WO2022083286A1

WO2022083286A1 - Optical sensing device and self-moving robot having same

Info

Publication number: WO2022083286A1
Application number: PCT/CN2021/115213
Authority: WO
Inventors: 刘璎皞; 杨德重; 许波建
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2020-10-22
Filing date: 2021-08-30
Publication date: 2022-04-28

Abstract

An optical sensing device and a self-moving robot having same. The optical sensing device comprises: a base (141); at least two optical sensors (31, 32) arranged on the base (141), the at least two optical sensors (31, 32) comprising a first optical sensor (31); and a lens cover plate (27) for sealing the optical sensor (31, 32). A first sealing member (60) is arranged in the circumferential direction of the first optical sensor (31), and the first sealing member (60) is clamped between the base (141) and the lens cover plate (270). The optical sensing device and the self-moving robot having same can seal the optical sensors (31, 32), the axes of which are not parallel to each other at the same time, such that assembly is simple.

Description

An optical sensing device and a self-moving robot with the same

technical field

The present application relates to the technical field of self-moving robots, and in particular, to an optical sensing device and a self-moving robot having the optical sensing device.

Background technique

A cleaning robot is an autonomous robot that automatically cleans in a specific area (such as indoors). In order to identify the surrounding environment, the cleaning robot usually needs to arrange an optical sensing device, such as a camera. In order to prevent dust from contaminating the lens, the lens needs to be sealed. set up.

A camera is installed in front of the traditional cleaning robot. The camera is fixed on the base of the machine body. The seal consists of two sections: the camera mounting hole of the camera lens cover is covered with glue, and then tightly assembled with the base of the machine body to realize the sealing of the front section of the camera; Seal the lens cover and the striker with soft glue to seal the entire section of the camera. This sealing method has the following disadvantages: the mounting hole needs to be aligned with the camera during installation. Therefore, it is only valid when the installation angles of a single camera or multiple cameras are at the same angle. For dual cameras with different angles, due to the thickness of the lens cover Unable to install.

In today's environment, with the intelligent development of cleaning robots, it is not uncommon to add a camera in front of the cleaning robot. However, the dustproof of the camera has always been a technical problem that needs to be solved. Due to the enrichment of the current cleaning robot functions, the front will increase More than one camera, different camera functions will also lead to different installation angles, which will bring greater difficulties to dust prevention.

SUMMARY OF THE INVENTION

In view of the deficiencies in the above technologies, the present application provides an optical sensing device with a plurality of optical sensors of different angles, which is easy to assemble and has a dustproof effect, and a cleaning robot using the same.

In order to solve the above-mentioned technical problems, the technical scheme adopted in this application is:

An optical sensing device, comprising:

pedestal;

at least two optical sensors disposed on the base, the at least two optical sensors including a first optical sensor;

a lens cover for sealing the optical sensor,;

Wherein, a first sealing member is disposed on the circumference of the first optical sensor, and the first sealing member is sandwiched between the base and the lens cover.

In one of the embodiments, a second optical sensor is included, the lens cover is provided with a second opening, and the second optical sensor is inserted between the second opening and the inner wall of the second opening form a seal.

In one embodiment, the optical axes of the first optical sensor and the second optical sensor are not parallel to each other.

In one embodiment, the lens cover is provided with a first opening, and the first optical sensor is inserted into the first opening.

In one embodiment, the lens cover is provided with a transparent cover, and the first optical sensor is arranged between the transparent cover and the base.

In one embodiment, the axial direction of the optical axis of the second optical sensor is parallel to the installation direction A of the lens cover.

In one embodiment, a second sealing member is provided between the second opening and the second optical sensor.

In one embodiment, the first sealing member and/or the second sealing member comprise sealing foam and/or rubber.

In one embodiment, the optical sensor is a camera.

The present invention also provides a self-moving robot, comprising:

main body;

a striker plate arranged in front of the main body;

an optical sensing device disposed on the main body, the optical sensing device being the optical sensing device described in any of the above embodiments; and

A flexible seal is arranged between the lens cover and the striker to form a sealed space.

