CN205885370U - Autonomic cleaning device - Google Patents

Abstract

The utility model relates to an autonomic cleaning device includes: equipment principal includes the chassis and is fixed in the last casing on chassis, actuator module is connected to the chassis is used for the drive autonomic cleaning device marchs according to predetermineeing the circuit, clean module, distribute in in the equipment principal, the perception module, assemble in go up the position of presetting of casing, be used for obtaining the autonomic cleaning device barrier condition all around, wherein, actuator module clean module with the perception module can assemble with dismantling respectively in equipment principal. Originally, during the accommodation space who reserves is do not installed to each the function mould splits among disclosed autonomic cleaning device on equipment principal, can follow equipment principal and go up independent the dismantlement to can dismantle the function module that the maintenance is perhaps more renewed alone with the function module that damages conveniently, improve autonomic cleaning device's maintenance efficiency greatly.

Description

Autonomous cleaning devices

Technical field

It relates to intelligent cleaning technical field, more particularly, to a kind of autonomous cleaning devices.

Background technology

With the fast development of communication technology, intelligent artifact application in daily life is increasingly universal, occurs in that multiple Various autonomous cleaning devices, autonomous cleaning devices of for example sweeping the floor, the autonomous cleaning devices that mop floor etc..Autonomous cleaning devices can be certainly Execute clean operation dynamicly, facilitate user.However, the function with autonomous cleaning devices is progressively powerful, this autonomous cleaning devices Functional module also increase, the structure within autonomous device also becomes increasingly complex, autonomous cleaning devices break down need tie up When repairing, the dismounting duration of unit and difficulty all greatly increase, and bring very big difficulty to maintainer.

Irobot company achieves modularity in sweeper field first, referring to ep1969438b1 disclosure of that, drives Driving wheel module and main brush module are detached, can get off from main frame independent disassembling.Each module is separately mounted to main machine frame In upper reserved receiving space, once certain module is damaged, easily can individually dismantle damaging module and install new Module, substantially increase module change and maintenance efficiency.

Defect with random cleaning modes is increasingly difficult to ignore, and the sweeper market accounting that navigation cleans increasingly increases Plus, have range cells, photographing unit, image unit sweeper get more and more, the modularity problems demand solution of these units Certainly.

Utility model content

In view of this, the present disclosure proposes a kind of modular autonomous cleaning devices are to solve above-mentioned technical problem.

In order to achieve the above object, the technical scheme that the disclosure is adopted is:

A kind of autonomous cleaning devices, comprising: equipment body, driving module, cleaning module and perception module；Wherein, institute State driving module, described cleaning module and described perception module and can releasably be assemblied in described equipment body respectively.

Optionally, the upper shell that described equipment body includes chassis and is fixed on described chassis；Wherein, described driving Module is arranged at described chassis, and described perception module is assemblied in the predeterminated position of described upper shell.

Optionally, the predeterminated position of described upper shell is the accommodating chamber mated with described perception module, described perception module It is assemblied in described accommodating chamber.

Optionally, described perception module is fixed on described upper shell by multiple first connectors.

Optionally, described equipment body also includes being assemblied in the protective cover above described accommodating chamber, the week of described protective cover Side hollow out setting, described perception module is located between described accommodating chamber and described protective cover.

Optionally, all sides of described protective cover are made up of at least one column, and described column has lesser width.

Optionally, when dismantling described perception module, dismantle described protective cover in advance.

Optionally, it is not necessary to first dismantle described upper shell and/or described chassis before dismounting perception module.

Optionally, described protective cover is fixed on described upper shell by multiple second connectors.

Optionally, described protective cover is made up of the combined material of high-strength nylon and glass fibre.

Optionally, the week side of boss of described perception module is provided with water proof and dust proof hole, described upper shell is provided with anti-with described The corresponding through hole in the dust-proof hole of water.

Optionally, described equipment body also includes lid, and described perception module partly projects described upper lid.

Optionally, described equipment body also includes being arranged at the control parts below described perception module, described perception mould Group includes being arranged at the adapter that its lower surface is electrically connected with described control parts.

Optionally, described equipment body includes forward portion and backward part, and described perception module is located at described backward portion Point.

Optionally, described perception module is Laser Distance Measuring Equipment.

Optionally, described driving module includes driving wheel module, and described driving wheel module includes left driving wheel module and the right side The lateral shaft that driving wheel module, described left driving wheel module and described right driving wheel define along described equipment body is opposed.

Optionally, described driving module also include at least one driven pulley, in order to assist described equipment body support and Mobile.

Optionally, described cleaning module includes:

Round brush assembly, dirt case assembly and the power part being arranged in order along the direct of travel of described autonomous cleaning devices；

One-level air channel, is arranged between described cleaning member and described dirt case assembly；

Light breeze road, is arranged between described dirt case assembly and described power part, the inwall in described light breeze road is windward Side is curved；

Wherein, described one-level air channel is matched with described power part, so that the cleaning object quilt that described cleaning member cleans The wind that described power part produces is delivered in described dirt case assembly；Described light breeze road is matched with described power part, so that The wind of described dirt case assembly output is smoothed guiding to the air inlet of described power part on described preset direction.

Optionally, described one-level air channel is in bell mouth shape, and described one-level air channel corresponding sectional area at of taking up an official post is anti-phase With regard to the spacing distance between this arbitrary place and described cleaning member.

Optionally, described light breeze road is in bell mouth shape, and the air outlet in described light breeze road is snap-fit attachment to described power The air inlet of part；Wherein, described power part is axial flow blower, and the air inlet of described power part and described axial flow blower Rotating shaft in the same direction.

Optionally, round brush assembly includes round brush and round brush storehouse；Described round brush includes rotating shaft, the glue being arranged in described rotating shaft Brush part and hairbrush part；

Wherein, described glue brush part is formed compared with little deviation angle in the face of cylinder of described round brush and described rotor shaft direction between, So that the intensity of going for a drive of described glue brush part reaches preset strength；And, described hairbrush part is in the face of cylinder of described round brush and institute State formation relatively large deviation angle between rotor shaft direction, so that forming some brush tuft of described hairbrush part along described rotor shaft direction successively During arrangement, predetermined angle is reached to the face of cylinder inner circumferential angle of coverage of described round brush.

Optionally, the centre position of described glue brush part bends along described direct of travel, so that what described power part produced Wind can collect to cleaning object in the centre position of described glue brush part；Wherein, the centre position of described glue brush part is compared with it His position is more late to reach described one-level air channel.

Optionally, described dirt case assembly includes: dirt box and can coordinate the filter screen being installed on described dirt box, shape on described dirt box Become at least both-side opening；One side opening is the air intake vent of described dirt box, and another side opening is the air outlet of described dirt box；Wherein, Described filter screen is installed on described air outlet, and covers described air outlet.

Optionally, described perception module is arranged adjacent to described dirt box.

The technical scheme that embodiment of the disclosure provides can include following beneficial effect: the autonomous cleaning devices of the disclosure In each functional module group be separately mounted on equipment body in reserved receiving space, can from equipment body independent disassembling Get off, such that it is able to easily the functional module group of damage individually being disassembled maintenance or the functional module group more renewing, significantly Improve the maintenance efficiency of autonomous cleaning devices.

The certainty of measurement of perception module itself is affected to be easy to occur deviation even to damage by factors such as temperature, use times Bad, modular perception module is easy to disassemble, and user can directly dismantle perception module for debugging, maintenance and updates.

Perception module to be mounted directly to the size chain length that upper shell can reduce assembly installation, thus improving installation essence Degree, and improve the accuracy of measurement data further.

The protective cover on perception module top is individually designed, can increase the strength of materials of protective cover, thus reducing protective cover The width of all heel posts, reduces the stop to radiating laser beams and reflection.

It should be appreciated that above general description and detailed description hereinafter are only exemplary and explanatory, not The disclosure can be limited.

Brief description

Accompanying drawing herein is merged in description and constitutes the part of this specification, shows the enforcement meeting the disclosure Example, and be used for explaining the principle of the disclosure together with description.

