Pat. No. 1220383. 
       FIG. 2  is a schematic diagram showing an autonomous cleaning robot, disclosed in U.S. Pub. No. 20050251292. 
       FIG. 3  is a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a first preferred embodiment of the invention. 
       FIG. 4  is a top view of the obstacle detection device of  FIG. 3 , whereas the obstacle detection device is arranged inside the autonomous mobile system. 
       FIG. 5  is a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a second preferred embodiment of the invention. 
       FIG. 6  is a top view of the obstacle detection device of  FIG. 5 , whereas the obstacle detection device is arranged inside the autonomous mobile system. 
       FIG. 7  is a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a third preferred embodiment of the invention. 
       FIG. 8  is a front view of the obstacle detection device of  FIG. 7 , whereas the obstacle detection device is arranged inside the autonomous mobile system. 
       FIG. 9  is a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a fourth preferred embodiment of the invention. 
       FIG. 10  is a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a fifth preferred embodiment of the invention. 
   

   DESCRIPTION OF THE PREFERRED EMBODIMENT 
   For your esteemed members of reviewing committee to further understand and recognize the fulfilled functions and structural characteristics of the invention, several preferable embodiments cooperating with detailed description are presented as the follows. 
   Please refer to  FIG. 3  and  FIG. 4 , which are respectively a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a first preferred embodiment of the invention, and a top view of the obstacle detection device of  FIG. 3 . In  FIG. 4 , two obstacle detection devices  31 , used for collision detection, are arranged inside the frame  32  of an autonomous mobile system  3 , while two front bumpers  33  are arranged at the outer side the frame  32  and two bases  34  are arranged at the lower portion of the frame  32 , all at positions corresponding to the two obstacle detection devices  31  in respective. As seen in  FIG. 3 , each obstacle detection device  31  is comprised of a first conducting wire  311 , a pin  312 , a conducting plate  313 , a pin bearer  314  and a first spring  315 . The pin  312  is attached to it corresponding front bumper  33  in a manner that it can be driven to move thereby; and the conducting plate  313  is fixed to it corresponding base  34 . There are a first voltage source  3111  and a first resistor  3112  serially connected to the first conducting wire  311 , while an end of the first conducting wire  311  is connected to a first conducting part  3121  of the pin and another end of the first conducting wire  311  is connected to a second conducting part  3131  of the conducting plate  313 . The pin bearer  314  is fixed to the base  34 , which has a pin hole  3141  boring through the pin bearer  314  for receiving the pin  312  while enabling the pin  312  to move reciprocatively therein. Moreover, the second conducting part  3131  is aligned to the pin hole  3141  so that when the pin  312  is inserted into the pin hole  3141 , the first conducting part  3121  can come into contact with the second conducting part  3131  so as to enable an electrical conduction. In addition, the first spring  315  is arranged at a location between the pin  312  and the conducting plate  313  while being arranged inside the pin hole  3141  for ensheathing the pin  312  as the pin  312  is inserted therein, such that the first conducting part  3121  is separated from the second conducting part  3131  for breaking the electrical conduction between the two as the pin  312  is relieved from an external force and being push to exit the pin hole  3141  by the first spring  315 . 
   As each front bumper  33  is arranged at the outer side of the frame  32 , it is exposed in a manner that it can come into contact directly with an obstacle. Therefore, as the autonomous mobile system  3  is colliding to an obstacle, the force caused by the collision will force the front bumper  33  to press against the pin  312  which further compresses the first spring  315  to an extend that the first conducting part  3121  is coming into contact with the second conducting part  3131  so as to enable an electrical conduction for issuing an electrical signal to the control unit  35  of the autonomous mobile system  3  for enabling the autonomous mobile system  3  to react with respect to the collision, such as turn or stop, and thus freeing the autonomous mobile system  3  from the block of the obstacle. As soon as the autonomous mobile system  3  is freed form the obstacle, the elastic force of the compressed first spring  315  will force the pin  312  as well as the front bumper to return to their original positions, and thus the first conducting part  3121  is separated from the second conducting part  3131  such that the electrical conduction is broken for enabling the control unit  35  to act accordingly, such as directing the autonomous mobile system  3  to resume normal operation. In this embodiment, since the pin  312  is not electrical conductive, a first conducting part  3121  made of a conductive material must be arranged on the pin  312  at a position corresponding to the second conducting part  3131 , however, the configuration of the pin  312  is not limited thereby. It is noted that if the pin  312  is made of a conductive material, there is no need to form the first conducting part  3121  there on any more. 
