CN110226898B

CN110226898B - Floor sweeping robot

Info

Publication number: CN110226898B
Application number: CN201910486954.0A
Authority: CN
Inventors: 王旭宁
Original assignee: Sharkninja China Technology Co Ltd
Current assignee: Sharkninja China Technology Co Ltd
Priority date: 2019-06-05
Filing date: 2019-06-05
Publication date: 2020-11-10
Anticipated expiration: 2039-06-05
Also published as: CN110226898A

Abstract

The invention provides a sweeping robot which comprises a rack and a plurality of suspended sensor assemblies for identifying the suspended ground, wherein the rack is provided with a plurality of suspended sensor installation cavities, at least part of the installation cavities are grooves formed in the side wall of the front part of the rack, the grooves are provided with open lower sides and front sides, and at least part of the suspended sensor assemblies are arranged in the grooves and are configured in such a way that the overlapped area of a transmitting field and a receiving field is lower than the bottom surface of the rack. The sweeping robot provided by the invention has the advantages that the integral structure of the frame is simplified, the installation difficulty and the injection molding difficulty are reduced, and the production efficiency is improved; the assembly structure of the suspension sensor is firm and is not easy to fall off or damage due to collision; the detection efficiency of the sensor is improved, meanwhile, the sensor is not easily scratched or polluted by dust and the like, and the sensor has an excellent effect of improving user experience.

Description

Floor sweeping robot

Technical Field

The invention relates to the field of cleaning devices, in particular to a sweeping robot.

Background

A floor sweeping robot, also called an automatic sweeper, an intelligent dust collector, a robot dust collector and the like, is one of intelligent household appliances. The current robot of sweeping the floor can rely on certain artificial intelligence, adopts the brush to sweep and the vacuum mode, and automatic earlier receives the rubbish receiver that gets into self with ground debris to accomplish the function to ground clearance.

In some configurations, the sweeping robot can be further provided with a sensor, and when an obstacle or a terrain with a height difference is detected, the sweeping robot can turn or retreat automatically, so that the robot is effectively prevented from falling from a high place and being damaged. The existing sweeping robot has a plurality of parts and is complex to assemble, particularly for a sensor which is a component with high sensitivity, the sensor is usually arranged on a shell or a collision plate at the front end of the robot so as to improve the detection efficiency of the sensor, but the sensor is easy to fall off or damage due to collision, and meanwhile, the sweeping dust is easy to enter the machine so as to cause the loss of the detection function of the sensor, and the sensor needs to be completely detached to be wiped if the sweeping robot needs to be recovered; or fixed through a plurality of mounting brackets with the sensor for preventing it from droing, but the structure is comparatively complicated, not only needs to produce a plurality of parts separately, and still higher to injection moulding's requirement, promoted the degree of difficulty of production equipment, still increased the occupation of land space of robot main part simultaneously, to the sensor that has the function of detecting the difference in height, be unfavorable for promoting its detection efficiency or guarantee its reaction time who listens.

The publication number CN207384214U provides a robot for sweeping floor, which is configured with a step sensor capable of detecting height difference, however, the step sensor of the robot for sweeping floor is disposed on the housing, or mounted on the base together with the collision sensor through an attached bracket, this mounting manner is not only complex in structure, many parts, and difficult to assemble during production, but also not fastened, and is very easy to fall off or damage due to collision, and is also easy to enter dust, thereby reducing detection sensitivity and affecting user experience.

Disclosure of Invention

In order to solve the above problems, the present invention provides a sweeping robot, including: a frame having a front portion in the same direction as the robot cleaner travels and a rear portion opposite the front portion, and further having a bottom portion adjacent to the surface to be cleaned and a top portion remote from the surface to be cleaned; the bottom of the frame is provided with a driving mechanism which can move along the height direction and a brush component used for cleaning the surface to be cleaned;

the sweeping robot further comprises a plurality of suspended sensor assemblies for identifying that the ground is suspended, each suspended sensor assembly comprises a signal transmitting element and a signal receiving element, and a transmitting field of the signal transmitting element is at least partially overlapped with a receiving field of the signal receiving element; the rack is provided with a plurality of suspension sensor mounting cavities, at least part of the mounting cavities are grooves arranged on the side wall of the front part of the rack, the grooves are provided with open lower sides and front sides, and at least part of suspension sensor components are arranged in the grooves and are configured in such a way that the overlapping area of the transmitting field and the receiving field of the suspension sensor components is at least partially positioned below the bottom surface of the rack.