Fig. 1-Fig. 4 is a kind of structural representation of the autonomous cleaning devices according to an exemplary embodiment；

Fig. 5 is a kind of generalized section of the autonomous cleaning devices according to an exemplary embodiment；

Fig. 6 is the modular structure plane exploded view of the autonomous cleaning devices according to an exemplary embodiment；

Fig. 7 is the modular structure three-dimensional exploded view of the autonomous cleaning devices according to an exemplary embodiment；

Fig. 8 is the structure decomposition figure of equipment body in autonomous cleaning devices according to an exemplary embodiment；

Fig. 9 is the structural representation of the upper shell of the autonomous cleaning devices according to an exemplary embodiment；

Figure 10 is the structural representation of Assembly perception module part on upper shell according to an exemplary embodiment；

Figure 11 is the structural formula schematic diagram being equipped with perception module on upper shell according to an exemplary embodiment；

Figure 12 is the structural representation being equipped with protective cover on upper shell according to an exemplary embodiment；

Figure 13 is the decomposition texture schematic diagram of the perception module part according to an exemplary embodiment；

Figure 14 is the upward view of the perception module according to an exemplary embodiment；

Figure 15 is the decomposition texture schematic diagram of the left driving wheel module according to an exemplary embodiment；

Figure 16 is the perspective view of the main brush module in the round brush assembly according to an exemplary embodiment；

Figure 17 is the decomposition texture schematic diagram of main brush module shown in Figure 16；

Figure 18 is the structural representation of the round brush of main brush module shown in Figure 16；

Figure 19 is the perspective view of the round brush lid of main brush module shown in Figure 16；

Figure 20 is the decomposition texture schematic diagram of the floating system support of main brush module shown in Figure 16；

Figure 21 is a kind of cross-sectional view of the cleaning module of the autonomous cleaning devices according to an exemplary embodiment；

Figure 22 is the perspective view that the one-level air channel according to an exemplary embodiment is cooperated with round brush；

Figure 23 is the schematic cross-section that the one-level air channel according to an exemplary embodiment is cooperated with round brush storehouse；

Figure 24 is a kind of structural decomposition diagram of the autonomous cleaning devices according to an exemplary embodiment；

Figure 25 is the structural decomposition diagram of another kind of dirt case assembly according to an exemplary embodiment；

Figure 26 is the structural decomposition diagram of another the dirt case assembly according to an exemplary embodiment；

Figure 27 is the cleaning corresponding top view of module shown in Figure 21；

Figure 28 is the cross-sectional view in a kind of light breeze road according to an exemplary embodiment and power part；

Figure 29 is the cleaning corresponding right view of module shown in Figure 21.

Specific embodiment

Below with reference to specific embodiment shown in the drawings, the disclosure is described in detail.But these embodiments are simultaneously Do not limit the disclosure, structure that those of ordinary skill in the art is made, method or functionally according to these embodiments Conversion is all contained in the protection domain of the disclosure.

The term using in the disclosure is the purpose only merely for description specific embodiment, and is not intended to be limiting the disclosure. " a kind of ", " described " and " being somebody's turn to do " of singulative used in disclosure and the accompanying claims book is also intended to including most Form, unless context clearly shows that other implications.It is also understood that term "and/or" used herein refers to and wraps Containing one or more associated any or all possible combination listing project.

As Figure 1-Figure 5, Fig. 1-Fig. 4 is a kind of structure of the autonomous cleaning devices according to an exemplary embodiment Schematic diagram, Fig. 5 is a kind of profile of the autonomous cleaning devices according to an exemplary embodiment.

Autonomous cleaning devices 100 autonomous cleaning devices 100 can be for autonomous cleaning devices of sweeping the floor, mop floor autonomous cleaning devices Deng, this autonomous cleaning devices 100 can comprise equipment body 110, sensory perceptual system 120, control system 130, drive module 140, Cleaning systems 150, energy resource system 160 and man-machine interactive system 170.

Equipment body 110 forward portion 1101 is included on direct of travel and rear to part 1102, there is sub-circular shape Shape (being all circular in front and back), also can have other shapes, the approximate D-shaped shape of circle including but not limited to behind front.

Sensory perceptual system 120 includes perception module 121 positioned at equipment body 110 top, is located at the forward direction of equipment body 110 (in figure is not shown for the buffer 122 of part 1101, steep cliff sensor 123 and sonac (not shown), infrared sensor Go out), magnetometer (not shown), accelerometer (not shown), gyroscope (not shown), (in figure is not for speedometer Illustrate) etc. sensing device, provide the various positional informationes of machine and movement state information to control system 130.Wherein, the disclosure Perception module 121 include but is not limited to photographic head, laser ranging system (lds).Below with the laser ranging of triangle telemetry Illustrate how as a example device to carry out position determination.The grade ratio relation based on similar triangles for the ultimate principle of triangle telemetry, This does not repeat.

Laser ranging system includes luminescence unit (not shown) and light receiving unit (not shown).Luminescence unit can To include the light source of launching light, light source can include light-emitting component, such as transmitting Infrared or luminous ray infrared or can See light light emitting diode (led).Preferably, light source can be the light-emitting component of transmitting laser beam.In the present embodiment, will swash Optical diode (ld) is as the example of light source.Specifically, due to the monochrome of laser beam, orientation and collimation property, using laser beam Light source so that measurement more accurate compared to other light.For example, compared to laser beam, light emitting diode (led) is launched Infrared or luminous ray affected (color of such as object or texture) by ambient environmental factors, and in measurement accuracy May decrease.Laser diode (ld) can be dot laser, measure two-dimensional position information or the line of barrier Laser, measures a range of three dimensional local information of barrier.

Light receiving unit can include imageing sensor, forms the light being reflected or scattered by barrier on this imageing sensor Point.Imageing sensor can be the set of single or plurality of rows of multiple unit pixels.These photo detectors can be by optical signal Be converted to the signal of telecommunication.Imageing sensor can be complementary metal oxide semiconductors (CMOS) (cmos) sensor or charge coupled cell (ccd) sensor, because the advantage on cost is preferably complementary metal oxide semiconductors (CMOS) (cmos) sensor.And, light Unit can include sensitive lens assembly.The light being reflected or scattered by barrier can be advanced via sensitive lens assembly with figure As image is formed on sensor.Sensitive lens assembly can include single or multiple lens.

Base portion (not shown) can be used for supporting luminescence unit and light receiving unit, luminescence unit and light receiving unit arrangement On base portion and be spaced a specific range.In order to measure the barrier situation on 360 degree of directions around autonomous cleaning devices, Base portion can be made to be rotatably disposed within equipment body 110 it is also possible to base portion itself does not rotate and passes through to arrange rotate element And so that launching light, receiving light is rotated.The angular velocity of rotation of rotate element can be obtained by arranging optic coupling element and code-disc, The tooth that optic coupling element senses on code-disc lacks, by tooth lack spacing slip over time and tooth lack between distance value be divided by and can get intermittent angle Speed.The density that on code-disc, tooth lacks is bigger, and the accuracy rate of measurement and precision are also just accordingly higher, but just more smart in structure Close, amount of calculation is also higher；Conversely, the density that tooth lacks is less, the accuracy rate of measurement and precision are accordingly also lower, but in structure Can be relatively easy, amount of calculation is also less, can reduce some costs.

The data processing equipment (not shown) being connected with light receiving unit, such as dsp, will be with respect to autonomous cleaning devices 0 On degree angular direction the obstacle distance value record at angled place send data processing unit in control system 130 to, As comprised the application processor (ap) of cpu, the location algorithm that cpu runs based on particle filter obtains the current of autonomous cleaning devices Position, and charted according to this position, use for navigation.Location algorithm preferably uses instant positioning and map structuring (slam).

Although the laser ranging system based on triangle telemetry can measure the infinity beyond certain distance in principle Distance value at distance, but actually telemeasurement, such as more than 6 meters of realization is very difficult, is primarily due to light The size limitation of pixel cell on the sensor of unit, is also subject to the opto-electronic conversion speed of sensor, sensor simultaneously and is connected Data transmission bauds between dsp, the calculating speed impact of dsp.The measured value that laser ranging system temperature influence obtains The change that system can be occurred to can not put up with, the thermal expansion that the structure being primarily due between luminescence unit and light receiving unit occurs becomes Shape leads to the angle change between incident illumination and emergent light, luminescence unit and light receiving unit itself also can there is temperature drift problem.Swash After optical range finding apparatus life-time service, the deformation that causes due to the accumulation of the many factors such as temperature change, vibration also can serious shadow Ring measurement result.The accuracy of measurement result directly determines the accuracy of map making, is that autonomous cleaning devices enter further The basis of row policy enforcement, particularly important.

The forward portion 1101 of equipment body 110 can carry buffer 122, and during cleaning, driving wheel module 141 pushes away Enter autonomous cleaning devices in ground running, buffer 122, via sensing system, such as infrared sensor, detects independently clear One or more events (or object) in the driving path of clean equipment 100, autonomous cleaning devices can be by being detected by buffer 122 The event (or object) arriving, such as barrier, wall, and control driving wheel module 141 so that autonomous cleaning devices is come to described thing Part (or object) responds, for example away from barrier.

Control system 130 is arranged on the circuit main board in equipment body 110, including with non-transitory memory, for example Hard disk, flash memory, random access memory, the computation processor of communication, such as CPU, application processor, Application processor utilizes location algorithm, such as slam according to the obstacle information that laser ranging system feeds back, and draws autonomous cleaning Equipment instant map in the environment.And combining buffer 122, steep cliff sensor 123 and sonac, infrared sensing The range information of the sensing devices such as device, magnetometer, accelerometer, gyroscope, speedometer feedback, velocity information comprehensive descision are swept the floor Which kind of working condition machine is currently at, and such as crosses threshold, upper carpet, at steep cliff, either above or below is stuck, and dirt box is full, Be lifted etc., also can provide specific next step action policy for different situations so that the work of autonomous cleaning devices more Plus meet the requirement of owner, there is more preferable Consumer's Experience.Further, though control system 130 can based on slam draw ground Figure information planning cleaning path the most efficient and rational and cleaning mode, greatly improve the sweeping efficiency of autonomous cleaning devices.

