CN110840342B - Navigation device and cleaning equipment with same - Google Patents

Navigation device and cleaning equipment with same Download PDF

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Publication number
CN110840342B
CN110840342B CN201911345479.1A CN201911345479A CN110840342B CN 110840342 B CN110840342 B CN 110840342B CN 201911345479 A CN201911345479 A CN 201911345479A CN 110840342 B CN110840342 B CN 110840342B
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CN
China
Prior art keywords
elastic member
navigation device
bottom plate
navigation
cover body
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201911345479.1A
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Chinese (zh)
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CN110840342A (en
Inventor
饶永存
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Midea Robozone Technology Co Ltd
Original Assignee
Midea Robozone Technology Co Ltd
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Filing date
Publication date
Application filed by Midea Robozone Technology Co Ltd filed Critical Midea Robozone Technology Co Ltd
Priority to CN201911345479.1A priority Critical patent/CN110840342B/en
Publication of CN110840342A publication Critical patent/CN110840342A/en
Application granted granted Critical
Publication of CN110840342B publication Critical patent/CN110840342B/en
Active legal-status Critical Current
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4077—Skirts or splash guards
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the application provides a navigation device and cleaning equipment with the same, wherein the navigation device comprises: the navigation module is arranged on the bottom plate; the cover body assembly is covered outside the navigation module and is supported on the bottom plate through an elastic piece; the collision sensor is arranged on the bottom plate and used for sending a steering signal under the condition that the cover body assembly and the bottom plate are relatively displaced. According to the navigation device provided by the embodiment of the application, the cover body assembly can be prevented from directly colliding with the bottom plate and the navigation module, so that the navigation module is well protected, and the collision between the cover body assembly and the outside can be timely detected, so that the control module of the mobile equipment provided with the navigation device timely turns under the response of the turning signal, and the collision between the cover body assembly and the outside is timely relieved.

Description

Navigation device and cleaning equipment with same
Technical Field
The application relates to the technical field of cleaning appliances, in particular to a navigation device and cleaning equipment with the same.
Background
Along with the continuous improvement of the living standard of people, the intelligent household appliances are more and more widely applied, and have very broad market prospect. The floor sweeping robot, also called automatic sweeping machine, intelligent dust collector, robot dust collector, etc. is one kind of intelligent household appliance and can complete floor cleaning automatically in room with certain artificial intelligence.
The related art robot typically has a laser navigation module, and during the operation of the robot, the laser navigation module is easy to trip in a specific scene with a small height, such as a table bottom or a bed bottom, so that the operation of the robot is affected, and even the laser navigation module is damaged due to impact.
Disclosure of Invention
The embodiment of the application provides a navigation device and cleaning equipment with the same, which are used for solving or relieving one or more technical problems in the prior art.
In a first aspect, an embodiment of the present application provides a navigation device.
The navigation device according to an embodiment of the present application includes: the navigation module is arranged on the bottom plate; the cover body assembly is covered outside the navigation module and is supported on the bottom plate through an elastic piece; and the collision sensor is arranged on the bottom plate and is used for sending a steering signal under the condition that the cover body assembly and the bottom plate are relatively displaced.
In one embodiment, the collision sensor is a first micro switch, and a fixed contact and a movable contact of the first micro switch are arranged at intervals along the vertical direction; the cover body assembly is provided with a first linkage part, and the first linkage part is linked with the movable contact of the first micro switch.
In one embodiment, the collision sensor is a second micro switch, and the fixed contact and the movable contact of the second micro switch are arranged at intervals along the horizontal direction; the cover body assembly is provided with a second linkage part, and the second linkage part is linked with the movable contact of the second micro switch.
In one embodiment, the elastic member includes a first elastic member disposed along a vertical direction, a first end of the first elastic member is fixed to the bottom plate, and a second end of the first elastic member abuts against the cover assembly.
In one embodiment, the elastic member further includes a second elastic member disposed along a horizontal direction, a first end of the second elastic member is fixed to the bottom plate, and a second end of the second elastic member abuts against the cover assembly.
In one embodiment, a cover assembly includes: the support frame is covered outside the navigation module; the protective cover is sleeved outside the support frame.
In one embodiment, the lower surface of the shield has an upwardly concave annular groove, and the lower rim of the support bracket has an outwardly extending annular flange that fits within the annular groove.
