CN114098527A

CN114098527A - Floor sweeping robot

Info

Publication number: CN114098527A
Application number: CN202010882058.9A
Authority: CN
Inventors: 徐连斌; 杨永斌; 韦绥均
Original assignee: Suzhou 3600 Robot Technology Co ltd
Current assignee: Suzhou 3600 Robot Technology Co ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2022-03-01

Abstract

The invention discloses a sweeping robot which comprises a shell and a ground detection sensor, wherein the shell is provided with an emergent hole facing to a surface to be cleaned; the ground detection sensor is arranged in the shell and comprises an emitting element, an emitting end of the emitting element faces the emergent hole, and the cross section size of the emergent hole is increased in the emitting direction of the ground detection sensor. The sweeping robot in the technical scheme can effectively ensure the emission of the emission signal and improve the detection effect.

Description

Floor sweeping robot

Technical Field

The invention relates to the technical field of household appliance dust removal, in particular to a sweeping robot.

Background

The floor sweeping robot is an intelligent household appliance capable of automatically sucking dust on the ground, and the intelligent household appliance gradually enters general family life along with improvement of living standard. At present, in order to prevent the phenomenon of turning on one's side of the robot sweeping on the large step face of the fall, the robot sweeping is generally provided with a ground detection sensor, the terrain is detected through the sensor, and when the terrain with the height difference is encountered, the robot can turn or retreat by itself, so that the robot is effectively prevented from falling from a high place. However, the ground detection sensor with the detection height has high sensitivity and is easily interfered by other components, so that the detection effect is poor, and the detection reaction time is not ensured.

Disclosure of Invention

The invention mainly aims to provide a sweeping robot, and aims to obtain a sweeping robot which can improve the detection effect without influencing the light emergence.

In order to achieve the above object, the sweeping robot provided by the present invention comprises:

the shell is provided with an emergent hole facing the surface to be cleaned; and

the ground detection sensor is arranged in the shell and comprises an emitting element, an emitting end of the emitting element faces the exit hole, and the cross section size of the exit hole is increased in the emitting direction of the ground detection sensor.

In an optional embodiment, a chamfer is arranged on one end edge of the exit hole close to the surface to be cleaned.

In an optional embodiment, the housing includes a middle shell and a bottom plate, the bottom plate covers a surface of the middle shell facing the surface to be cleaned, the middle shell is formed with a mounting groove, the ground detection sensor is disposed in the mounting groove, and the bottom plate is provided with the exit hole opposite to an opening of the mounting groove.

In an alternative embodiment, the chamfer angle α of the exit aperture ranges from more than 10 °.

In an optional embodiment, the ground detection sensor further comprises an installation seat, an installation cavity and a transmitting port communicated with the installation cavity are formed in the installation seat, the transmitting element is arranged in the installation cavity, the transmitting end of the transmitting element faces the transmitting port, and the installation seat is detachably connected with the installation groove.

In an optional embodiment, the ground detection sensor further includes a receiving element, the receiving element is disposed in the mounting cavity and spaced from the transmitting element, the mounting seat is provided with a receiving opening corresponding to a receiving end of the receiving element, and the transmitting end of the transmitting element is inclined toward the center of the exit hole.

In an optional embodiment, the ground detection sensor further comprises a light-transmitting cover, and the light-transmitting cover is connected to the mounting seat and covers the emitting opening and the receiving opening.

In an alternative embodiment, the housing has a front side wall facing the forward direction, and the ground sensor is disposed near a middle position of the front side wall.

In an alternative embodiment, two ground detection sensors are provided, and the emission directions of the two emission elements of the two ground detection sensors face away from each other.

In an optional embodiment, the sweeping robot further comprises a laser radar, the laser radar is arranged in the shell, and a laser emitting port is formed in the side wall of the shell; the laser radar can be exposed through the laser exit port, so that the signal emitted by the laser radar exits through the laser exit port.