By adopting the sweeping robot, on one hand, a suspension sensor for identifying suspension of the ground can be arranged at the front edge of the sweeping robot, so that the reaction time after suspension is detected is increased, and the robot is more effectively prevented from falling; on the other hand, unsettled sensor is integrative the setting with the frame equipment back of robot, need not to add additionally and supports or install the part, has reduced the installation degree of difficulty when simplifying frame overall structure, and is lower to the injection moulding requirement of frame, can also make the whole volume minimizing of main part frame under the condition of guaranteeing sensor reaction time, reduces occupation space.

The collision plate is arranged at the front part of the frame and can move between a position far away from the frame and a position close to the frame, and the collision plate closes the front side of the groove and does not close the lower side of the groove in the process of moving back and forth relative to the frame or in a relatively static state. So set up, can make the collision board to its unsettled sensor that seals the front side play the guard action, do not hinder unsettled sensor's detection work simultaneously.

Preferably, a gap is formed between the collision plate and the closed suspension sensor, and when the collision plate is close to the rack after colliding with an obstacle, the collision plate cannot be in contact with the suspension sensor, so that the suspension sensor is prevented from being damaged by collision, and further protection is realized.

Furthermore, the number of the suspension sensor assemblies is multiple and separated from each other, and part of the suspension sensor assemblies are arranged on the front side wall of the rack. The separately arranged suspension sensor assembly can detect the cleaned surface in multiple directions on the periphery of the robot, particularly the advancing direction of the front part of the robot, and when the front part of the robot does not detect the cleaned surface, the robot can timely stop advancing.

Preferably, some unsettled sensor assembly can set up at the rear portion lateral wall of frame to survey the surface cleaned of robot periphery rear portion direction, make the robot when meetting to retreat or rotate the operation after the difference in height, can survey the surface cleaned behind the robot simultaneously, improve its performance of avoiding falling. More preferably, the suspension sensor disposed on the rear sidewall may be enclosed by the housing casing to form a front side, and a gap is also formed between the housing casing and the suspension sensor enclosed by the housing casing.

Furthermore, the suspended sensor assembly further comprises a mounting seat and a transparent housing, the transparent housing is provided with a clamping structure matched with the groove in the side wall of the rack, and the suspended sensor assembly is connected with the groove in a clamping mode through the clamping structure.

The signal transmitting element and the signal receiving element of the suspension sensor are assembled in the mounting seat and fixed in the transparent housing through the mounting seat. Preferably, the transparent casing is made of plastic. The mounting base for fixing the sensor signal element is assembled in the transparent plastic housing and is mounted on the frame through the housing, so that the sensor signal element can be protected and buffered, and dust can be prevented from entering during cleaning to influence the function of the sensor.

Furthermore, the clamping structure comprises guide arms arranged on two sides of the outer portion of the transparent cover shell, two opposite sides of the inner wall of the groove are matched with the guide arms to be provided with guide grooves with limited bottoms, and the transparent cover shell slides to the limited bottoms through the guide arms in the guide grooves, so that the suspended sensor assembly is fixed in the height direction of the rack.

Further, the block structure is including setting up the outside rear side of transparent housing, and have the first buckle on joint surface, the inner wall of recess is equipped with the second buckle that has the joint surface in the position of the first buckle of cooperation, and transparent housing and recess are through the joint surface butt block of first buckle and second buckle, so that unsettled sensor assembly is in fix in the direction of height of frame.

In the arrangement, the lowest height of the suspended sensor assembly on the side wall of the rack can be limited by the guide arm and the suspended sensor assembly fixed in a matched manner in the guide groove; the highest height of the fixed suspended sensor assembly on the side wall of the rack can be limited by abutting and clamping surfaces of the first buckle and the second buckle. Preferably, use two kinds of fixed modes cooperations, can make unsettled sensor subassembly fixed in the direction of height of frame, more preferably, when using two kinds of modes cooperations simultaneously fixed, the spacing department in bottom of guide way and the joint surface of butt block are located same horizontal plane.