In one embodiment, the shield includes a top wall, a side wall, and a bottom wall, an upper edge of the side wall being connected to a peripheral edge of the top wall, the bottom wall being formed by an outward extension of a lower edge of the side wall, wherein the annular recess is defined by the bottom wall through a plurality of bends.
In one embodiment, the support frame comprises an upper support ring, a connection side and a lower support ring connected in sequence from top to bottom, wherein an annular flange is formed at an outer edge of the lower support ring.
In one embodiment, the navigation module comprises a laser radar assembly having a laser emitting portion, the support frame is provided with a first laser through hole corresponding to the laser emitting portion, and the protective cover is provided with a second laser through hole corresponding to the first laser through hole.
In a second aspect, an embodiment of the application provides a cleaning device comprising a navigation device according to an embodiment of the application.
In one embodiment, the cleaning apparatus further comprises: the shell is provided with an installation cavity, the navigation device is installed in the installation cavity, and the bottom plate is arranged in the installation cavity.
By adopting the technical scheme, the navigation device provided by the embodiment of the application can prevent the cover body assembly from directly colliding with the bottom plate and the navigation module, thereby playing a better role in protecting the navigation module, and timely detecting the collision between the cover body assembly and the outside, so that the control module of the mobile equipment provided with the navigation device timely turns under the response of the turning signal, and timely releases the collision between the cover body assembly and the outside.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
Fig. 1 shows a schematic structure of a navigation device according to an embodiment of the present application;
FIG. 2 is a schematic view showing a part of a structure of a navigation device with a shield removed according to an embodiment of the present application;
Fig. 3 shows an exploded view of a navigation device according to an embodiment of the present application;
fig. 4 shows a cross-sectional view of a navigation device according to an embodiment of the application.
Reference numerals illustrate:
A navigation device 100;
A cover assembly 10;
a support frame 20; an upper support ring 21; a connecting side 22; a first laser via 22a; a lower support ring 23; an annular flange 24; a second support portion 24a; a second linkage part 25;
A shield 30; a top wall 31; a sidewall 32; a second laser via 32a; a bottom wall 33; a first support portion 33a; an annular groove 34; a first linkage part 35;
A navigation module 40; a rotation module 41; a motor 41a; a transmission belt 41b;
an elastic member 50; a first elastic member 51; a second elastic member 52;
a collision sensor 60; a first micro switch 61; a second microswitch 62;
a housing 200; a mounting cavity 200a; a base plate 210.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
A navigation device 100 according to an embodiment of the present application is described below with reference to fig. 1-4. The navigation apparatus 100 according to the embodiment of the present application may be used for a device having a moving function, such as a sweeping robot or the like.
As shown in fig. 1, a navigation device 100 according to an embodiment of the present application may include a navigation module 40, a cover assembly 10, and a collision sensor 60.
Specifically, the navigation module 40 is mounted to the base plate 210. The navigation module 40 may be a laser radar component or a vision sensor, among others. The cover assembly 10 is covered outside the navigation module 40, and the cover assembly 10 is supported on the base plate 210 through the elastic member 50. It can be appreciated that the cover assembly 10 is supported above the base plate 210 by the elastic member 50, and the cover assembly 10 is covered outside the navigation module 40 and spaced from the navigation module 40. Therefore, when the cover assembly 10 collides with the outside, the cover assembly 10 can be buffered by the elastic action of the elastic piece 50, so that the cover assembly 10 can be prevented from directly colliding with the bottom plate 210 or the navigation assembly, and the navigation assembly can be protected. Wherein the elastic member 50 may be one or more.
Further, as shown in fig. 1, the collision sensor 60 is disposed on the base plate 210, and the collision sensor 60 is configured to send a steering signal when the cover assembly 10 is relatively displaced from the base plate 210. Wherein the crash sensor 60 can be in electrical communication with other components.
For example, the navigation device 100 may be provided to the floor sweeping robot, and the collision sensor 60 is in electrical communication with a control module of the floor sweeping robot. When the cover assembly 10 collides with the outside to enable the cover assembly 10 to relatively displace relative to the bottom plate 210 and the navigation module 40, the cover assembly 10 triggers the collision sensor 60, the collision sensor 60 sends a steering signal to the control module of the sweeping robot, and the control module receives the steering signal and controls the driving module to drive the sweeping robot to steer, so that the situation that the sweeping robot cannot move due to further collision of the cover assembly 10 with the outside is avoided.