Compared with the prior art, the present application has the following beneficial effects:

The optical sensing device provided by the present application and the cleaning robot having the same are aimed at the optical sensing device having at least two optical sensors, wherein a first sealing member is sandwiched between the first optical sensor and the lens cover for sealing, so as to achieve The installation and sealing of a plurality of optical sensors has a simple assembly structure and has a dustproof effect.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. in:

FIG. 1 is a schematic diagram of a partially exploded structure of an optical sensing device proposed in an embodiment of the present application;

2 is a schematic structural diagram of a lens cover of the optical sensing device in FIG. 1;

3 is a schematic diagram of an exploded structure of a cleaning robot proposed in an embodiment of the present application;

Fig. 4 is the front view of the cleaning robot shown in Fig. 3;

FIG. 5 is a schematic cross-sectional view of a part of the structure of the cleaning robot shown in FIG. 3 .

Detailed ways

In order to make the above objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all the structures related to the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The terms "comprising" and "having" and any variations thereof in this application are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor a separate or alternative embodiment that is mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

1 and 2 show an optical sensing device provided by an embodiment of the present application, including a base 141 , two

optical sensors

31 and 32 , and a lens cover 27 .

The two

optical sensors

31 and 32 are both disposed on the base 141 , and the lens cover 27 is used to seal the two

optical sensors

31 and 32 . The two optical sensors include the first optical sensor 31 . In order to seal the first optical sensor 31, in this embodiment, a first sealing member 60 is provided on the circumference of the first optical sensor 31, and the first sealing member 60 is sandwiched between the base 141 and the lens cover 27. The circumference of an optical sensor 31 forms a seal. Specifically, one end surface of the first sealing member 60 is attached to the surface of the base 141 , and the opposite end surface is used for contacting the first plate surface 271 of the lens cover 27 . When the sealing contact is formed, the first sealing member 60 is configured To compress the seal along the mounting direction of the seal cover 27 . Optionally, the first sealing member 60 is a sealing foam or rubber, of course, it can also be a combination of sealing foam and rubber.

The two optical sensors also include a second optical sensor 32 . The axes of the first optical sensor 31 and the second optical sensor 32 are not parallel to each other. As shown in FIG. 5 , the optical axis L of the first optical sensor 31 is not parallel to the optical axis I of the second optical sensor 32, that is, That is, the installation directions of the first optical sensor 31 and the second optical sensor 32 are not parallel.

In this embodiment, the first optical sensor 31 is sealed by sandwiching the first sealing member 60 between the lens cover 27 and the base 141 . The sealing structure is simple and does not interfere with the installation of the second optical sensor 32 . The sealing causes mutual interference, and the lens cover 27 can simultaneously realize the sealing of the two optical sensors.

In this embodiment, the lens cover 27 is covered on the first optical sensor 31 and the second optical sensor 32, which can prevent dust from contaminating the lens of the optical sensor. Specifically, the lens cover 27 is connected to the base 141 to form a seal around the optical sensor. In a specific implementation scenario, the lens of the optical sensor is sealed by the lens cover 27, and then a sealed space is formed by the sealing member and the lens cover 27. The sealed space isolates the lens of the optical sensing device from the outside world and prevents dust pollution. lens.

Referring to FIGS. 1 and 2 , the lens cover 27 is provided with an opening corresponding to each optical sensor, the opening is used for light to pass through, and specifically includes a first opening 2710 and a second opening 2720 . The first opening 2710 corresponds to the first optical sensor 31, and the second opening 2720 corresponds to the second optical sensor. Specifically, the lens cover 27 includes a first layout 271 and a second layout 272 , the first opening 2710 is formed on the first layout 271 , and the second opening 2720 is formed on the second layout 272 . The first layout 271 and the second layout 272 are arranged at an angle. Preferably, the first layout 271 and the second layout 272 are both flat plates. The lens cover 27 is made in one piece.

Specifically, the first opening 2710 is a see-through hole for see-through, the see-through hole is arranged in front of the lens of the first optical sensor 31, and the first optical sensor 31 is not protruded, so it will not be inserted into the first opening 2710, does not affect the installation of the lens cover 27. Of course, in another embodiment, the first optical sensor 31 can also be inserted into the first opening 2710 . In order to facilitate assembly, the first optical sensor 31 is clearance fit with the inner wall of the first opening 2710 .