The height of the suspended sensor component on the side wall of the rack can be fixed, so that the overlapping area of a signal transmitting field and a signal receiving field is lower than the bottom surface of the rack, the function of detecting the suspension of the ground is realized, the sensor can be prevented from being scratched in the working process of the robot, and the service life of the sensor is prolonged.

Further, ribs are further arranged on two sides of the second buckle and abutted against the transparent housing, so that the suspension sensor assembly is fixed in the horizontal direction of the rack.

The ribs can provide supporting force for the suspension sensor assembly in the horizontal direction of the robot, and the guide grooves can provide force in the direction opposite to the supporting force. In addition, the ribs can also enable the suspension sensor to be adapted to side walls with different shapes, such as circular arc.

Furthermore, the side wall of the front part of the rack is also provided with an arc-shaped pressing strip matched with the side wall of the front part of the rack in shape, at least part of the groove is arranged below the pressing strip, and the position of the suspension sensor assembly on the side wall of the rack is limited by the pressing strip.

The arrangement of the pressing strip can enable all the suspended sensors to be located on the same horizontal plane. In one implementation mode, the circuit of the suspension sensor can be pressed to the inner side of the rack through the pressing bar, so that the suspension sensor is convenient to store and integrate; in another embodiment, the pressing bar can be used for assembling a sensor with a function of detecting obstacles, so that the structure of the robot is more compact and the integration degree is higher.

Further, still including setting up the bottom plate of frame bottom, the bottom plate is equipped with the anticollision edge along the direction of height, unsettled sensor subassembly lower part position is higher than the anticollision edge, the downside of recess with the anticollision edge is relative, just the anticollision edge is equipped with the recess downside relative region and dodges the hole.

The suspension sensor realizes the overlapping of the signal transmitting field and the signal receiving field through the avoiding hole. Preferably, the transparent housing bottom of unsettled sensor subassembly has along the ascending slope of direction of height, and more preferably, the slope of crashproof edge is unanimous with the bottom slope of transparent housing, so set up can avoid sweeping floor the robot work in to the fish tail of transparent housing and pollution.

Further, the brush assembly includes an edge brush including a plurality of bristles that cover at least a field of view of one of the overhead sensors during rotation. The bristles can clean objects to be cleaned such as hairs attached to the vicinity of the suspension sensor, and interference of the objects to be cleaned on detection is effectively avoided.

The robot of sweeping floor that provides through this application can bring following beneficial effect:

according to the sweeping robot, the grooves are formed in the side wall of the rack and used for mounting the suspended sensor assembly capable of recognizing that the ground is suspended, so that the suspended sensor assembly and the rack are integrally arranged, additional supporting or mounting parts are not needed, the integral structure of the rack is simplified, the mounting difficulty is reduced, the injection molding requirement on the rack is low, and other parts of the robot also have a protection or limiting effect on the suspended sensor assembly; in addition, the distribution of unsettled sensor subassembly at the robot periphery lateral wall of sweeping the floor can increase its reaction time who detects after unsettled, makes it avoid the robot to fall more effectively, can also make the whole volume minimizing of main part frame under the condition of guaranteeing sensor reaction time, reduces occupation space.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a top view of one embodiment of a sweeping robot;

figure 2 is a bottom view of one embodiment of a sweeping robot;

fig. 3 is an assembly schematic diagram of a suspension sensor assembly and a groove on the side wall of the sweeping robot;

FIG. 4 is a schematic view of the position of the suspended sensor assembly and the hold-down bar;

in the figure: 1. a frame; 2. a drive mechanism; 3. a collision plate; 4. a suspended sensor assembly; 41. a mounting seat; 42. a transparent cover shell; 421. a guide arm; 422. a first buckle; 5. a groove; 51. a guide groove; 52. a second buckle; 53. a rib; 54. a groove bottom wall; 6. a base plate; 61. preventing collision of edges; 62. avoiding holes; 7. brushing edges; 8. layering; 9. a rack side wall; 10. a drive wheel; 11. and a steering wheel.