Drive module 140 can based on having distance and angle information, such as x, y and θ component, drive command and manipulate from Main cleaning equipment 100 crosses over ground run.Module 140 is driven to comprise driving wheel module 141, driving wheel module 141 can be simultaneously Control revolver and right wheel, in order to more accurately control the motion of machine, preferably driving wheel module 141 includes left driving wheel respectively Module 1411 and right driving wheel module 1412.Left driving wheel module 1411 and right driving wheel module 1422 are along by equipment body 110 lateral shafts defining are opposed.In order to autonomous cleaning devices can be on the ground more stable move or higher motion Ability, autonomous cleaning devices can include one or more driven pulley 142, and driven pulley includes but is not limited to universal wheel.Drive The control circuit that wheel module 141 includes road wheel and drive motor and controls drive motor, driving wheel module 141 can also connect Connect circuit and the speedometer of measurement driving current.Driving wheel module 141 can be detachably connected on equipment body 110, side Just dismount and keep in repair.Driving wheel module 141 can have biasing drop suspension system, movably fastens, such as with can Rotation mode is attached, and to autonomous cleaning devices main body 110, and receives downwards and away from autonomous cleaning devices main body 110 biasing Spring biasing.Spring biasing allows driving wheel with the contact with ground for certain Productivity maintenance and traction, independently cleans simultaneously The cleaning member of equipment 100 is also with certain pressure contact ground 10.

Cleaning systems 150 can be dry cleaning system and/or wet cleaning system.As dry cleaning system, main It is clear that cleaning function comes from roller brushes structure, dirt box structure, blower fan structure, the connection member between air outlet and four are constituted Sweep system 150.The roller brushes structure having certain interference with ground sweeps up the rubbish on ground and winding is to roller brushes structure and dirt In front of suction port between box structure, then produced by blower fan structure and the gas having suction through dirt box structure sucks dirt box Structure.The dust collection capacity of sweeper can be characterized with the sweeping efficiency dpu (dust pick up efficiency) of rubbish, Sweeping efficiency dpu is subject to roller brushes structure and Effect of Materials, by between suction port, dirt box structure, blower fan structure, air outlet and four The air channel that constituted of connection member the impact of wind power utilization rate, affected by the type of blower fan and power, be a system being responsible for Design problem.Compared to common plug-in vacuum cleaner, the raising of dust collection capacity is anticipated for the clean robot of limited energy Justice is bigger.Because the raising of dust collection capacity directly effectively reduces for energy requirements that is to say, that originally filling once electric permissible Clean the machine on 80 square meter ground, can enter to turn to fill once electricity clean 180 square meters even more many.And reduce charging times The service life of battery also can greatly increase so that the frequency that user changes battery also can increase.More directly perceived and importantly, The raising of dust collection capacity is Consumer's Experience the most obvious and important, and totally whether whether user can immediately arrive at and sweep/wipe Clean conclusion.Dry cleaning system also can comprise the side brush 152 with rotary shaft, and rotary shaft becomes certain angle with respect to ground Degree, for moving to chip in the round brush region of cleaning systems 150.

Energy resource system 160 includes rechargeable battery, such as Ni-MH battery and lithium battery.Rechargeable battery can be connected with charging control Circuit processed, set of cells charging temperature testing circuit and battery undervoltage observation circuit, charging control circuit, the inspection of set of cells charging temperature Slowdown monitoring circuit, battery undervoltage observation circuit are connected with single chip machine controlling circuit again.Main frame is by being arranged on fuselage side or lower section Charging electrode be connected with charging pile and be charged.If dust has been attached on exposed charging electrode, can be in charging process Due to the accumulative effect of electric charge, lead to the plastics body of electrode perimeter to melt deformation, even result in electrode and deform in itself, no Method continues to charge normal.

Man-machine interactive system 170 includes the button on host panel, and button carries out function selecting for user；Can also include Display screen and/or display lamp and/or loudspeaker, display screen, display lamp and loudspeaker to user show current machine status or Function selecting item；Mobile phone client program can also be included.For path navigation type cleaning equipment, can be in cell-phone customer terminal The map of user's presentation device place environment, and machine present position, can provide a user with more horn of plenty and hommization Function items.

In order to clearly describe the behavior of robot, carry out the definition of following direction: autonomous cleaning devices 100 can pass through Advance on the ground with respect to the various combinations of the movement being mutually perpendicular to axle by the following three that main body 110 defines: lateral shaft x, Antero posterior axis y and central vertical shaft z.Forward hand designations along antero posterior axis y are " forward direction ", and along after antero posterior axis y It is denoted as " backward " to driving direction.Lateral shaft x is substantially the axle center defined along the central point by driving wheel module 141 and exists Extend between the right wheel of robot and revolver.Wherein, autonomous cleaning devices 100 can rotate around x-axis.Work as autonomous cleaning devices 100 forward portion is inclined upwardly, and is " facing upward " when partly downward-sloping backward, and the forward direction portion when autonomous cleaning devices 100 Divide downward-sloping, be " nutation " when being partly inclined upwardly backward.In addition, autonomous cleaning devices 100 can rotate around z-axis.In machine On the forward direction of device people, when autonomous cleaning devices 100 tilt for " right-hand rotation " to the right side of y-axis, when autonomous cleaning devices 100 to The left side of y-axis is " left-hand rotation ".

In the technical scheme of the disclosure, perception module is the eyes of autonomous cleaning devices 100, is that such autonomous cleaning sets Standby 100 sensing device, therefore requires very high to installation accuracy.However, existing autonomous cleaning devices will perceive module, such as Lds, is integrated in the control mainboard in equipment body；Or it is fixed on chassis, be connected to control mainboard with flexible cable, this A little scheme problem encountered are as follows:

(1) size chain length, is easily caused lds measurement data and larger error.Lds is arranged on mainboard or chassis On, the housing of lds in addition to mating with mainboard or chassis in addition it is also necessary to the upper casing of fixing each part, lid even on decoration Join, therefore dimension chain is longer, with the mismatch error of the housing of lds than larger；And the part such as upper lower casing itself due to size larger And leading to machining deformation also larger, the installation site being likely to result in lds is inaccurate, namely lds is with respect to the position at Zheng Ji center Inaccurate, the range data therefore feeding back to processor can not be by Coordinate Conversion exactly so that the range data of robot be produced Raw larger error.Lds laser range sensor is very high to required precision, is affected by factors such as temperature, stress, vibrations All it is obvious that over time also has drifting problem, the impact to measurement data for the error of introducing therefore in assembling process is Can not be ignored.

(2) lds changes, repairs dismounting difficulty height.Perception module once damage be accomplished by whole machine of dismantling, then place under repair or Person changes components and parts.User has to for whole machine to return processing business or regulation maintenace point is keeped in repair, and so not only gives maintenance The problems such as personnel cause maintenance difficult, and maintenance cycle is long, brings a lot of inconvenience to user.

In order to solve above-mentioned technical problem, propose in the technical scheme of the disclosure to perception module, round brush assembly, dirt box Assembly, the modular arrangement of driving module.Schematic diagram shown in cooperation Fig. 5 to Figure 11 illustrates below.

As shown in Figure 6 to 8, Fig. 6 is that the chassis plane of the autonomous cleaning devices according to an exemplary embodiment divides Xie Tu；Fig. 7 is the modular structure three-dimensional exploded view of the autonomous cleaning devices according to an exemplary embodiment；Fig. 8 is basis The structure decomposition figure of equipment body in autonomous cleaning devices shown in one exemplary embodiment.

As shown in fig. 6, autonomous cleaning devices 100 include: equipment body 110, sensing module 121, drive module 140, clear Clean module, battery module etc..In the disclosure, module 140, cleaning module and perception module 121 is driven can releasably to fill respectively It is assigned in equipment body 100, it is achieved thereby that each module partly can individually be assemblied in equipment body 110 and from equipment body Disassemble on 110.

As shown in Figure 7,8, equipment body 110 includes chassis 102, is fixed on the drain pan 101 of chassis 102 lower section, is fixed on The upper shell 103 of chassis 102 top and the upper lid 104 being fixed on upper shell 103 top.Drain pan 101 is located under chassis 102 Side, on the one hand can prevent the water on ground and the accommodation space on dust entrance chassis 102 from polluteing the interface of modules, Namely water proof and dust proof；On the other hand modules and chassis 102 can be protected, be clashed into by foreign body and be damaged；Finally, acceptable Play decoration function.Chassis 102 is the main supporting body loading modules, and the therefore each side material such as its hardness, toughness is special Property and requirement on machining accuracy all higher, on chassis 102 except the receiving space including accommodating modules outer in addition it is also necessary to accommodate sky Between in reserve electrical connection, the interface being mechanically connected, the interface of electrical connection selects the corner in receiving space by inboard, It is not susceptible to disturb, the interface of mechanical connection selects the edge in receiving space by fuselage outer side, such as screw can be by Triangle position arranges, and has stronger structural stability.Upper shell 103 is located above chassis 102, on the one hand provides for lds Receiving space carries lds module, and this receiving space meets the requirement that lds is accurately positioned additionally it is possible to protect lds not to be subject to external force broken Bad, and the dismounting of lds is no longer necessary to take whole machine apart, opens lid 104 and upper shell 103；Another aspect upper shell 103 can also Play the protective effect of the anti-external force of water proof and dust proof.Upper shell 103 also perforate is passed through for dirt box, display lamp, interactive panel, provides outstanding The receiving space of precipice sensor.Upper lid 104 primarily serves decoration function, to structural rigidity contribution less.Cover in the protection of lds 104 play the effect protected lds from pressure injury and pass through for the transmitting of laser beam and the reflected beams.