The floor sweeping robot comprises a shell and a ground detection sensor, wherein the ground detection sensor comprises a transmitting element, the shell is provided with an emergent hole facing a surface to be cleaned, and a transmitting end of the transmitting element is arranged corresponding to the emergent hole, so that signal light emitted by the transmitting end of the transmitting element can be emitted to the ground through the emergent hole, and the purpose of detecting the terrain is achieved. Meanwhile, the cross section of the exit hole is in an increasing trend in the emitting direction of the emitting end, namely, the exit hole is in a flaring shape, so that the exit hole corresponds to the diffusion trend of the signal light emitted by the emitting end, the inner wall surface of the exit hole cannot block the signal light, the light can be completely emitted, the detection accuracy is improved, and the sweeping robot is effectively prevented from being suspended and turned on one side.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of a sweeping robot of the present invention;

fig. 2 is a schematic structural view of the sweeping robot shown in fig. 1 from another view angle;

FIG. 3 is an enlarged view taken at A in FIG. 2;

fig. 4 is a schematic structural view of a bottom plate of a housing in the sweeping robot shown in fig. 1;

FIG. 5 is an enlarged view at B in FIG. 4;

fig. 6 is a schematic structural view of a ground detection sensor in the sweeping robot shown in fig. 1;

FIG. 7 is a schematic view of the sensor shown in FIG. 6 from another perspective;

FIG. 8 is an exploded view of the ground detection sensor shown in FIG. 7;

fig. 9 is a schematic structural view of the sweeping robot shown in fig. 1 with a part of the housing removed;

fig. 10 is an enlarged view at C in fig. 9.

The reference numbers illustrate:

100	floor sweeping robot	33	Mounting seat
				10	Shell body	33a	Transmitting port
10a	Laser exit		33b					Receiving port
				11	Middle shell	331	First buckle plate
111	Mounting groove	333	Second buckle
				13	Base plate	35	Receiving element
131	Exit aperture	37	Light-transmitting cover
				15	Front side wall	70	Water tank
30	Ground detection sensor	80	Steering wheel
				31	Radiating element	90	Driving wheel
311	Transmitting terminal

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The present invention provides a sweeping robot 100.

Referring to fig. 1 to 5, in an embodiment of the present invention, the sweeping robot 100 includes:

the cleaning device comprises a shell 10, wherein an emergent hole 131 facing to a surface to be cleaned is formed in the shell 10; and

the ground detection sensor 30 is arranged in the shell 10, the ground detection sensor 30 comprises a transmitting element 31, the transmitting end of the transmitting element 31 is arranged towards the exit hole 131, and the cross-sectional size of the exit hole 131 increases in the transmitting direction of the ground detection sensor 30.

In this embodiment, the floor sweeping robot 100 has a dust removing function and a floor mopping function, so the housing 10 includes a device for removing dust, a water tank 70, a pump body, etc., water is stored in the water tank 70, which can provide a water source for the ground cleaning cloth of the floor sweeping robot 100, and the pump body pumps out the water inside the water tank and delivers the water to the cleaning cloth, so as to achieve the floor mopping function. In order to protect and divide the internal devices, the housing 10 includes a middle case 11 formed with various cavities and grooves, so that each component is installed, and the installation layout of each component is reasonable. The housing 10 further includes a top cover, side walls, and a bottom plate 13, which respectively cover the upper and lower surfaces and the peripheral side surfaces of the middle case 11, so that it is possible to protect components that do not need to be exposed, and to improve the visibility. The outer shape of the shell 10 can be disc-shaped, the appearance is attractive, the periphery is smooth, sharp collision or impact is not easy to occur, and the safety is improved.

Specifically, the bottom of the sweeping robot 100 is provided with a driving wheel 90 and a steering wheel 80 for driving the robot to walk and steer along the ground. In order to prevent the robot 100 from turning over when encountering a step terrain in a suspended manner, the robot 100 further comprises a ground detection sensor 30, and the principle of the ground detection sensor 30 can be that an ultrasonic detection signal is transmitted, so that the distance between the bottom of the ground detection sensor and the ground is detected, and when the distance exceeds a preset value, a suspended signal is transmitted to control the robot 100 to turn or retreat. Of course, the ground detection sensor 30 may be a tactile sensor, an infrared sensor, a sonar sensor, or the like, and is not limited thereto. Here, there is a front side wall 15 in the side wall of the housing 10, the front side wall 15 is a side wall of the sweeping robot 100 facing the advancing direction during normal operation, and an anti-collision plate can be further provided, and the anti-collision plate can move between a position far away from and a position close to the front side wall 11, so as to improve the protection performance of the sweeping robot 100. In an alternative embodiment, the ground detection sensor 30 is disposed in the housing 10 and near the front sidewall 15, and the housing 10 is disc-shaped, so that the ground detection sensor 30 is preferably disposed near the middle of the front sidewall 15, so that the ground detection sensor 30 is located at the foremost end of the sweeping robot 100, and can detect when the center of gravity of the sweeping robot 100 does not reach the suspension, and therefore the sweeping robot 100 can avoid danger in time without rollover.

