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发明公开
CN104921651A 自移动装置及其运动表面缺陷检测及控制方法 有权

自移动装置及其运动表面缺陷检测及控制方法
摘要：
本发明提供一种自移动装置（B）及其运动表面缺陷检测及控制方法，该自移动装置包括机体（100），机体上设有控制单元，还设有运动表面缺陷检测装置（A），该装置包括可移动设置在自移动装置机体上的检测杆（200），探测杆内部设有气流通道（230），探测杆的底端为自由端，自由端的内部设有空腔（220），气流通道与空腔贯通，形成一小吸盘结构，探测杆上设有弹簧（300），弹簧在机体和自由端之间定位；空腔（220）与真空感应装置（600）的一端通过软管（800）相接，真空感应装置与抽真空装置（700）通过软管（800）连接；真空感应装置与控制单元相连。本发明结构简单检测灵敏，无论是缝隙、凸台或无框边界均可检测，性能稳定且准确率高。
摘要（英）：

The invention provides a self-moving device and a motion surface defect detection and control method thereof. The self-moving device includes a body (100), a control unit is arranged on the body, the self-moving device is further provided with a motion surface defect detection device (A), the self-moving device includes a detection rod (200) movably arranged on the self-moving device body, an air-flow channel (230) is arranged in the detection rod, the bottom end of the detection rod is a free end, a cavity (22) is arranged inside the free end, the air-flow channel and the cavity are communicated to form a small sucker structure, a spring (300) is arranged on the detection rod and is positioned between the body and the free end, the cavity (220) is connected with one end of a vacuum induction device (600) through a flexible pipe (800), the vacuum induction device is connected with a vacuum-pumping device (700) through the flexible pipe (800), and the vacuum induction device is connected with the control unit. The self-moving device and the motion surface defect detection and control method thereof are simple in structure and sensitive in detection, can detect slits, bosses, or frameless boundaries, are stable in performance and high in accuracy.

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