The second optical sensor 32 is used to be inserted into the second opening 2720 to form a seal with the inner wall of the second opening 2720 . Referring to FIG. 1 , the lens cover 27 is mounted on the base 141 along the mounting direction A. As shown in FIG. Specifically, the installation direction A is parallel to the axial direction of the second opening 2720, that is, the optical axis I of the second optical sensor 32 is parallel to the installation direction A of the lens cover 27. In this way, when the lens cover 27 is installed, The second optical sensor 32 can play the role of guiding and assisting in positioning, so as to improve the assembly accuracy of the lens cover 27 .

In this embodiment, a second sealing member is provided between the second opening 2720 and the second optical sensor 32 , and the second sealing member is used to form a seal between the second opening 2720 and the second optical sensor 32 . Specifically, the second sealing member includes a sealing rubber or sealing foam or rubber disposed on the inner wall of the second opening 2720, and when the second optical sensor 32 is inserted, it forms a sealing contact with the outer surface of the second optical sensor 32, Of course, a sealant can also be provided on the outer side of the second optical sensor 32, as long as the inner wall between the opening and the optical sensor can be sealed, which is not limited here.

In this embodiment, among the two optical sensors whose axis directions are not parallel, the second optical sensor 32 defines the installation direction A of the lens cover 27 , and the first optical sensor 31 is sandwiched between the base 141 and the lens cover 27 . The end face sealing method of the first sealing member 60 is simple and convenient in the installation process, and the sealing is good. Optionally, the number of the second optical sensor 32 is only one, and the second optical sensor 32 is sealed by inserting the sealing member into the opening to the side wall of the opening, which can play a role of assisting positioning while sealing, and is compatible with other optical sensors. The seals of the optical sensors do not interfere with each other. Of course, in other embodiments, the number of the second optical sensors 32 may be multiple, the multiple second optical sensors 32 are arranged parallel to each other, and the mounting axis is parallel to the mounting direction of the lens cover. Therefore, multiple second optical sensors 32 are parallel to each other. The optical sensors are all inserted into the corresponding openings to form seals with the inner walls of the openings. Correspondingly, the number of the first optical sensors 31 may also be multiple.

In another embodiment, the first layout 271 is a transparent cover plate, and the transparent cover plate does not need a see-through hole to allow light to pass through. Specifically, the transparent cover is provided on the optical sensor, and the first sealing member 60 is provided between the base 141 on which the optical sensor is installed.

In other embodiments, the number of optical sensors that are not parallel to each other may be more than two, however, one of the optical sensors is used to be inserted into one of the openings of the lens cover 27 to match the inner wall of the corresponding opening. A seal is formed between them, and the other two optical sensors that are not parallel to each other are sealed by sandwiching a seal.

In another embodiment, one or more optical sensors that are arranged in parallel with one of the optical sensors that are not parallel to each other may also be included, so that there are at least two optical sensors parallel to each other in the optical sensor, and at least two optical sensors that are parallel to each other The optical sensors can each be inserted into the corresponding openings to form a seal with the inner walls of the openings. Since the axial directions of the optical sensors parallel to each other are the same, their installation directions are also the same, which ensures that the lens cover plate is installed to the base along one installation direction, so as to realize the sealing of multiple optical sensors. Of course, the optical sensors that are parallel to each other can also be sealed by one or more of the first sealing members sandwiched between the base and the lens cover.

In a specific implementation scenario, the optical sensor is a camera, which is used to capture images of the surrounding environment. In another specific implementation scenario, the optical sensor is an infrared sensor for sensing infrared information of the surrounding environment. The optical sensor may also be a laser sensor for emitting a laser signal to sense environmental obstacles. Of course, the optical sensing device described in this application is not limited to a combination of multiple types of optical sensors.

The present application also provides a self-moving robot, and this embodiment specifically uses a cleaning robot as an example. See Figure 3-5. 3 shows a schematic diagram of an exploded structure of the cleaning robot proposed in this embodiment, FIG. 4 is a front view of the cleaning robot provided in this embodiment, and FIG. 5 is a partial structural cross-sectional schematic diagram of the cleaning robot shown in FIG. 1 .