Meanwhile, the ground detection sensor 30 comprises a transmitting element 31, in order to enable the detection signal emitted by the transmitting element 31 of the ground detection sensor 30 to reach the surface to be cleaned, the housing 10 is provided with an exit hole 131, and a transmitting end 311 of the transmitting element 31 is arranged towards the exit hole 131. The size of the cross section of the exit hole 131 increases in the emitting direction of the sensor, where the cross section of the exit hole 131 is a section perpendicular to the axial direction thereof, and the increasing tendency may be that the whole of the exit hole 131 gradually increases; or the part is not changed and the part is gradually increased; or may be increased in a stepwise manner, which is not limited herein.

The sweeping robot 100 comprises a housing 10 and a ground detection sensor 30, wherein the ground detection sensor 30 comprises a transmitting element 31, the housing 10 is provided with an exit hole 131 facing a surface to be cleaned, and a transmitting end 311 of the transmitting element 31 is arranged corresponding to the exit hole 131, so that signal light emitted by the transmitting end 311 of the transmitting element 31 can be emitted to the ground through the exit hole 131, and the purpose of detecting the terrain is achieved. Meanwhile, the cross section of the exit hole 131 is increased in the emitting direction of the emitting end 311, that is, the exit hole 131 is flared, so that the exit hole corresponds to the diffusion trend of the signal light emitted by the emitting end 311, the inner wall surface of the exit hole 131 cannot block the signal light, the light can be completely emitted, the detection accuracy is improved, and the sweeping robot 100 is effectively prevented from being suspended and laterally turned over.

With continued reference to fig. 4 and 5, in an alternative embodiment, an edge of one end of the exit hole 131 close to the surface to be cleaned is provided with a chamfer.

In this embodiment, in order to simplify the processing, after the housing 10 is provided with the exit hole 131, a chamfer is provided at an edge of one end of the exit hole 131 close to the ground; or the chamfer and the emergent hole 131 can be integrally formed through a die, so that the process is simple and rapid, the demolding is convenient, and the processing efficiency is improved. The chamfer needs to be annularly arranged on the peripheral wall of the exit hole 131, so that the peripheral wall of the exit hole 131 does not influence the emission of the detection signal of the emitting element 31, the success rate of signal emission is improved, and the detection accuracy of the ground detection sensor 30 is ensured.

Referring to fig. 3, in an alternative embodiment, the bottom plate 13 covers a surface of the middle housing 11 facing the surface to be cleaned, a mounting groove 111 is formed in the middle housing 11, the ground detection sensor 30 is disposed in the mounting groove 111, and the bottom plate 13 is provided with the exit hole 131 opposite to the opening of the mounting groove 111.

In this embodiment, in order to conveniently and fixedly detect the ground sensor 30, the middle shell 11 is provided with an installation groove 111, an opening of the installation groove 111 faces the surface to be detected, and the ground sensor 30 is installed in the installation groove 111, so that stable installation is realized. Meanwhile, the bottom plate 13 is provided with an exit hole 131 opposite to the opening of the mounting groove 111, so that a signal sent by the ground detection sensor 30 is emitted through the exit hole 131, and the chamfered exit hole 131 is arranged on the bottom plate 13, so that the processing and demolding are facilitated, and the processing efficiency is improved.

Referring again to fig. 5, in an alternative embodiment, the range of the chamfer angle α of the exit hole 131 is greater than 10 °.

In this embodiment, in order to achieve a compact structure and avoid occupying a large space of the bottom plate 13, the size of the exit hole 131 is equal to the size of the opening of the mounting groove 111. In order to match with the signal emission of the emitting element 31, the periphery of the exit hole 131 needs to be provided with a chamfer, and the chamfer angle of the exit hole 131 on a certain longitudinal section is equal to half of the emission angle of the ground detection sensor 30, so that the chamfer angle α of the exit hole 131 is set to be more than 10 degrees according to the emission angle range of the ground detection sensor 30, so that the exit hole can be well matched with the emission angle of the emitting element 31, the obstruction to the emitted signal is effectively reduced, and the detection efficiency and accuracy of the ground detection sensor 30 are improved. In addition, the chamfered position of the exit hole 131 can be set according to the distance between the emitting element 31 and the bottom plate 13, effectively ensuring the exit of the detection signal.

Referring to fig. 3, 6 to 8, in an alternative embodiment, the ground detection sensor 30 further includes an installation seat 33, an installation cavity and an emission port 33a communicated with the installation cavity are formed in the installation seat 33, the emission element 31 is disposed in the installation cavity, an emission end 311 of the emission element 31 is disposed toward the emission port 33a, and the installation seat 33 is detachably connected to the installation groove 111.