In one example, as shown in fig. 2, the collision sensors 60 may be plural and spaced apart in the circumferential direction of the navigation device 100. The collision sensor 60 may be a micro switch, and the opposite setting direction of the movable contact and the stationary contact of the micro switch may be set along any direction. For example, the movable contact and the stationary contact may be disposed in a horizontal direction or a vertical direction, or may be disposed in a direction forming an acute angle with a plane on which the bottom plate 210 is disposed, so as to detect whether the cover assembly 10 collides with the outside at a plurality of angles, thereby improving a success rate of collision detection.
According to the navigation device 100 of the embodiment of the application, the elastic member 50 is disposed between the cover assembly 10 and the base plate 210, so that the cover assembly 10 is suspended on the base plate 210 and the navigation module 40, and when the cover assembly 10 collides with the outside, the elastic member 50 can play a role in buffering the cover assembly 10, so as to prevent the cover assembly 10 from directly colliding with the base plate 210 or the navigation module 40, thereby protecting the navigation module 40. Second, the elastic member 50 may restore the cover assembly 10 when the cover assembly 10 is released from collision with the outside. Furthermore, by providing the collision sensor 60 on the bottom plate 210, a steering signal can be timely sent when the cover assembly 10 is relatively displaced with respect to the bottom plate 210, so that the collision between the cover assembly 10 and the outside can be timely detected, and the control module of the mobile device provided with the navigation device 100 can timely steer in response to the steering signal, so that the collision between the cover assembly 10 and the outside can be timely relieved.
In one embodiment, as shown in fig. 2 and 3, the collision sensor 60 may be a first micro switch 61, and a fixed contact and a movable contact of the first micro switch 61 are spaced apart in a vertical direction. The cover assembly 10 is provided with a first interlocking portion 35, and the first interlocking portion 35 is interlocked with the movable contact of the first microswitch 61. Thus, the collision sensor 60 can detect whether the cover assembly 10 collides with the outside in the vertical direction.
It can be understood that the first micro switch 61 may be a normally open switch, that is, the fixed contact and the movable contact do not contact in a normal state, and the movable contact is linked with the first linkage portion 35, that is, when the cover assembly 10 is displaced relative to the bottom plate 210 in a vertical direction, the first linkage portion 35 drives the movable contact to move toward the fixed contact, so that the first micro switch 61 is switched to a closed state. For example, the number of the first micro switches 61 may be two and may be provided at intervals in the left-right direction, and the number of the first link portions 35 may be two provided corresponding to the number of the two first micro switches 61. It should be noted that, the number of the first micro switches 61 is not particularly limited in the embodiment of the present application, and the number of the first micro switches 61 may also be three or more that are arranged at intervals around the navigation module 40.
In one embodiment, as shown in fig. 2 and 3, the collision sensor 60 may be a second micro switch 62, where the fixed contact and the movable contact of the second micro switch 62 are disposed at intervals in the horizontal direction. The cover assembly 10 is provided with a second interlocking part 25, and the second interlocking part 25 is interlocked with the movable contact of the second microswitch 62. For example, the second micro-switches 62 may be two and disposed at equal intervals from the navigation module 40. Thus, the collision sensor 60 can detect whether the cover assembly 10 collides with the outside in the horizontal direction (e.g., the front-rear direction). It should be noted that, the number of the second micro switches 62 is not particularly limited in the embodiment of the present application, and the number of the second micro switches 62 may also be three or more that are arranged at intervals around the navigation module 40.
In addition, the collision sensor 60 may include both the first micro switches 61 and the second micro switches 62, and the number and arrangement of the first micro switches 61 and the number and arrangement of the second micro switches 62 may be set according to circumstances.
In one embodiment, as shown in fig. 2 and 4, the elastic member 50 includes a first elastic member 51, where the first elastic member 51 is disposed along a vertical direction, a first end of the first elastic member 51 is fixed to the bottom plate 210, and a second end of the first elastic member 51 abuts against the cover assembly 10. The first elastic member 51 has a first end as an upper end and a second end as a lower end.