Inductive module 121 is lds module, drives module to include driving wheel module and at least one driven pulley, driving wheel mould Block further includes left and right driving wheel module (1411,1412).The disclosure includes a driven pulley 1413, coordinates left and right driving Wheel module (1411,1412) driving equipment main body 100 is mobile.Cleaning module includes floating round brush assembly 1 and side brush 152.Sensing Module 121 is assemblied on upper shell 103 upwards, drives module, cleaning module and battery module to be assemblied in downwards on chassis 102, Dirt case assembly is assemblied on chassis 102 upwards.It is all corresponding module indwelling mating shapes on upper shell 103 and chassis 102 Space, space wall hardness is sufficiently high, and perpendicular to upper shell 103 and chassis 102, is that modules provide securely Space, also will not be extruded by external force under extreme environment.Also leave the plug receptacle that is electrically connected, such as golden finger in accommodation space, supply Modules are electrically connected with circuit main board, receive control signal and feedback measured value.Mechanical link is also included in accommodation space Part, such as screw, bayonet socket are so that interference fit between module and housing, be closely connected.

As shown in figure 9, Fig. 9 is the structural representation of the upper shell of the autonomous cleaning devices according to an exemplary embodiment Figure.This perception module 121 is assemblied in the predeterminated position of upper shell 103, and this predeterminated position is the accommodating chamber of perception module 121 coupling 1031, an accommodation space is reserved with upper shell 103 and is fitted into for perception module 121, this predeterminated position can gratification Know the accurate positioning function of module 121 moreover it is possible to perception module 121 can be protected, destroy from external force.This predeterminated position is located at and sets The backward part of standby main body 110, so that perception module 121 is located at the backward part of equipment body 110.

Further, as shown in Fig. 9 to Figure 13, in order to protect perception module 121, this equipment body 110 also includes assembling In the protective cover 1032 of accommodating chamber 1031 top, perception module 121 is located between accommodating chamber 1031 and protective cover 1032.Specifically Ground, after perception module 121 is assemblied in accommodating chamber 1031, then protective cover 1032 is fixed on upper shell 103, to cover at this On perception module 121.Wherein, this perception module 121 is fixed on upper shell 103 by the first connector, and protective cover 1032 can To be fixed on upper shell 103 by the second connector, such that it is able to be easy to disassemble from equipment body 110, realize mould The purpose of massing.Optionally, this first connector and the second connector can select screw, and certainly, other can realize being easy to The connector of dismounting is also contained in the disclosure.

In one alternative embodiment, this protective cover 1032 adopts the combined material of high-strength nylon and glass fibre, so that Protective cover 1032 has stronger hardness, can bear the external force from all directions, can provide more preferable guarantor for perception module 121 Shield.In the disclosure, all sides of this protective cover 1302 are arranged for hollow out, thus do not affect this perception module 121 hindering to surrounding Hinder the detection of principle condition.All sides of protective cover 1032 are made up of at least one column, and this column should meet intensity requirement, and not Can the too wide transmitting stopping laser beam and reception.Preferably, the quantity of column is 3, on the premise of from high-strength material, Reduce the width of column as far as possible.Design separated due to lds protective cover 1032 and upper shell 103, can be protective cover 1032 Do single high-strength material design, thus realizing the reduction of column width.And in traditional design, inductive component is arranged on bottom On disk, protective cover and upper shell are one, do overall high-strength material design and cost is significantly increased, therefore all lateral columns Wider width, stops transmitting and the reception of range laser.

After protective cover 1032 assembling, upper lid 104 is assemblied on upper shell 103, upper lid 104 corresponds to perception module Avoidance hole 1041 is offered, perception module 121 passes through this avoidance hole 1041 and partly projects upper lid 104, due to protecting at 121 position Guard shield 1032 covers on perception module 121, and protective cover 1032 is also partially protrude through lid 104.Further, lid on this 104 also include pivotally connected body cover, and in embodiment of the disclosure, perception module 121 is arranged adjacent to dirt case assembly.

When installing perception module 121, upper shell 103 need not be taken apart with drain pan 102 it is only necessary to open lid 104, then Perception module 121 is fixed on upper shell 103 by screw 1212, perception module 121 is provided with multiple and upper casing in the week side of boss The corresponding connecting hole 1033 of body 103.Optionally, in the disclosure, perception module 121 is fixed on lid 104 by 4 screws 1212 On.After perception module 121 is fixing, then protective cover 1032 is fixed on upper shell 103 by multiple screws 1213, this protection Cover 1032 covers on perception module 121.Further, this upper shell 103 also includes multiple support cylinders 1034, the plurality of The corresponding the week side of boss in protective cover 1032 of support cylinder 1034, in order to support this protective cover 1032, so that protective cover 1032 and sense Know that there is between module 121 certain safe spacing, it is to avoid pressure external force, when protective cover 1032, leads to protective cover 1032 direct Conductance is in perception module 121.

In dismounting perception module 121 it is not necessary to first dismantle upper shell 103 and/chassis 102, but after lid 104 on opening Can directly dismantle.Specifically, dismantle protective cover 1032 in advance by turning on screw 1213 by screwdriver, then dismantle sense again Know the screw 1212 on module 121, such that it is able to directly disassembling sensing module 121 or renewing.

In the disclosure, the accommodating chamber 1031 of lds and lds itself have scupper, when there being water to enter this space, water meeting Flow out along leaking hole, without causing lds to lose efficacy.Specifically, the week side of boss of perception module 121 is provided with water proof and dust proof hole 1214, Through hole (not shown) corresponding with water proof and dust proof hole 1214 is provided with upper shell 103, so that water on lds for the stream is anti-along this The anti-water hole of dirt 1214 is to dirty, and the through hole water conservancy diversion on upper shell 103 goes out equipment body.Further, in the motor of lds Lower position, upper shell 103 can arrange through hole, the lower section of this through hole can arrange guiding gutter, it is to avoid water droplet is in following table Face cross flow is to other positions.

In the disclosure, as shown in figure 14, Figure 14 is the upward view of the perception module according to an exemplary embodiment. For the ease of the dismounting of this perception module 121, this perception module 121 also includes being arranged at the company of this perception module 121 lower surface Connect device 1211, this adapter 1211 is electrically connected by hot swap type with the control parts (i.e. circuit main board) in equipment body 110. Control parts are located at the lower section of perception module 121, can be fixed on chassis 102.This adapter 1211 plugs for vertical direction Formula adapter, has certain fault tolerance, so that this perception module 121 convenient disassembly, and can avoid using cable The reason line that brings is difficult, line ball the problems such as.

As shown in figure 15, left and right driving wheel module is by wheel body 14111, motor 14112, spring 14113, hall sensing Device 14114 forms.The main frame of autonomous cleaning devices put on the ground, by action of gravity wheel major part retraction fuselage in, spring 14113 are stretched；When ground is lifted, wheel is pulled out fuselage outer side to main frame by the elastic force of spring 14113, hall sensing simultaneously Device 14114 is triggered, and notifies mainboard machine to be lifted.The principal functional structure of left and right driving wheel module is substantially the same, part Structure in shape has adjusted because of the position difference assembled, and is described below taking left driving wheel module 1411 as a example, This left driving wheel module 1411 include upper body 14115, lower case 14116 and be fixed on upper body 14115 and under Driving main body between portion's housing 14116, drives main body to include wheel body 14111, motor 14112, spring 14113, hall sensing Device 14114, the adapter (sign) of this left driving wheel module 1411 is arranged on lower case 14115, drives main body to pass through gold Finger 14117 is electrically connected to adapter, and adapter by being connected to the cooperation position of equipment body, is realized to this driving wheel mould again The control of group.Wherein, this driving main body is screwed between upper body 14115 and lower case 14116.

In the technical scheme of the disclosure, by entering to being equivalent to the cleaning systems 150 in above-mentioned autonomous cleaning devices 100 Row improves, and can obtain optimizing the cleaning module under structure, thus under identical dynamic condition, can reduce in cleaning module Windage loss, improve dust collection efficiency.With reference to embodiment, technical scheme of this disclosure is described.

Figure 16 is a kind of cross-sectional view of the cleaning module of the automatic cleaning equipment according to an exemplary embodiment； Wherein, the automatic cleaning equipment shown in as Figure 17 be autonomous cleaning devices 100 as shown in Figures 1 to 4 or other similar set When standby, the cleaning module of this autonomous cleaning devices 100 can correspond to the cleaning systems 150 of above-mentioned autonomous cleaning devices 100.For It is easy to describe, Figure 16 shows automatic cleaning equipment directional information in one exemplary embodiment, including the traveling along y-axis Direction (in which it is assumed that y-axis left direction is forward direction, that is, "+"；Y-axis right direction is backward driving direction, that is, "-") and the vertical direction along z-axis.

As shown in figure 16, cleaning module is distributed in equipment body, and the air intake vent of this cleaning module is arranged on drain pan, goes out Air port is arranged at the side of equipment body.The cleaning module of the disclosure may include that round brush assembly 1, dirt case assembly 2, power part Part 3, one-level air channel 4 and light breeze road 5.