In this embodiment, in order to conveniently and detachably detect the sensor 30, the sensor 30 includes the mounting seat 33, the mounting seat 33 is formed with a mounting cavity and an emitting opening 33a communicated with the mounting cavity, the emitting opening 33a is communicated with the notch of the mounting groove 111, the emitting element 31 is arranged in the accommodating cavity, and the emitting end 311 is arranged towards the emitting opening 33a, so that the detection signal can be emitted out through the emitting opening 33a and the notch of the mounting groove 111. The mounting seat 33 is detachably connected to the mounting groove 111, and may be a snap connection, a screw connection, or a plug connection, which is not limited herein. The installation seat 33 can provide a protection space for the emission element 31, and when the emission element 31 needs to be repaired and replaced, the housing 10 can be detached directly by releasing the connection of the installation seat 33, the emission element 31 is prevented from being damaged by the direct fit connection of the emission element 31 and the installation groove 111, and the performance stability and the disassembly and assembly convenience of the ground detection sensor 30 are improved.

Specifically, the mounting seat 33 includes a first buckle plate 331 and a second buckle plate 333 which are detachably connected, and the first buckle plate 331 and the second buckle plate 333 are buckled to form a mounting cavity and a transmitting opening 33a, wherein the first buckle plate 331 and the second buckle plate 333 are made of plastic, so that the mounting seat 33 which is formed in a split manner can be convenient for processing and demolding, and the transmitting element 31 can be conveniently mounted in the mounting cavity for fixing.

In an optional embodiment, the ground detection sensor 30 further includes a receiving element 35, the receiving element 35 is disposed in the mounting cavity and spaced apart from the emitting element 31, the mounting seat 33 is opened with a receiving opening 33b corresponding to a receiving end of the receiving element 35, and the emitting end 311 of the emitting element 31 is inclined toward the center of the exit hole 131.

In this embodiment, it can be understood that the ground detection sensor 30 further includes a receiving element 35 for receiving the detection signal fed back through the ground, so as to perform the judgment and analysis of the terrain according to the time difference between the emitted and reflected signals. The receiving element 35 is also arranged in the mounting cavity, the receiving element 35 and the transmitting element 31 are both arranged in the mounting cavity, and the mounting seat 33 is provided with a receiving opening 33b, so that the structure can be compact, and the internal space of the shell 10 can be saved. Specifically, a partition plate is further arranged in the installation cavity, and the partition plate is arranged between the receiving element 35 and the transmitting element 31, so that crosstalk and interference between a transmitting signal and a receiving signal can be effectively blocked, and the detection accuracy of the ground detection sensor 30 is improved. Of course, in other embodiments, the receiving element 35 may not be in the same mounting cavity as the transmitting element 31, or may be separately disposed. In addition, the emitting element 31 and the receiving element 35 occupy half of the space of the mounting seat 33, so that the probability of emitting signals and the probability of receiving signals of the ground detection sensor 30 are equal, and effective detection is realized.

Meanwhile, the transmitting end 311 is obliquely arranged towards the center line of the exit hole 131, so that the offset structure that the transmitting element 31 and the receiving element 35 are both installed in the same installation cavity and correspond to the same exit hole 131 can be compensated, outgoing detection signals can be emitted from the center of the exit hole 131, the obstruction of the inner wall of the exit hole 131 to the detection signals is further reduced, the outgoing rate of the detection signals is improved, and the detection accuracy is improved.

In an alternative embodiment, the ground detection sensor 30 further includes a light-transmitting cover 37, and the light-transmitting cover 37 is connected to the mounting seat 33 and covers the emitting opening 33a and the receiving opening 33 b.

In this embodiment, in order to protect the emitting element 31 and the receiving element 35 in the mounting seat 33 and prevent the impurities on the surface to be cleaned from entering the mounting cavity, the floor-mounted sensor 30 further includes a light-transmitting cover 37, the light-transmitting cover 37 is disposed in a plate shape, the size of the light-transmitting cover 37 is matched with the size of the emitting opening 33a and the size of the receiving opening 33b, and the emitting opening 33a and the receiving opening 33b can be covered, so that the mounting cavity is closed, foreign objects are effectively prevented from entering, and the good use performance of the floor-mounted sensor 30 is ensured. The translucent cover 37 is made of a translucent material, so that the transmission signal of the transmission element 31 and the reception signal of the reception element 35 can pass through the translucent cover without being cut, and the detection performance of the ground detection sensor 30 can be ensured to be good. Here, two light-transmissive covers 37 are provided, one light-transmissive cover 37 being fitted to the emission opening 33a, and the other light-transmissive cover 37 being fitted to the reception opening 33 b.