In one example, the base plate 210 is provided with a first mounting portion for mounting the first elastic member 51, the first mounting portion having a mounting groove extending in a vertical direction and having a top opening, and the first elastic member 51 being provided in the mounting groove in the vertical direction. The first elastic member 51 may be a spring, and the lower end of the first elastic member 51 is supported at the bottom of the mounting groove, and the upper end of the first elastic member 51 extends out of the mounting groove and abuts against the lower surface of the cover assembly 10. Thus, the elastic member 50 can provide a cushioning effect to the cover assembly 10 in the vertical direction.
In one embodiment, as shown in fig. 2 and 4, the elastic member 50 further includes a second elastic member 52, where the second elastic member 52 is disposed along a horizontal direction, a first end of the second elastic member 52 is fixed to the bottom plate 210, and a second end of the second elastic member 52 abuts against the cover assembly 10.
In one example, the bottom plate 210 is provided with a second mounting portion for mounting the second elastic member 52, the second mounting portion having a mounting groove extending in the front-rear direction and having a front-side opening, the second elastic member 52 being provided in the mounting groove in the front-rear direction. The second elastic member 52 may be a spring, and the rear end of the second elastic member 52 abuts against the bottom of the mounting groove, and the front end of the second elastic member 52 extends out of the mounting groove and abuts against the side surface of the cover assembly 10. Thus, the elastic member 50 can provide a cushioning effect to the cover assembly 10 in the front-rear direction.
In one embodiment, as shown in FIG. 3, the cover assembly 10 includes a support bracket 20 and a shield 30. The support frame 20 is covered outside the navigation module 40, and the protective cover 30 is sleeved outside the support frame 20. The support 20 and the protection cover 30 may be detachably connected, for example, the support 20 and the protection cover 30 may be connected by screws or buckles.
In one embodiment, as shown in FIG. 3, the lower surface of the shield 30 has an upwardly recessed annular recess 34 and the lower edge of the support bracket 20 has an outwardly extending annular flange 24, the annular flange 24 fitting within the annular recess 34.
In one example, the annular groove 34 includes at least an annular sidewall extending circumferentially of the shield 30 that wraps around the outer peripheral wall of the annular flange 24 to form a locating fit between the shield 30 and the support frame 20. It should be noted that, in other embodiments of the present application, the lower surface of the support frame 20 may be provided with a downwardly recessed annular groove 34, the lower edge of the protection cover 30 may be provided with an outwardly extending annular flange 24, and the annular flange 24 is fitted into the annular groove 34.
In one embodiment, as shown in fig. 2, the protective cover 30 includes a top wall 31, a side wall 32, and a bottom wall 33, wherein an upper edge of the side wall 32 is connected to an outer peripheral edge of the top wall 31, the bottom wall 33 is formed by extending a lower edge of the side wall 32 outward, and the annular groove 34 is defined by the bottom wall 33 through a plurality of bends. Wherein, the top wall 31, the side wall 32 and the bottom wall 33 together define a protection cavity, and the support frame 20 is covered in the protection cavity by the protection cover 30.
In one example, the bottom wall 33 may include a first bending section extending outwardly from a lower edge of the side wall 32 in a horizontal direction, a second bending section extending downwardly from an outer edge of the first bending section in a vertical direction, and a third bending section extending outwardly from a lower edge of the second bending section in a horizontal direction, with the annular groove 34 being defined by the first, second and third bending sections together.
In one embodiment, as shown in fig. 3 and 4, the bottom surface of the bottom wall 33 is provided with a first supporting portion 33a, the first supporting portion 33a is supported to the bottom plate 210 by a first elastic member 51, and the first elastic member 51 is disposed in the vertical direction. In one example, the first supporting portion 33a is formed by downwardly protruding a lower surface of the bottom wall 33, and the first elastic member 51 may be a spring, which is disposed in a vertical direction with an upper end thereof engaged with the first supporting portion 33a and a lower end thereof supported on the bottom plate 210.
Further, the first support portions 33a may be provided in plural at intervals along the circumferential direction of the bottom wall 33, and the first elastic members 51 may be provided in plural corresponding to the plural first support portions 33 a. Thereby, the shield 30 may be smoothly supported above the bottom plate 210 by the plurality of first elastic members 51.
In other embodiments of the present application, the first supporting portion 33a may be provided on the lower surface of the supporting frame 20, and the first supporting portion 33a may be supported on the bottom plate 210 by the first elastic member 51.