Wherein, round brush assembly 1, dirt case assembly 2 and power part 3 along autonomous cleaning devices direct of travel be y direction according to Secondary arrangement, and one-level air channel 4 is located between round brush assembly 1 and dirt case assembly 2, light breeze road 5 is located at dirt case assembly 2 and power part Between part 3.So, the embodiment shown in Figure 16 can form following air channels: round brush assembly 1 → one-level air channel 4 → dirt case assembly 2 → light breeze road 5 → power part 3 so that the wind that produces of power part 3 can by above-mentioned air channel realize from round brush assembly 1 to The flowing of power part 3, and flow direction illustrates by the direction of arrow in Figure 21；Wherein, the wind that power part 3 produces is in round brush When flowing between assembly 1, one-level air channel 4 and dirt case assembly 2, the dust that can clean round brush assembly 1, graininess rubbish etc. are clear Clean object is delivered in dirt case assembly 2, realizes clean operation.

Sweeping efficiency dpu is the accurate embodiment of the cleaning capacity of autonomous cleaning devices, sweeps effect by suction efficiency and round brush Both rates together decide on, and based on suction efficiency discussed herein, suction efficiency is the accurate embodiment of dust removal ability, embodies electric energy It is converted into the efficiency of mechanical energy, suction efficiency=suction power/input power, input power is the electricity of the input of blower motor Can, suck power=air quantity * vacuum, after input power increases to certain value, start to produce the air quantity sucking, with input work The increase of rate, air quantity is continuously increased, and vacuum is gradually reduced, and sucking power is then first to increase to reduce afterwards, makes input power work Make in the higher scope of suction power.

For same input power, air quantity and vacuum are all more big more can obtain high suction efficiency.Vacuum Loss reduce and depend on avoiding of leaking out, namely encapsulation process.The loss minimizing of air quantity depends on smooth no steep The wind path structure becoming, specifically specifically includes that whether wind nondestructively enters air channel from round brush lower end, and wind blows to from round brush lower end By the number of times of wide-angle reflection during dirt box entrance blower fan, duct cross-section amasss whether produce substantial amounts of turbulent flow when changing Etc..The overall construction design of wind path all can produce to whole machine dust collection efficiency as organic whole, the structural change of a part Great variety.

Because round brush is as round brush assembly 1, its width more wide then single cleaning width is wider, and dirt box is as dirt case assembly 2, it is co-located on inside the shell with parts such as road wheels, and restricted width can not be very wide, and in order to increase vacuum fine pressure to incite somebody to action Rubbish is drawn in the middle of dirt box, the entrance of dirt box nor very wide, therefore there is the first air channel between round brush and dirt box, and cuts Face is gradually little；By strainer filtering air, in order to avoid the blocking impact air channel of filter screen is unimpeded, the outlet of dirt box cuts for the outlet of dirt box Area is generally larger, and blower fan is as power part 3, and its entrance hole diameter is then much smaller than dirt box and exports, therefore dirt box and blower fan it Between there is the second air channel, and section is also gradually little.Although existing at present in the wind path of part autonomous cleaning devices using so Two air channels, the roomba series sweeping robot of such as irobot, but and be provided without doing optimization for this two air channels and set The wind path structure of meter.

Although in fact, round brush, dirt box, blower fan all can be included in wind path, or even can there is the gradually little air channel in two sections, But the difference of air channel shape makes suction efficiency far from each other.

Wind path structure in the disclosure makes the round brush lower end entrance air channel of wind self-relocation, because floating round brush can be different high Tightly can fit with ground in the region to be cleaned of degree, wind loss very little.The realization of floating round brush comes from one-level air channel Flexible material property and make round brush with topography variation up and down stretch structure design.

Round brush enters one-level air channel through round brush accommodating chamber, and the shape in one-level air channel makes the fine pressure value of wind smooth rising, will Rubbish is moved into dirt box obliquely；After the gradient in one-level air channel makes wind enter dirt box, anti-with big angle of reflection at dirt box top Penetrate and leave dirt box；The rubbish entering dirt box falls under gravity into dirt cassette bottom portion, and the wind moving obliquely is by dirt box top Portion, to export blowout from filter screen after big angle of reflection, enters light breeze road；Wherein, the purpose of design in light breeze road be in order that Few loss blower fan mouth is entered with certain orientation from the wind of filter screen blowout as far as possible.

Below each structure in cleaning module is described in detail:

1st, the structure of round brush assembly 1

As an exemplary embodiment, the round brush assembly 1 in the autonomous cleaning devices of the disclosure can be round brush groups part.Figure 16 perspective view showing the main brush module in round brush assembly, Figure 17 is the decomposition texture of main brush module shown in Figure 16 Schematic diagram (visual angle in Figure 17 is to be observed from bottom to top along z-axis)；As illustrated in figs. 16-19, this main brush module can include Round brush 11 and round brush storehouse 12, round brush storehouse 12 further includes floating system support 131 and round brush lid 122.

1) round brush 11

Figure 18 shows the structural representation of round brush 11.As shown in figure 18, the round brush 11 in this round brush assembly can be glue Hair mixing brush, be provided with glue brush part 112 and hairbrush part 113 in the rotating shaft 111 of round brush 11 simultaneously, so can take into account floor, Multiple cleaning ambient such as woollen blanket.The radial direction base of the adhesive tape, the direction of growth of the hairbrush of hairbrush part 113 and rotating shaft 111 of glue brush part 112 This is consistent, and the width base of the arrival end 41 of the adhesive tape width of glue brush part 112, the hairbrush width of hairbrush part 113 and one-level air channel 4 This is consistent；Wherein, the micro- row being bent upwards in the centre shown in Figure 18 be glue brush part 112, the row in undaform be one Individual hairbrush part 113, each round brush 11 can include at least one glue brush part 112 and at least one hairbrush part 113.

Glue brush part 112 is not taken parallel with hairbrush part 113 or is connect subparallel set-up mode, but has between the two Larger angle, to guarantee that glue brush part 112 and hairbrush part 113 can each realize the application function of itself.

(1) glue brush part 112

Due to existing between brush tuft 113a on hairbrush part 113 compared with big gap so that wind is easy to stream between gap Lose, smaller to the help forming vacuum environment formation.Therefore, by arranging glue brush part 112, effect of going for a drive can be formed, and And when intensity of going for a drive reaches preset strength, you can assist to realize the sweeping to cleaning object so that cleaning object can be in rolling Under the blowing of the sweeping of brush 11 and wind, more easily it is transported in dirt case assembly 2.

, in embodiment as shown in figure 18, glue brush part 112 is using edge in the face of cylinder of round brush 11 close to the side of straight line for ratio Formula is arranged, and makes the rotating direction end bend in the centre position of glue brush part 112 to round brush 11, so that power part 3 The wind producing converges in the centre position that glue brush part 112 forms bending, thus can converge to cleaning object further Collection.In addition, as can be seen that the wind path that floating system support 131 has (in figure lower end) to one-level air channel 4 at air intake draws in Figure 17 Lead arc structure 1211, and this arc structure 1211 is that curvature is consistent with the arc shape 40 in one-level air channel 4, thus this arcuation Structure 1211 improves the efficiency that wind enters air channel, decreases wind loss.

(2) hairbrush part 113

In embodiment of the disclosure, hairbrush part 113 forms larger in the face of cylinder of round brush 11 and rotor shaft direction between The angle of deviation；For each hairbrush part 113, by forming above-mentioned relatively large deviation angle, some of this hairbrush part 113 of composition can be made Brush tuft 113a along rotor shaft direction arrange successively when, realize the bigger angle of coverage to round brush 11 in the circumferential, such as to round brush 11 circumferential angle of coverage reaches predetermined angle.

On the one hand, by expanding the circumferential angle of coverage to round brush 11, cleannes and cleaning efficiency can be lifted.Round brush 11 In rolling process, it is possible to achieve the cleaning to bottom surface；And work as hairbrush part 113 and 360 ° are reached to the circumferential angle of coverage of round brush 11 When, can guarantee that round brush 11 is capable of cleaning operation in rolling process all the time.

On the other hand, hairbrush part 113 needs contact ground to be cleaned during cleaning；Wherein, due to hairbrush part 113 Flexible nature, will produce certain deformation in cleaning process, form " support " effect to whole autonomous cleaning devices.That , if hairbrush part 113 is not enough to the circumferential angle of coverage of round brush 11, circumference will be resulted in and cover and do not form circumference and cover Form difference in height between the region of lid, cause autonomous cleaning devices jolting or shake in the z-axis direction, impact clean operation Execution；Therefore, when hairbrush part 113 is capable of 360 ° of circumferential angle of coverage, can be jolted by elimination, shake, thus both It is able to ensure that autonomous cleaning devices maintain continual and steady output, and the noise of autonomous cleaning devices generation can be reduced, also Can avoid motor is impacted, contribute to extending the service life of autonomous cleaning devices.

2) round brush lid 122

In the technical scheme of the disclosure, when round brush assembly 1 is round brush assembly, Figure 19 shows in this round brush assembly The perspective view of round brush lid 122, this round brush lid 122 can include antiwind bib 1221 and be located on direct of travel The flexible glue scraping article 1222 at this antiwind bib 1221 rear.Antiwind bib 1,221 1 aspect can stop that the cleaning of large volume is right As entering air channel formation blocking, on the other hand stop that the slender bodies such as electric wire enter round brush storehouse 12 generation and are wound around.