Detailed Description

In order to more clearly explain the overall concept of the present application, the following detailed description is given by way of example with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art, that the present application may be practiced without one or more of these specific details. In other instances, well-known features of the art have not been described in order to avoid obscuring the present application.

The embodiment of the invention provides a sweeping robot, as shown in fig. 1, comprising a frame 1 which forms a main body frame of the sweeping robot, wherein the frame 1 has a front part which is the same as the traveling direction of the sweeping robot, a rear part which is opposite to the front part, a bottom part which is adjacent to a surface to be cleaned, and a top part which is far away from the surface to be cleaned. In the embodiment shown in fig. 1, the sweeping robot further has a housing and a top cover covering the rack 1, and the remaining components are not shown in the figure in order to better highlight the connection relationship of the main components inside the robot of the embodiment.

The bottom of frame 1 is equipped with directive wheel 11 for the drive mechanism 2 that the robot that sweeps floor walked along ground for the drive, with a pair of drive wheel 10 of actuating mechanism coupling, but a pair of drive wheel 10 independent drive to and be used for cleaning the brush subassembly of waiting to clean the surface. The steering wheel 11 is preferably a universal wheel, is located at the front part of the bottom of the frame 1, and is used for adjusting the traveling direction of the sweeping robot and providing a supporting force for the front part of the sweeping robot; both drive wheels 10 are operatively coupled to a drive mechanism, in particular a drive motor, so that the sweeping robot is movable on the floor; the brush assembly comprises an edge brush 7 which is positioned at the bottom of the sweeping robot and close to the edge, and the edge brush 7 is provided with a plurality of bundles of brush hairs. At the front of the frame 1 there is a collision plate 3, wherein the collision plate 3 is movable between a position away from and close to the frame 1. The bottom of the frame is provided with a driving mechanism, such as a driving wheel, which can move along the height direction, the driving wheel can be biased towards the direction far away from the bottom of the frame by using a mechanism, such as a spring mechanism, when the sweeper is placed on the ground, the self gravity of the sweeper biases the driving wheel towards the side close to the main body, when the driving wheel is suspended or driven to the low-lying part of the ground, the pressure applied to the driving wheel is smaller than the elastic force of the spring, and the driving wheel moves towards the side far away from the bottom. Because the driving wheel has the function of up-and-down floating, the suspension which can span or can not span on the ground can not be timely and accurately judged, so that a suspension sensor needs to be arranged on the front side and/or the periphery of the driving wheel as far as possible, the front ground condition is pre-judged in advance, and the reaction time is prolonged.

In the embodiment shown in fig. 1, the sweeping robot further includes a plurality of suspended sensor assemblies 4 for identifying that the floor is suspended, each suspended sensor assembly 4 includes a signal transmitting element and a signal receiving element, wherein a transmitting field of the signal transmitting element and a receiving field of the signal receiving element at least partially overlap, so as to implement the function of detecting that the floor is suspended, for example, detecting a potential obstacle located in a front position of the sweeping robot but not in contact with the sweeping robot, and feeding back a potential obstacle detection signal. In some embodiments, the flying sensor may also include various types, such as a tactile sensor, an infrared sensor, a laser sensor, a sonar sensor, an electromagnetic sensor, a capacitive sensor, and the like, with an infrared sensor being preferred.

A plurality of suspension sensor installation cavities are arranged on the peripheral side wall of the rack 1, at least part of the installation cavities are grooves 5 arranged on the front side wall of the rack, as shown in fig. 1, the grooves 5 have open lower sides and front sides, so that when the suspension sensor assemblies 4 are assembled in the grooves 5, the back sides and the two side faces of the suspension sensor assemblies are covered by the grooves 5, and the front sides of the suspension sensor assemblies can be closed by other parts, preferably, the suspension sensor assemblies 4 are arranged in the grooves 5 and are configured in such a way that the overlapping area of a transmitting field and a receiving field is lower than the bottom surface of the rack 1 (at this time, if signals transmitted by signal transmitting elements are reflected by the ground and then captured by signal receiving elements, it is judged that the current area is not suspended, and if; in particular, the transmission field and the reception field may also overlap completely (for example, the transmission unit is arranged directly in front of the reception unit), in which case the overlapping area of the transmission field and the reception field is partially below the bottom surface of the gantry 1.