In one embodiment, as shown in fig. 1, the support frame 20 includes an upper support ring 21, a connection side 22 and a lower support ring 23 connected in sequence from top to bottom, i.e., the connection side 22 is connected between the upper support ring 21 and the lower support ring 23, and an annular flange 24 is formed at an outer edge of the lower support ring 23. Wherein the lower support ring 23 extends outwardly from the lower edge of the connection side 22 in a horizontal direction to form an annular flange 24.
In one embodiment, as shown in fig. 3 and 4, the lower surface of the annular flange 24 is provided with a second supporting portion 24a, the second supporting portion 24a is supported to the bottom plate 210 by the second elastic member 52, and the second elastic member 52 is disposed in the horizontal direction.
In one example, the second supporting portion 24a is formed by downwardly protruding a lower surface of the annular flange 24, the second elastic member 52 may be a spring, and the second elastic member 52 is disposed in a front-rear direction in the drawing, wherein one end of the second elastic member 52 abuts against a side surface of the second supporting portion 24a, and the other end is fixed to the bottom plate 210.
In one embodiment, as shown in fig. 2, the first linkage part 35 may be provided at the bottom wall 33 of the protection cover 30, and the first linkage part 35 is formed by downwardly recessing a portion of the bottom wall 33. The second coupling part 25 may be provided to the annular flange 24 of the support frame 20, and the second coupling part 25 is formed by downwardly protruding a lower surface of the annular flange 24. In other embodiments of the present application, the first linkage part 35 may be provided on the lower surface of the support frame 20, and the second linkage part 25 may be provided on the lower surface of the shield 30.
In one embodiment, the navigation module 40 includes a lidar assembly having a laser emitting portion, the support frame 20 is provided with a first laser via 22a corresponding to the position of the laser emitting portion, and the shield 30 is provided with a second laser via 32a corresponding to the position of the first laser via 22 a.
In one example, the connection side 22 is provided with a first laser via 22a corresponding to the laser emitting location and the sidewall 32 is provided with a second laser via 32a corresponding to the first laser via 22a location. The first laser through holes 22a are provided in plural at intervals along the circumferential direction of the connection side portion 22, and the first laser through holes 22a penetrate the connection side portion 22 in the thickness direction of the wall body of the connection side portion 22. The second laser via holes 32a are provided in plural numbers corresponding to the first laser via holes 22a, and the second laser via holes 32a penetrate the side wall 32 in the thickness direction of the wall body of the side wall 32. Thereby, the laser light emitted from the laser light emitting portion of the laser radar assembly can be emitted outward through the first laser through hole 22a and the second laser through hole 32a in order, and the reflected laser light is received by the laser light receiving portion through the second laser through hole 32a and the first laser through hole 22a again in order.
As shown in fig. 2, the laser radar assembly further includes a rotation module 41, and the rotation module 41 is configured to drive the laser radar to rotate along a circumferential direction thereof, so that a laser emitting portion of the laser radar can emit laser light around. The rotation module 41 may include a motor 41a and a driving belt 41b, where an output end of the motor 41a is in driving connection with the driving belt 41b, so that the driving belt 41b drives the laser emitting part of the laser radar to rotate.
In one preferred example, as shown in fig. 2, the shape of the base plate 210 is generally square, where generally square refers to the shape of the outer contour of the base plate 210 being approximately square. The lidar assembly is disposed at the center of the base plate 210, and the motor 41a is disposed on a diagonal line of the square base plate 210, thereby enabling the arrangement of the motor 41a and the lidar on the base plate 210 to be more compact and reducing the size of the base plate 210.
In a second aspect, embodiments of the present application provide a cleaning apparatus comprising a navigation device 100 according to embodiments of the present application. The cleaning device can be a cleaning appliance with a movable cleaning function, such as a sweeping robot or a mopping robot.
In one embodiment, as shown in fig. 1 and 2, the cleaning apparatus further includes a housing 200, the housing 200 is provided with a mounting cavity 200a, and the navigation device 100 is mounted in the mounting cavity 200a, wherein a base plate 210 is provided in the mounting cavity 200a.