Understand in conjunction with Figure 16, round brush lid 122 is located at below round brush 11 in the z-axis direction, excessive clear of specification can be stopped Clean object is involved in round brush component internal, affects normal clean operation.And flexible glue scraping article 1222 is located at antiwind bib in z-axis 1221 lower section, and flexible glue scraping article 1222 is located at direct of travel end, this flexible glue scraping article 1222 and the round brush of round brush 11 on the y axis Certain distance (as 1.5-3mm) is kept between 11, and by fitting in ground so as to can be not straight by round brush 11 by sub-fraction Connect the cleaning object rolled to intercept and scooped up, so that it is involved in round brush 11 and rolling under the sweeping of round brush 11 and the blowing of wind Between brush storehouse 12, hence into one-level air channel 4.The selection of the position of flexible glue scraping article 1222 and angle makes to clean object position all the time In optimal cleaning and suction position, it is to avoid also left after flexible glue adhesive tape 1222.

As shown in figure 19, end on direct of travel for the antiwind bib 1221 (can be the y-axis negative direction of Figure 19, that is, The right-hand member of antiwind bib 1221) can be provided with obstacle detouring aid 1221a of the direct of travel being matched with autonomous cleaning devices, one This obstacle detouring aid 1221a of aspect can assist autonomous cleaning devices to play obstacle detouring (surmounting obstacles) effect, on the other hand should Obstacle detouring aid 1221a can be butted on the upper surface of flexible glue scraping article 1222, and the bottom margin making this flexible glue scraping article 1222 is autonomous Surface to be cleaned (as ground, desktop etc.) can be fitted in when cleaning equipment is in running order all the time, and avoid this flexible glue scraping article 1222 is rolled-up because of barriers such as the rubbish in surface to be cleaned, affects follow-up cleaning effect.

In one embodiment, obstacle detouring aid 1221a can for end on direct of travel for the antiwind bib 1221 to Under (i.e. z-axis negative direction shows as " top " in Figure 19) projection of being formed.

3) floating system support 131

As shown in figure 20, floating system support 131 may include that fixed support 1312 and floating bracket 1313 etc., and It is also equipped with one-level air channel 4 and round brush motor 1314 etc. on this floating system support 131.Left and right is provided with fixed support 1312 Two installing hole 1312a on direction, and floating bracket 1313 is provided with two installation axles 1313a on left and right directions, then lead to Cross spacing between each installation axle 1313a and the corresponding mounting hole 1312a and be rotatably assorted, this floating bracket 1313 can be realized " floating " gone up along the vertical direction.

Therefore, when autonomous cleaning devices are in normal cleaning process, floating bracket 1313 rotates under the influence of gravity To extreme lower position, no matter in floor, carpet or other rough clean surfaces, in the floating path domain of round brush 11, In this floating system support 131 install round brush 11 can be close to surface to be cleaned, with realize peak efficiency patch clean, Preferable patch ground effect is all had on dissimilar clean surface, the sealing in air channel is contributed substantially.

And when barrier 6 is existed on surface to be cleaned, by upper and lower " floating " of floating bracket 1313, round brush can be reduced Interaction between 11 grades and barrier 6, thus assist autonomous cleaning devices easily to realize obstacle detouring.Wherein, 4, one-level air channel Between fixed support 1312 and floating bracket 1313, thus the round brush 11 floating proposes flexible demand to one-level air channel 4, because The floating change of round brush 11 cannot be absorbed for rigid air channel, this demand is realized by the flexible material in one-level air channel 4；So, when When one-level air channel 4 is made using flexible materials such as such as flexible glues, during obstacle detouring, one-level can be extruded by floating bracket 1313 Air channel 4 and make it produce deformation, thus smoothly realizing " floating " upwards.

Additionally, in normal cleaning process, for the surface to be cleaned of the rough surfaces such as carpet, by floating bracket 1313 " floating " effect, it is possible to reduce interfering between round brush 11 grade and carpet, thus reducing what round brush motor 1314 was subject to Resistance, contributes to reducing the power consumption of round brush motor 1314, and extends its service life.

2nd, the structure in one-level air channel 4

In the technical scheme of the disclosure, by the guiding function in one-level air channel 4 so that the wind that power part 3 produces can It is delivered in dirt case assembly 2 with the cleaning object such as dust of cleaning round brush assembly 1.

For overall structure, as shown in figure 21, one-level air channel 4 can be in arbitrary place on bell mouth shape, and one-level air channel 4 Corresponding sectional area anti-phase with regard to the spacing distance between this arbitrary place and round brush assembly 1；In other words, " horn mouth " relatively Big side is towards round brush assembly 1, relatively small side towards dirt case assembly 2.

In this embodiment, by the sectional area in one-level air channel 4 being configured to the bell mouth shape that gradually successively decreases so that corresponding Static pressure at position is incremented by therewith, that is, form increasing suction；So, when the cleaning object such as dust, rubbish is by round brush Assembly 1 sweeps and carries to one-level air channel 4, with cleaning object move away from round brush assembly 1, progressively near dirt case assembly 2 (with Sample is progressively near power part 3) although the sweeping power that round brush assembly 1 applies to cleaning object is gradually reduced, but due to power part The suction that part 3 applies to cleaning object is gradually increased such that it is able to guarantee that cleaning object is attracted and is delivered to dirt case assembly 2 In.

Further, when round brush assembly 1 is round brush assembly, as shown in figure 21, the arrival end in one-level air channel 4 is towards round brush Width on the round brush 11 of assembly, and the direction vertical with direct of travel in the horizontal plane (i.e. x-axis direction) of arrival end 41 from Upper downward.In order to make it easy to understand, for the matching relationship between the one-level air channel 4 shown in Figure 21 and round brush 11, Figure 22 shows Go out the perspective view that one-level air channel 4 is cooperated with round brush 11.As shown in figure 22, near round brush on one-level air channel 4 11 arrival end 41 has larger sectional area, the port of export 42 away from round brush 11 has small cross sections and amasss.Wherein, based on arrival end 41 above-mentioned " being incremented by " feature, the section of this arrival end 41 can be trapezoidal, and the second narrower edge 412 is trapezoidal upper bottom Side, the first wider edge 411 are trapezoidal bottom；Certainly, as long as meeting above-mentioned " being incremented by " feature, the section of arrival end 41 Other shapes can also be adopted, two waists such as corresponding to above-mentioned " trapezoidal " can adopt arc etc., and the disclosure is not entered to this Row limits.

In this embodiment, by above-mentioned " passing being met using trapezoidal or similar at the arrival end 41 in one-level air channel 4 The shape of increasing " feature is so that the static pressure of corresponding position is incremented by therewith, then when the cleaning object such as dust, rubbish is by round brush 11 when sweeping and carrying to arrival end 41, and the wind energy that power part 3 produces enough provides enough suction so that being swept to arrival end 41 Cleaning object can be inhaled into as much as possible in dirt case assembly 2, contribute to lifted cleaning efficiency.

As shown in figure 21, the arrival end 41 in one-level air channel 4 can connect to the round brush of the round brush assembly as round brush assembly 1 Storehouse 12, and by the opening on this round brush storehouse 12 towards round brush 11；Wherein, as shown in figure 23, one-level air channel 4 is in the rolling of round brush 11 On dynamic direction include two side walls: positioned at the rear side of direct of travel the first side wall 43, be located at direct of travel front side second Side wall 44, both can be configured by following manner.

1) the first side wall 43

In one embodiment, the first side wall 43 can be along the tangential direction setting of the circular cross-sectional area in round brush storehouse 12.Than As shown in figure 23, round brush storehouse 12 can include the left side some such as arcuate structure and right side l type structure on section, wherein left Arch section in the arcuate structure of side corresponds to the circular dashed line region shown in Figure 23, thus this arch section this circle corresponding Dashed region can be equivalent to above-mentioned circular cross-sectional area；Correspondingly, the first side wall 43 in one-level air channel 4 can be along this circle The tangential direction setting of dashed region, in the relative position relation shown in such as in Figure 23, because one-level air channel 4 is located at round brush groups The oblique upper of part and be partial to the rear of round brush 11 on direct of travel, thus the first side wall 43 can vertically be arranged.

In this embodiment, after round brush 11 sweeps cleaning object from ground, cleaning object is first along round brush 11 and round brush Gap motion between storehouse 12；And with cleaning object from roller brushes structure to the movement in one-level air channel 4, by by the first side wall 43 Along the setting of above-mentioned tangential direction so that the flowing of the movement locus of cleaning object and wind direction all will not be subject to hindering of the first side wall 43 Gear is it is ensured that cleaning object passes through in one-level air channel 4 entrance dirt case assembly 2.

2) second sidewall 44

In one embodiment, in conjunction with Figure 21 and Figure 23, when round brush assembly 1 is round brush assembly, and one-level air channel 4 is in traveling side Be partial to upwards round brush 1 rear when, the arrival end 41 in one-level air channel 4 is towards the front side (left side in such as Figure 21 of direct of travel Side) round brush 11 at obliquely downward, the port of export 42 connect to the rear side of direct of travel (right side in such as Figure 21) oblique upper The air intake vent 211 of dirt case assembly 2, and the air outlet 212 of dirt case assembly 2 be located at non-top sides (i.e. air outlet 212 is not located at dirt box At top 214, it is located at right side wall in such as Figure 21).