   Please refer to  FIG. 5  and  FIG. 6 , which are respectively a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a second preferred embodiment of the invention, and a top view of the obstacle detection device of  FIG. 5 . In  FIG. 6 , two obstacle detection devices  36 , used for collision detection, are arranged inside the frame  32  of an autonomous mobile system  3 , while two front bumpers  33  are arranged at the outer side the frame  32  and two bases  34  are arranged at the lower portion of the frame  32 , all at positions corresponding to the two obstacle detection devices  36  in respective. As seen in  FIG. 5 , each obstacle detection device  36  is comprised of a second conducting wire  361 , a first reed  362 , a second reed  363 , and an insulating plate  364 . The first reed  362  is attached to it corresponding front bumper  33  in a manner that it can be driven to move thereby; and the second reed  363  is fixed to it corresponding base  34 . Moreover, an end of the first reed  362  is connected to the insulating plate  364  and another end thereof is configured with a third conducting part  3621 , while an end of the second reed  363  is connected to the insulating plate  364  and another end thereof is configured with a fourth conducting part  3631 . There are a second voltage source  3611  and a second resistor  3612  serially connected to the second conducting wire  361 , while an end of the second conducting wire  361  is connected to the third conducting part  3621  and another end of the second conducting wire  361  is connected to a fourth conducting part  3631 . 
   Similarly, as each front bumper  33  is arranged at the outer side of the frame  32 , it is exposed in a manner that it can come into contact directly with an obstacle. Therefore, as the autonomous mobile system  3  is colliding to an obstacle, the force caused by the collision will force the front bumper  33  to press against the first reed  362  to an extend that the third conducting part  3621  is driven to come into contact with the fourth conducting part  3631  so as to enable an electrical conduction for issuing an electrical signal to the control unit  35  of the autonomous mobile system  3  for enabling the autonomous mobile system  3  to react with respect to the collision, such as turn or stop, and thus freeing the autonomous mobile system  3  from the block of the obstacle. As soon as the autonomous mobile system  3  is freed form the obstacle, the resilience of the first reed  362  and the second reed  363  will force the third conducting part  3621  to separate from the fourth conducting part  3631  such that the electrical conduction is broken for enabling the control unit  35  to act accordingly, such as directing the autonomous mobile system  3  to resume normal operation. 
   Please refer to  FIG. 7  and  FIG. 8 , which are respectively a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a second preferred embodiment of the invention, and a top view of the obstacle detection device of  FIG. 7 . In  FIG. 8 , two obstacle detection devices  37 , used for detecting a missing of step, are arranged inside the frame  32  of an autonomous mobile system  3 , while two bases  34  are arranged onto the frame  32  at positions corresponding to the two obstacle detection devices  37  in respective. As seen in  FIG. 7 , each obstacle detection device  37  is comprised of a third conducting wire  371 , a telescopic rod  372 , a sensing seat  373 , and a second spring  374 . The telescopic rod, composed of an inner tube and an outer tube, is attached to it corresponding base  38  by one end thereof while enabling another end thereof, having a fifth conducting part  3721  formed thereon, to connect to a roller  39  of the autonomous mobile system  3  in a manner that it can be driven to move thereby; and the sensing seat  373  is fixed to the frame  32 , which is configured with a hole for enabling the corresponding roller  39  to connect to the fifth conducting part  3721  therethrough. Moreover, the second spring  374  is arranged to ensheathe the telescopic rod  372 . There are a third voltage source  3711  and a third resistor  3712  serially connected to the third conducting wire  371 , while an end of the third conducting wire  361  is connected to the fifth conducting part  3721  of the telescopic rod  372  and another end of the third conducting wire  371  is connected to a six conducting part  3731  formed on the sensing seat  373 . It is noted that a side of the fifth conducting part  3721  is connected to an end of the telescopic rod  372  while another side of the fifth conducting part  3721  is connected to the supporting rod  391  of the roller  39 . 