Referring to fig. 9 and 10, in an alternative embodiment, two ground detection sensors 30 are provided, and the emission directions of two emission elements 31 of the two ground detection sensors 30 face away from each other.

In this embodiment, there are two ground detection sensors 30, the two ground detection sensors 30 are arranged at intervals in the left-right direction of the sweeping robot 100, the left-right direction is the tangential direction tangent to the middle of the front side wall 15 of the sweeping robot 100, and the two ground detection sensors 30 can be arranged symmetrically with the middle tangent plane perpendicular to the front side wall 15 as the symmetry plane, so that the terrain of the front side of the sweeping robot 100 can be detected more uniformly. Specifically, the transmitting element 31 includes a transmitting terminal 311 and a wire connected to a rear side of the transmitting terminal 311, the wire being used for connecting a control system, so that signal transmission of the transmitting element 31 is controlled by the control system. And the direction of the emission detection signal of two emission elements 31 of two ground detection sensors 30 is set to deviate from each other, that is, the emission end 311 of one emission element 31 is set to incline towards the direction deviating from the other emission element 31, so as to obtain the inclined emission angle, thus effectively avoiding the mutual interference of the emission signals between the two ground detection sensors 30, and improving the accuracy and stability of the suspension detection.

Referring to fig. 1 again, in an optional embodiment, the sweeping robot 100 further includes a laser radar, the laser radar is disposed in the housing 10, and a laser exit port 10a is formed in a side wall of the housing 10; the laser radar can be exposed through the laser exit port 10a, so that the signal emitted by the laser radar exits through the laser exit port 10 a.

In this embodiment, laser radar can send laser to when running in-process when meetting the barrier, can reflect the laser back, thereby carry out the distance detection with the barrier, and can make corresponding action of keeping away dangerous simultaneously. Here, the laser radar is arranged in the shell 10, so that the collision of the protruding structure in the advancing process can be avoided, and the protection performance of the laser radar is improved; and the dust and sundries can be effectively reduced without being exposed, so that the influence on the emergence of laser signals is avoided, and the detection performance of the laser radar is effectively improved. By forming the laser exit port 10a on the side wall of the housing 10, the laser exit port 10a extends along the circumferential direction of the front side wall 11, so as to form an arc-shaped opening, and the laser radar is partially exposed through the laser exit port 10a, so that a signal emitted by the laser radar can directly exit through the laser exit port 10a, and the smoothness of a laser light path is ensured.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A robot of sweeping floor for clean the face of waiting to clean, its characterized in that includes:

2. The sweeping robot of claim 1, wherein the exit hole is chamfered at an edge of the exit hole near the surface to be cleaned.

3. The sweeping robot according to claim 2, wherein the housing comprises a middle shell and a bottom plate, the bottom plate covers the surface of the middle shell facing the surface to be cleaned, the middle shell is formed with a mounting groove, the ground detection sensor is arranged in the mounting groove, and the bottom plate is provided with the exit hole opposite to the opening of the mounting groove.

4. A sweeping robot according to claim 2, wherein the chamfer angle α of the exit aperture ranges over more than 10 °.

5. The sweeping robot of claim 3 or 4, wherein the ground detection sensor further comprises a mounting seat, a mounting cavity and a transmitting port communicated with the mounting cavity are formed in the mounting seat, the transmitting element is arranged in the mounting cavity, a transmitting end of the transmitting element faces the transmitting port, and the mounting seat is detachably connected to the mounting groove.

6. The sweeping robot of claim 5, wherein the ground detection sensor further comprises a receiving element, the receiving element is disposed in the mounting cavity and spaced from the emitting element, the mounting seat is provided with a receiving opening corresponding to a receiving end of the receiving element, and the emitting end of the emitting element is inclined toward the center of the exit hole.

7. The sweeping robot of claim 6, wherein the ground detection sensor further comprises a light-transmitting cover connected to the mounting base and covering the emitting opening and the receiving opening.

8. A sweeping robot according to any one of claims 1 to 4 wherein the housing has a front side wall facing in the forward direction, the ground detection sensor being located near a central portion of the front side wall.

9. The sweeping robot of claim 8, wherein there are two ground detection sensors, and the emitting directions of the two emitting elements of the two ground detection sensors face away from each other.

10. The sweeping robot of claim 1, further comprising a laser radar, wherein the laser radar is disposed in the housing, and a laser exit port is formed in a side wall of the housing; the laser radar can be exposed through the laser exit port, so that the signal emitted by the laser radar exits through the laser exit port.