Wherein, the second sidewall 44 in one-level air channel 4 is towards the oblique rear-inclined of horizontal plane (i.e. as close possible to horizontal plane), namely Second sidewall 44 is made to be formed and z-axis vertical direction angle as big as possible.In fact, the inner space due to autonomous cleaning devices Limited, lead to the setting between roller brushes structure, one-level air channel 4 and dirt case assembly 2 etc. extremely compact, and the mode of save space It is completely along z-axis setting by one-level air channel 4, but that can lose air quantity significantly, thus substantially reducing suction efficiency；And in the disclosure Embodiment in, under the conditions of limited inner space, by increasing the angle between the first side wall 44 and z-axis, can be to wind Guide obliquely to doing, after making wind enter the inside of dirt case assembly 2, after the wide-angle reflection of dirt box top 214, by air outlet To discharge close to the direction of level, the wind path of a this wide-angle reflection designs the loss to air quantity very to filter screen 22 at 212 Little.

And, the arrival end 41 due to one-level air channel 4 connects to dirt case assembly towards the round brush 11 of lower left, the port of export 42 2 air intake vent 211, thus one-level air channel 4 by wind guide to dirt case assembly 2 internal when, wind can be made and its cleaning swept along is right As directly blowing to the dirt box top 214 of dirt case assembly 2；And because wind is when directly blowing to dirt box top 214, dirt case assembly 2 Air outlet 212 not at this dirt box top 214 at so that at dirt box top 214 occur big angle of incidence reflection, turn After changing wind direction, light breeze road 5 is entered by air outlet 212；After wind enters dirt case assembly 2, sectional area becomes big, leads to the decline of wind speed, Cleaning object is fallen at dirt box top 214 due to wind speed decreased, thus residing in dirt case assembly 2；Simultaneously as wind speed Decline the change with wind direction, so while wind itself can blow to air outlet 212 and enter light breeze road 5, but cannot continue Cleaning object is blowed at air outlet 212, thus when being provided with filter screen 22 at the air outlet 212 of dirt case assembly 2, can avoid Cleaning object is directly blown to filter screen 22 surface, prevents cleaning object from the surface of filter screen 22 is caused block, contributes to lifting wind Amount utilization rate.

3rd, dirt case assembly 2

As shown in figure 24, the top of equipment body 110 is provided with accommodating chamber 13, and dirt case assembly 2 can insert this accommodating chamber 13 In, to be attached in equipment body 110.Certainly, accommodating chamber 13 may be located on the other positions of equipment body 110, such as sets Standby main body 110 rear (referring to y-axis shown in Fig. 4 backward) side edge etc., the disclosure is not limited to this.

As shown in figure 24, in order to realize the detection in place to dirt case assembly 2, noncontact can in dirt case assembly 2, be provided with It is provided with non-contact inductive co-operating member 32 in formula sensing element 31, and equipment body 110；Wherein, non-contact inductive unit Part 31 and non-contact inductive co-operating member 32 can realize contactless cooperation sensing within the specific limits, thus need not be complicated Frame for movement and assembly relation, as long as guaranteeing that non-contact inductive element 31 and non-contact inductive co-operating member 32 are in can In the distance range of sensing, you can realize cooperation sensing between the two, thus realizing the detection in place to dirt case assembly 2.

Therefore, by the distance of reaction model to non-contact inductive element 31 and non-contact inductive co-operating member 32 in advance Enclose and configured, non-contact inductive element 31 can be made can to coordinate in the case that dirt case assembly 2 is mounted to equipment body 110 In non-contact inductive co-operating member 32, non-contact inductive co-operating member 32 is enable to sense non-contact inductive element 31.Due to adopting contactless inductive scheme between the two, thus compared to being required to the frame for movement mutually assembled every time, Can avoid extruding that assembling process is likely to result in, fracture, the unexpected situation such as material aging, thus being lifted in its application process Reliability.

In one exemplary embodiment, non-contact inductive element 31 can be magnetic sheet, and non-contact inductive cooperation unit Part 32 can be Hall element.By configuring mating between the magnetic field intensity of magnetic sheet and the induction sensitivity of Hall element Relation, in the case of dirt case assembly 2 can be made to be mounted to equipment body 110, this Hall element can sense magnetic sheet just, Thus realizing the detection in place to dirt case assembly 2 residing for magnetic sheet.

Certainly, as mentioned previously, the disclosure is not intended to limit non-contact inductive element 31 and non-contact inductive cooperation Sensing direction between element 32, thus similar to above-described embodiment, can be using Hall element as non-contact inductive unit Part 31 and be installed in dirt case assembly 2, and magnetic sheet is installed on equipment body 110 as non-contact inductive co-operating member 32 In, equally can realize above-mentioned detection in place, here is omitted.

In the technical scheme of the disclosure, non-contact inductive element 31 can be installed on any position in dirt case assembly 2 Put, the disclosure is not limited to this；Similarly, non-contact inductive co-operating member 32 can be installed on equipment body 110 In optional position, the disclosure also do not limited to this.However, for non-contact inductive element 31, by changing Become its installation site on dirt case assembly 2, it is possible to achieve different Detection results in place.

As shown in figure 25, dirt case assembly 2 may include that dirt box 21 and filter screen 22, and filter screen 22 is removably installed in this On dirt box 21, thus there are two kinds of installation sites in non-contact inductive element 31: is installed in dirt box 21, or is installed on filter screen On 22.

It is assumed that non-contact inductive element 31 is installed on filter screen 22.So, due to the body between filter screen 22 and dirt box 21 Long-pending and shape all differs larger, leads to individually filter screen 22 can not possibly be attached to equipment body 110 for a user, and omits Dirt box 21, so following two kinds of installation situation will be led to: filter screen 22 is not attached to dirt box 21 by (1) user, and individually by dirt box 21 are attached to equipment body 110, and now because non-contact inductive element 31 is located on filter screen 22, thus autonomous cleaning devices are no Method detects dirt case assembly 2, thus testing result is that dirt case assembly 2 is not in place；(2) filter screen 22 is attached to dirt box 21 by user, So complete dirt case assembly 2 is attached to after equipment body 110 by user, and autonomous cleaning devices can determine that dirt case assembly 2 exists Position.

Therefore, by being installed on non-contact inductive element 31 on filter screen 22, dirt case assembly 2 not only can have been carried out Whole detection in place, and filter screen 22 can be detected it is ensured that autonomous cleaning devices obtain the inspection of " dirt case assembly 2 is in place " When surveying result, in this dirt case assembly 2, really comprise dirt box 21 and filter screen 22, thus avoiding gas filtering without drainage screen 22 In the case of be blown into blower fan structure, prevent dust, graininess rubbish etc. be blown into therewith blower fan structure and blower fan structure is caused damage Bad.Because on filter screen 22, accumulation dust can substantially reduce air quantity impact dust collection efficiency, filter screen is to be frequently necessary to user's cleaning to keep Clean wind path is unobstructed, and user is likely to forget to be reinstalled after cleaning filter screen 22 and directly dirt box 21 is put into equipment body 110, once start cleaning directly results in the entrance blower fan structure such as dust rubbish causing to damage.Actually sweeping robot etc. It is also not rare that the blower fan that autonomous cleaning devices lead to due to forgetting to fill filter screen 22 is scrapped.Due to the laminated structure of filter screen 22, Lead to design mechanical parts thereon and identified it is difficult in place.

Selectively, non-contact inductive element 31 is arranged on the framework optional position of filter screen 22, such as by magnetic sheet It is inlaid on the plastic frame of filter screen 22.

Iv, dirt case assembly 2

In the technical scheme of the disclosure, dirt box 21 can form at least both-side opening: a side opening is shown in Figure 26 Dirt box 21 on air intake vent 211, another side opening be dirt box 21 on air outlet 212；Wherein, filter screen 22 can be installed on out At air port 212, and by making filter screen 22 cover this air outlet 212 it is ensured that the cleaning object such as dust is stranded in dirt box 21, keep away Exempt to be blown in follow-up blower fan structure by air outlet 212.

In one exemplary embodiment, as shown in figure 26, dirt box 21 can be further broken into: dirt box main body 21a and setting There is the side wall 21b of air intake vent 211.Because air intake vent 211 is arranged on the wall 21b of side, thus the specification of side wall 21b be naturally larger than into Air port 211, so after dismantling side wall 21b, can forming the pour spout 213 that specification is more than air intake vent 211, be easy to user to dirt The cleaning object such as dust collected in box 21 is toppled over.

4th, the smooth guide in light breeze road 5

Figure 27 is the corresponding top view of wind path structure shown in Figure 21.As shown in figure 27, round brush assembly 1, dirt case assembly 2 and dynamic Power part 3 while being arranged in order along the direct of travel (i.e. y-axis direction) of autonomous cleaning devices, dirt case assembly 2 and power part Part 3 also deviates from each other on x-axis direction (i.e. the left and right directions of autonomous cleaning devices), thus wind blows to power from dirt case assembly 2 During part 3, exist simultaneously (i.e. " from left to right " in Figure 17) along the y-axis direction and along the x-axis direction (i.e. in Figure 17 " from lower to On ") on motion, that is, wind there is " turning " in flow process.Dirt case assembly 2 and power part 3 also can in the direction of the x axis no Deviate from each other, the disclosure is not limited to this.