In fig. 1, the collision plate 3, in the process of moving forward and backward relative to the frame or in a relatively static state, both seals the front side of the groove 5 and does not seal the lower side of the groove 5, i.e. the collision plate 3 arranged in the front of the sweeping robot can shield the suspension sensor assembly 4 positioned in the front of the robot. So set up, can make collision board 3 play the guard action to its unsettled sensor module 4 that seals the front side, do not hinder unsettled sensor module 4's detection work simultaneously.

Preferably, there is the clearance between collision board 3 and its confined unsettled sensor subassembly 4, so set up can touch the barrier when backward movement and being close to frame 1 at collision board 3, can not contact with unsettled sensor subassembly 4, avoided unsettled sensor subassembly 4 to receive the collision damage when robot work because of sweeping the floor, realize collision board 3 to unsettled sensor subassembly's further protection.

In the embodiment shown in fig. 2, the sweeping robot further includes a bottom plate 6 disposed at the bottom of the frame 1, wherein the bottom plate 6 is provided with an anti-collision edge 61, preferably, the anti-collision edge 61 is annular along the circumferential direction of the sweeping robot and has a slope along the height direction, the lower side of the groove 5 is opposite to the anti-collision edge 61, and an avoidance hole 62 is disposed in an opposite region between the anti-collision edge 61 and the lower side of the groove 5, the lower position of the suspension sensor assembly 4 installed inside the groove 5 is higher than the anti-collision edge 61, more preferably, the bottom of the transparent housing 42 also has a slope and is consistent with the slope of the anti-collision edge 61.

The suspended sensor assembly 4 is arranged through the avoiding hole 62 to realize overlapping of a signal transmitting field and a signal receiving field, meanwhile, due to arrangement of the gradient, the detection visual field range can be enlarged, scratching and pollution to the transparent housing 42 during the work of the sweeping robot can be avoided, and preferably, the included angle between the anti-collision edge 61 and the ground is 30-60 degrees.

As shown in fig. 2, the bristles of the side brush 7 cover at least the field of view of one of the flying sensor assemblies 4 during rotation. Besides the function of cleaning the surface to be cleaned, the brush hair can also clean the hair and other objects to be cleaned attached to the vicinity of the suspension sensor, and the interference of the objects to be cleaned on the suspension detection of the ground is effectively avoided.

The number of the suspended sensor assemblies 4 is plural and separated from each other, preferably, the number of the suspended sensor assemblies 4 may be 4-8, more preferably 4 or 6, and the suspended sensor assemblies 4 are symmetrically distributed along the periphery of the rack 1, and at least 2 suspended sensor assemblies 4 are arranged on the front side wall of the rack 1.

The separately arranged suspension sensor assembly 4 can detect the cleaned surface of the periphery of the robot in multiple directions, particularly the traveling direction in the front of the robot, and when the cleaned surface is not detected in the front of the traveling direction, the robot can stop advancing in time and take a backward or steering operation.

Preferably, part unsettled sensor subassembly 4 can set up at the rear portion lateral wall of frame 1 to survey the surface of being cleaned of robot periphery rear portion direction of sweeping the floor, make the robot of sweeping the floor when meetting to retreat or rotate the operation after the difference in height, can survey the surface of being cleaned in robot rear of sweeping the floor simultaneously, improve its performance of avoiding falling. More preferably, the suspension sensor elements 4 disposed on the rear side wall may be closed at the front side by the housing of the sweeping robot, and a gap is also provided between the housing and the closed suspension sensor elements 4 to protect the closed suspension sensor elements.

As shown in fig. 3, the suspension sensor assembly 4 further includes a mounting seat 41 and a transparent cover 42, wherein the mounting seat 41 is used for assembling the signal element of the sensor, and the mounting seat 41 with the signal element is detachably connected with the transparent cover 42 and is connected and fixed with the side wall of the rack 1 through the transparent cover 42. So set up, both can play the effect of protection and buffering to sensor signal element, dust gets into when can preventing again to clean, influences the function of sensor.