In one example, at least a portion of the navigation device 100 protrudes from the mounting cavity 200a, and at least a portion of the support bracket 20 and the shield 30 are located above the mounting cavity 200 a. Specifically, the navigation device 100 may be a laser radar assembly, and at least a laser emitting portion and a laser receiving portion of the laser radar assembly are protruded from the mounting cavity 200a, and both the first laser through hole 22a of the support frame 20 and the second laser through hole 32a of the protection cover 30 are protruded from the mounting cavity 200a, so as to avoid the case 200 from interfering with the transmission and reception of laser light.
It should be noted that other configurations of the cleaning apparatus of the foregoing embodiments, such as the driving module, the control module, and the cleaning module, may be implemented in various technical solutions that are known to those skilled in the art now and in the future, and will not be described in detail herein.
By adopting the above technical scheme, the navigation device 100 of the embodiment of the application can buffer the cover assembly 10 when the cover assembly 10 collides with the outside, so as to avoid the direct collision between the cover assembly 10 and the bottom plate 210 and between the cover assembly 10 and the navigation module 40, thereby protecting the navigation module 40, and the elastic member 50 can reset the cover assembly 10 when the cover assembly 10 collides with the outside. Furthermore, by providing the collision sensor 60 on the bottom plate 210, a steering signal can be timely sent when the cover assembly 10 is relatively displaced with respect to the bottom plate 210, so that the collision between the cover assembly 10 and the outside can be timely detected, and the control module of the mobile device provided with the navigation device 100 can timely steer in response to the steering signal, so that the collision between the cover assembly 10 and the outside can be timely relieved.
In the description of the present specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
The above disclosure provides many different embodiments, or examples, for implementing different structures of the application. The foregoing description of specific example components and arrangements has been presented to simplify the present disclosure. They are, of course, merely examples and are not intended to limit the application. Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (8)

1. A navigation device, comprising:
The navigation module is arranged on the bottom plate;
The cover body assembly is covered outside the navigation module and is supported on the bottom plate through an elastic piece; the cover assembly includes: the support frame is covered outside the navigation module; the protective cover is sleeved outside the support frame; the lower surface of the protective cover is provided with an upward concave annular groove, the lower edge of the support frame is provided with an outward extending annular flange, and the annular flange is matched in the annular groove; the protective cover comprises a top wall, a side wall and a bottom wall, wherein the upper edge of the side wall is connected with the peripheral edge of the top wall, the bottom wall is formed by extending outwards from the lower edge of the side wall, and the annular groove is defined by the bottom wall through multiple bending; the support frame comprises an upper support ring, a connecting side part and a lower support ring which are sequentially connected from top to bottom, wherein the annular flange is formed at the outer side edge of the lower support ring;
The collision sensor is arranged on the bottom plate and is used for sending a steering signal under the condition that the cover body assembly and the bottom plate are relatively displaced.
2. The navigation device of claim 1, wherein the collision sensor is a first micro switch, and a fixed contact and a movable contact of the first micro switch are arranged at intervals along a vertical direction;
the cover body assembly is provided with a first linkage part, and the first linkage part is linked with the movable contact of the first micro switch.
3. The navigation device of claim 1, wherein the collision sensor is a second micro switch, and a fixed contact and a movable contact of the second micro switch are arranged at intervals along a horizontal direction;
the cover body assembly is provided with a second linkage part, and the second linkage part is linked with the movable contact of the second micro switch.
4. The navigation device of claim 1, wherein the elastic member comprises a first elastic member disposed along a vertical direction, a first end of the first elastic member is fixed to the base plate, and a second end of the first elastic member abuts against the cover assembly.
5. The navigation device of claim 4, wherein the elastic member further comprises a second elastic member, the second elastic member is disposed along a horizontal direction, a first end of the second elastic member is fixed to the base plate, and a second end of the second elastic member abuts against the cover assembly.
6. The navigation device of claim 1, wherein the navigation module comprises a lidar assembly having a laser emitting portion, the support frame is provided with a first laser via corresponding to the laser emitting portion position, and the shield is provided with a second laser via corresponding to the first laser via position.
7. Cleaning apparatus, characterized in that it comprises a navigation device according to any one of claims 1-6.
8. The cleaning apparatus as recited in claim 7, further comprising: the navigation device comprises a shell, wherein the shell is provided with an installation cavity, the navigation device is installed in the installation cavity, and the bottom plate is arranged in the installation cavity.
CN201911345479.1A 2019-12-24 2019-12-24 Navigation device and cleaning equipment with same Active CN110840342B (en)

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