   As the autonomous mobile system  3  is moving normally on the ground, the roller  39  carrying the weight of the autonomous mobile system  3  will exert a force to compress the second spring  374  to an extend that the fifth conducting part  3721  is separated from the six conducting part  3731  and thus an electrical conduction is broken. However, if the roller  39  miss a step, the second spring  374  will be relieved form the force and the elastic force of the second spring  374  will drive the telescopic rod  372  to extend and thus enable the fifth conducting part  3721  to come into contact with the six conducting part  3731  so as to enable an electrical conduction for issuing an electrical signal to the control unit  35  of the autonomous mobile system  3  for enabling the autonomous mobile system  3  to react with respect to the missing of step, such as turn or back-off, and thus preventing the autonomous mobile system  3  from being damaged by falling. 
   Please refer to  FIG. 9 , which is a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a fourth preferred embodiment of the invention. In  FIG. 9 , two obstacle detection devices  40 , used for collision detection, are arranged inside the frame  32  of an autonomous mobile system  3 , while a front bumpers  41 , being arranged at the outer side the frame  32 , is structured to have each of the two inner end of the front bumper  41  to be fitted with a spring  42  and a protrusion  43 . In Addition, each of the two obstacle detection devices  40  is further comprised of a fourth conducting wire  401  and a limit switch  44 , whereas a fourth voltage source  4011  and a fourth resistor are arranged at the fourth conducting wire  401 . 
   As the front bumper  41  is arranged at the outer side of the frame  32 , it is exposed in a manner that it can come into contact directly with an obstacle. Therefore, as the autonomous mobile system  3  is colliding to an obstacle, the force caused by the collision will force the front bumper  41  to press against the spring  42  to an extend that the protrusion  43  will press on the limit switch  44  for enabling the electric conduction of the limit switch  44  and thus forming an electric circuit. By the electric circuit, an electric signal is transmitted to the control unit  35  for enabling the autonomous mobile system  3  to react with respect to the collision, such as turn or stop, and thus freeing the autonomous mobile system  3  from the block of the obstacle. As soon as the autonomous mobile system  3  is freed form the obstacle, the resilience of the spring  42  will cause the spring  42  to resume its original status so that the limit switch  44  is deactivated and the electric circuit is broken for enabling the control unit  35  to act accordingly, such as directing the autonomous mobile system  3  to resume normal operation. 
   Please refer to  FIG. 10 , which is a schematic diagram showing an obstacle detection device of an autonomous mobile system according to a fifth preferred embodiment of the invention. In  FIG. 10 , three photo interrupters  46 , used for detecting a missing of step, are respectively arranged at positions of the frame  32  corresponding to the middle front, the front left and the front right thereof. In Addition, a fifth voltage source  4611  and a fifth resistor  4612  are arranged at a fifth conducting wire  461  whereas the two end of the fifth conducting wire are respectively connected to the two ends of the photo interrupters  46 . 
   As the autonomous mobile system  3  is moving normally on the ground and is missing a step, the missing of step will be detected by the photo interrupters  46  for enabling an electric conduction and thus form an electric circuit. By the electric circuit, an electric signal is transmitted to the control unit  35  for enabling the autonomous mobile system  3  to react with respect to the missing of step, such as turn or back-off, and thus preventing the autonomous mobile system  3  from being damaged by falling. 
   As the obstacle detection device shown in  FIG. 7  and  FIG. 10  is good for detecting a missing of step while those obstacle detection devices shown in  FIG. 3 ,  FIG. 5  and  FIG. 9  are good for collision detection, it is feasible to integrate the aforesaid types of obstacle detection devices into an individual autonomous mobile system so that the autonomous mobile system is equipped with abilities of collision detection and step-missing detection. 
   While the preferred embodiment of the invention has been set forth for the purpose of disclosure, modifications of the disclosed embodiment of the invention as well as other embodiments thereof may occur to those skilled in the art. Accordingly, the appended claims are intended to cover all embodiments which do not depart from the spirit and scope of the invention.