The transparent cover 42 has a locking structure matching with the groove 5, and the suspension sensor assembly 4 is connected with the groove 5 through the locking structure.

In the assembly diagram shown in fig. 3, the above-mentioned engaging structure includes guide arms 421 disposed on two sides of the exterior of the transparent cover 42, and preferably, the transparent cover 42 is further detachably connected to the mounting base 41 through the guide arms 421; two opposite side walls of the inner wall of the groove 5 are matched with the guide arms 421 to form guide grooves 51, wherein the bottoms of the guide grooves 51 are limited, and the transparent cover shell 42 slides in the guide grooves 51 to the bottom limit position through the guide arms 421, so that the suspension sensor assembly 4 is fixed in the height direction of the rack 1.

In one embodiment, the bottom limit of the guide slot 51 may be completely closed or semi-closed, so as to prevent the guide arm from sliding down along the guide slot.

The clamping structure further comprises a first buckle 422 with a clamping surface, the position of the groove 5 on the groove bottom wall 54 of the groove 5, which is matched with the first buckle 422, is provided with a second buckle 52 with a clamping surface, and the transparent housing 42 and the groove 5 are abutted and clamped through the clamping surfaces of the first buckle 422 and the second buckle 52, so that the suspended sensor assembly 4 is fixed in the height direction of the rack 1.

In a preferred embodiment, the number of the first hooks 422 is 2, the upper surface of the first hooks 422 is a clamping surface, the lower surface of the first hooks 52 is a clamping surface, and the width of the first hooks 52 is greater than or equal to the distance between two first hooks 422.

In the above arrangement, the suspended sensor assembly 4 fixed by the guide arm 421 and the guide slot 51 can be limited to the lowest height on the side wall of the frame 1; the flying sensor assembly 4, which is held in snap fit by the snap-fit surfaces of the first and

second snaps

422 and 52, is defined to its highest height on the side walls of the housing 1. Preferably, the two fixing modes are matched to fix the suspended sensor assembly 4 in the height direction of the machine frame 1.

More preferably, the bottom limit of the guide slot 51 and the clamping surface of the abutting snap fit are at the same level when both the guide slot and the snap fit fixation are used. As shown in fig. 3, when the guide arm 421 of the suspension sensor assembly 4 slides down along the guide slot 51 to the bottom of the guide arm 421 and reaches the limit position of the guide slot 51, the first latch 422 and the first latch 52 are just engaged and abutted, so that the suspension sensor cannot shake in the height direction.

The height of the fixed suspension sensor assembly 4 on the side wall of the rack 1 can ensure that the overlapping area of a signal transmitting field and a signal receiving field is lower than the bottom surface of the rack 1, so that the function of detecting the suspension of the ground is realized, the suspension sensor assembly 4 can be prevented from being scratched in the working process of the robot, and the service life of the suspension sensor assembly is prolonged.

More preferably, ribs 53 are further provided on both sides of the second latch 52, and when the flying sensor assembly 4 is fixed in the height direction, the ribs 53 abut against the transparent cover 42, so that the flying sensor assembly 4 is fixed in the horizontal direction of the rack 1.

The ribs 53 are arranged to provide a supporting force for the flying sensor assembly 4 in the horizontal direction of the robot, and the guide grooves 51 can provide a force in the opposite direction to the supporting force. In addition, the ribs 53 may also allow the flying sensor assembly 4 to be adapted to different shaped sidewalls, such as circular arcs.

As shown in fig. 4, a part of the front end side wall of the sweeping robot is unfolded, and it can be seen that the front side wall of the rack 1 is further provided with an arc-shaped bead 8 matched with the front side wall of the rack 1 in shape, wherein the bead 8 is detachably connected with the rack side wall 9, the groove 5 at least partially located on the front side wall of the rack 1 is arranged below the bead 8, and the position of the suspended sensor assembly 4 on the rack side wall 9 is limited by the bead 8.

The arrangement of the pressing strips 8 can enable all the suspension sensors to be located on the same horizontal plane. In one embodiment, the circuit of the suspension sensor can be pressed to the inner side of the rack 1 through the pressing strip 8, so that the suspension sensor is convenient to store and integrate; in another embodiment, the batten 8 can also be used for assembling a sensor with a function of detecting obstacles, such as a collision sensor, and the like, so that the structure of the robot is more compact and the integration degree is higher.