As shown in FIG. 1 , the cleaning robot includes a host 14 , a striker 12 , a flexible seal 23 , and also includes the optical sensing device provided in any of the above embodiments.

The cleaning robot provided in this embodiment is used for cleaning the ground, and can autonomously move and perform cleaning tasks in a specific environment. The optical sensing device is arranged on the main body to sense the surrounding environment, so that the cleaning robot can intelligently control the walking and cleaning work according to the surrounding environment.

The striker 12 is arranged in front of the main body 14. During the progress of the cleaning robot, if it encounters an obstacle, the striker 12 moves relative to the host 14, and the cleaning robot can judge that there is an obstacle ahead according to the relative displacement, and adjust the traveling direction as required.

The flexible seal 23 is used to form a sealed space 40 between the striker 12 and the main body 14, thereby isolating the lens of the optical sensor from the external environment. The base 141 is used to be installed on the main body 14 so as to fix the optical sensing device on the main body 14 of the cleaning robot. Since the striker 12 needs to move relative to the main body 14, the flexible seal 23 has the ability to deform. When a collision occurs, the position of the main body 14 and the optical sensor will not move due to the collision. In the above situation, in the cleaning robot provided in this embodiment, the angle of the information collected by the optical sensor relative to the cleaning robot is constant and does not change, which reduces the requirement for data operation.

The sealed space 40 is defined by the lens cover 27 , the flexible seal 23 and the striker 12 . A transparent window 121 is provided at the wall of the strike plate 12 defining the sealed space 40 , and the transparent window 121 is used for light to pass through. The flexible sealing member 23 is in sealing contact with the inner wall of the striker 12 , and also includes a sealing portion 25 for pressing and sealing the flexible sealing member 23 and the striker 12 . Specifically, the sealing portion 25 is clamped on the striker 12 along the circumferential direction, and the circumferential edge of the flexible sealing member 23 is clamped between the sealing portion 25 and the striker 12 .

Specifically, the flexible seal is made of rubber or flexible plastic.

In another embodiment, the base 141 can also be integrally formed with the main body 14 .

The self-moving robot provided by the present application may include the cleaning robot described in the above embodiments, such as a household sweeping robot, a mopping robot, and an integrated sweeping and supporting robot. It can also be a robot for autonomous inspection, which detects the surrounding environment by setting up multiple optical sensors.

To sum up, the optical sensor device and the self-moving robot provided by the present application can solve the installation and sealing problems of a plurality of optical sensors with different angles, the installation structure is simple, and the lens is dustproof.

The above description is only an embodiment of the present application, and does not limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Claims

An optical sensing device, characterized in that it includes:

pedestal;

at least two optical sensors disposed on the base, the at least two optical sensors including a first optical sensor;

a lens cover for sealing the optical sensor;

Wherein, a first sealing member is disposed on the circumference of the first optical sensor, and the first sealing member is sandwiched between the base and the lens cover.
The optical sensing device according to claim 1, characterized in that it comprises a second optical sensor, the lens cover is provided with a second opening, and the second optical sensor is inserted into the second opening to be connected with the second opening. A seal is formed between the inner walls of the second opening.
The optical sensing device according to claim 2, wherein the optical axes of the first optical sensor and the second optical sensor are not parallel to each other.
The optical sensing device according to claim 2 or 3, wherein the lens cover is provided with a first opening, and the first optical sensor is inserted into the first opening.
The optical sensing device according to claim 2 or 3, wherein the lens cover is provided with a transparent cover, and the first optical sensor is arranged between the transparent cover and the base.
The optical sensor device according to claim 2, wherein the optical axis axis direction of the second optical sensor is parallel to the installation direction A of the lens cover.
The optical sensing device according to claim 2, wherein a second sealing member is provided between the second opening and the second optical sensor.
The optical sensing device according to claim 1 or 7, wherein the first sealing member and/or the second sealing member comprise sealing foam and/or rubber.
The optical sensor device according to claim 1, wherein the optical sensor is a camera.
A self-moving robot, characterized in that it includes

main body;

a striker plate arranged in front of the main body;

an optical sensing device provided on the main body, the optical sensing device is the optical sensing device according to any one of claims 1-9; and

A flexible seal is arranged between the lens cover and the striker to form a sealed space.