The sweeping robot simplifies the integral structure of the frame, reduces the installation difficulty and the injection molding difficulty, and improves the production efficiency; the assembly structure of the suspension sensor is firm and is not easy to fall off or damage due to collision; the detection efficiency of the sensor is improved, meanwhile, the sensor is not easily scratched or polluted by dust and the like, and the sensor has an excellent effect of improving user experience.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A sweeping robot comprising:

a frame having a front in the same direction as the sweeper robot and a rear opposite the front, and further having a bottom adjacent to the surface to be cleaned and a top remote from the surface to be cleaned;

the bottom of the frame is provided with a driving mechanism which can move along the height direction and a brush assembly used for sweeping the surface to be cleaned;

the method is characterized in that: the ground-based suspension type ground sensor comprises a plurality of suspension sensor assemblies used for identifying suspension of the ground, wherein each suspension sensor assembly comprises a signal transmitting element and a signal receiving element, and a transmitting field of the signal transmitting element is at least partially overlapped with a receiving field of the signal receiving element;

the rack is provided with a plurality of suspension sensor mounting cavities, at least part of the mounting cavities are grooves arranged on the side wall of the front part of the rack, the grooves are provided with open lower sides and front sides, at least part of the suspension sensor components are arranged in the grooves, and the overlapping area of a transmitting field and a receiving field of the suspension sensor components is at least partially positioned below the bottom surface of the rack;

the collision plate is arranged at the front part of the frame and can move between a position far away from the frame and a position close to the frame, and the collision plate seals the side wall of the groove at the front part of the frame when moving back and forth relative to the frame or being static relative to the frame so as to shield the suspension sensor at the front part of the robot.

2. The robot of claim 1, wherein: the number of the suspension sensor assemblies is multiple and separated from each other, and part of the suspension sensor assemblies are arranged on the side wall of the front part of the rack.

3. The robot of claim 1, wherein: the suspended sensor assembly further comprises a mounting seat and a transparent housing, the transparent housing is provided with a clamping structure matched with the groove in the side wall of the rack, and the suspended sensor assembly is connected with the groove in a clamping mode through the clamping structure.

4. A robot as claimed in claim 3, wherein: the clamping structure comprises guide arms arranged on two sides of the outer portion of the transparent housing, two opposite sides of the inner wall of the groove are matched with the guide arms, a guide groove with the limited bottom is formed in each guide arm, the transparent housing is arranged in the guide groove in a sliding mode through the guide arms, and the bottom is limited, so that the suspended sensor assembly is fixed in the height direction of the rack.

5. A robot as claimed in claim 3, wherein: the clamping structure is arranged on the rear side outside the transparent housing and provided with a first buckle on a clamping surface, the inner wall of the groove is matched with a second buckle on the clamping surface, the position of the first buckle is provided with the second buckle, the transparent housing is connected with the groove through the clamping surface abutting joint of the first buckle and the second buckle, and therefore the suspended sensor assembly is fixed in the height direction of the rack.

6. The robot of claim 5, wherein: the both sides of second buckle still are equipped with the rib, the rib with transparent housing butt, so that unsettled sensor subassembly is in the horizontal direction of frame is fixed.

7. The robot of claim 1, wherein: the front side wall of the rack is also provided with an arc-shaped pressing strip matched with the front side wall of the rack in shape, at least part of the grooves are arranged below the pressing strip, and the positions of the suspended sensor assemblies on the side wall of the rack are limited by the pressing strip.

8. The robot of claim 1, wherein: still including setting up the bottom plate of frame bottom, the bottom plate is equipped with the anticollision edge along direction of height, unsettled sensor subassembly lower part position is higher than the anticollision edge, the downside of recess with the anticollision edge is relative, just the anticollision edge is equipped with the hole of dodging with recess downside relative zone.

9. The robot of claim 1, wherein: the brush assembly includes an edge brush including a plurality of bristles that cover at least a field of view of a flying sensor during rotation.