As shown in figure 27, light breeze road 5 is in that bell mouth shape is (relatively large, close near the side sectional area of dirt case assembly 2 The side sectional area of power part 3 is relatively small) so that wind is gathered air inlet to power part 3.Wind is from dirt case assembly 2 When being blown into light breeze road 5, due to the reduction of sectional area, wind is the inwall of the windward side 51 directly blowing to light breeze road 5；So, In the technical scheme of the disclosure, by the inwall windward side in this light breeze road 5 is configured to arc, on the one hand can be in x-axis On direction, the wind of dirt case assembly 2 output is guided so as to be blown to the air inlet of power part 3, on the other hand can join Flowing together in wind, it is to avoid it is caused stop or disturb to produce turbulent flow, thus contributing to reducing windage loss, improving air quantity profit With rate.

Meanwhile, understand in conjunction with Figure 21 and Figure 27, after cleaning object is cleaned by round brush assembly 1, produced by power part 3 Wind (and the respective outer side edges in one-level air channel 4) is transported in dirt case assembly 2, thus is utilized by lifting the air quantity of wind path structure Rate, reduce windage loss, can increase wind to cleaning object conveying intensity, thus lifted autonomous cleaning devices cleannes and Cleaning efficiency.

5th, being arranged obliquely of power part 3

Figure 28 is the cross-sectional view in a kind of light breeze road according to an exemplary embodiment and power part.As figure Shown in 28, light breeze road 5 forms air outlet 52 away from the end of dirt case assembly 2 (not shown in Figure 28), and this air outlet 52 is also It is snap-fit attachment to the air inlet 311 of power part 3.Wherein, plane residing for air outlet 52 is intersected with horizontal plane, and that is, air outlet 52 inclines Tiltedly in horizontal plane；So, when power part 3 is axial flow blower, and the rotating shaft (rotor shaft direction of air inlet 311 and this axial flow blower Can be found in Figure 28 indicate chain-dotted line direction) in the same direction when, effectively appear this axial flow blower favour horizontal plane place.

When air outlet 52 with when residing for air inlet 311, plane is perpendicular to horizontal plane, wind in light breeze road 5 internal flow and During power part 3 is entered by light breeze road 5, it is essentially all to realize flowing in the horizontal plane, thus wind is by light breeze When road 5 is blown into axial flow blower, wind direction is arranged essentially parallel to rotor shaft direction, thus the axial flow blower as power part 3 can be made real Existing maximum conversion efficiency (such as converting electrical energy into the efficiency of wind energy)；And work as air outlet 52 and plane residing for air inlet 311 During parallel to horizontal plane, wind flows inside light breeze road 5 substantially along the horizontal plane, but enters power part 3 by light breeze road 5 When, need then vertically flow so that the conversion efficiency as the axial flow blower of power part 3 is minimum.

However, by the inner space of automated cleaning part extremely limited it is impossible to realize air outlet 52 and air inlet 311 institute Place's plane is perpendicular to horizontal plane, so in the technical scheme of the disclosure, increasing the axle stream wind as power part 3 by trying one's best Angle between machine and horizontal plane, on the one hand rationally can be utilized to the inner space of automated cleaning part, on the other hand The conversion efficiency that axial flow blower can be made maximizes as much as possible.

In the technical scheme of the disclosure, for flow process in light breeze road 5 for the wind, light breeze road 5 can also be made On towards the side wall outwardly convex at air outlet 52, to increase inner chamber capacity at air outlet 52 for the light breeze road 5, make power part Energy loss at air outlet 52 for the wind that part 3 produces is less than default loss.Such as Figure 29 is that wind path structure shown in Figure 21 corresponds to Right view, as shown in figure 29, when air outlet 52 be located at light breeze road 5 top side when, towards the side wall at air outlet 52 be bottom Side, thus the bulge-structure 53 shown in Figure 29 can be formed down, thus increase inner chamber at air outlet 52 for the light breeze road 5 holding Amount is so that wind changes wind direction (in plane residing for air outlet 52 and non-perpendicular to horizontal plane in the case of) at air outlet 52 and blows In the case of entering power part 3, provide bigger cushion space, to reduce energy loss at air outlet 52 for the wind.

6th, whole machine air channel is hermetically sealed

Knowable to analysis above, vacuum and air quantity have significant contribution similarly for high suction efficiency.In the disclosure Technical scheme in, all carry out encapsulation process, such as at all gaps that each part junction in the wind path structure of air channel is existed Filling flexible glue etc. at gap, thus avoiding leaking out, namely the loss reducing vacuum.On the other hand, in the air outlet of blower fan Place adopts flexible glue part 3132, wind is all derived main frame, and the use of flexible glue part 3132 (reduces vacuum except avoiding leaking out Degree) outward, dust can also be avoided to enter motor within automatic cleaning equipment etc., contribute to extending making of automatic cleaning equipment Use the life-span.

It is empty that each functional module group in the autonomous cleaning devices of the disclosure is separately mounted to reserved receiving on equipment body Between in, independent disassembling can get off from equipment body, such that it is able to easily individually disassemble the functional module group of damage Maintenance or the functional module group more renewing, substantially increase the maintenance efficiency of autonomous cleaning devices.

Those skilled in the art, after considering description and putting into practice disclosure disclosed herein, will readily occur to its of the disclosure Its embodiment.The application is intended to any modification, purposes or the adaptations of the disclosure, these modifications, purposes or Person's adaptations are followed the general principle of the disclosure and are included the undocumented common knowledge in the art of the disclosure Or conventional techniques.Description and embodiments be considered only as exemplary, the true scope of the disclosure and spirit by the application Claim point out.

It should be appreciated that the disclosure is not limited to be described above and precision architecture illustrated in the accompanying drawings, and And various modifications and changes can carried out without departing from the scope.The scope of the present disclosure only to be limited by appended claim.

Claims (24)

1. a kind of autonomous cleaning devices are it is characterised in that include: equipment body, driving module, cleaning module and perception mould Group；Wherein, described driving module, described cleaning module and described perception module can releasably be assemblied in described equipment master respectively Body.

2. autonomous cleaning devices according to claim 1 are it is characterised in that described equipment body includes chassis, Yi Jigu Upper shell due to described chassis；Wherein, described driving module is arranged at described chassis, and described perception module is assemblied on described The predeterminated position of housing.

3. autonomous cleaning devices according to claim 2 it is characterised in that the predeterminated position of described upper shell be with described The accommodating chamber of perception module coupling, described perception module is assemblied in described accommodating chamber.

4. autonomous cleaning devices according to claim 3 are it is characterised in that described perception module connects by multiple first Part is fixed on described upper shell.

5. autonomous cleaning devices according to claim 3 it is characterised in that described equipment body also include being assemblied in described Protective cover above accommodating chamber, all sides hollow out setting of described protective cover, described perception module is located at described accommodating chamber and institute State between protective cover.

6. autonomous cleaning devices according to claim 5 are it is characterised in that all sides of described protective cover are stood by least one Post is constituted, and described column has lesser width.

7. autonomous cleaning devices according to claim 5 are it is characterised in that when dismantling described perception module, tear open in advance Unload described protective cover.

8. autonomous cleaning devices according to claim 5 it is characterised in that dismounting perception module before it is not necessary to first tear open Unload described upper shell and/or described chassis.

9. autonomous cleaning devices according to claim 5 are it is characterised in that described protective cover passes through multiple second connectors It is fixed on described upper shell.

10. autonomous cleaning devices according to claim 5 are it is characterised in that described protective cover is by high-strength nylon and glass The combined material of glass fiber is made.

11. autonomous cleaning devices according to claim 2 it is characterised in that the week side of boss of described perception module be provided with anti- The dust-proof hole of water, described upper shell is provided with through hole corresponding with described water proof and dust proof hole.

12. autonomous cleaning devices according to claim 1 are it is characterised in that described equipment body also includes lid, described Perception module partly projects described upper lid.

13. autonomous cleaning devices according to claim 1 are it is characterised in that described equipment body also includes being arranged at institute State the control parts below perception module, described perception module is included being arranged at its lower surface and electrically connected with described control parts Adapter.

14. autonomous cleaning devices according to claim 1 it is characterised in that described equipment body include forward portion and Backward part, described perception module is located at described backward part.

15. autonomous cleaning devices according to any one of claim 1 to 14 are it is characterised in that described perception module is Laser Distance Measuring Equipment.

16. autonomous cleaning devices according to claim 1 it is characterised in that described driving module includes driving wheel module, Described driving wheel module includes left driving wheel module and right driving wheel module, described left driving wheel module and described right driving wheel edge The lateral shaft that described equipment body defines is opposed.

17. autonomous cleaning devices according to claim 16 are it is characterised in that described driving module also includes at least one Driven pulley, in order to assist support and the movement of described equipment body.

18. autonomous cleaning devices according to claim 1 are it is characterised in that described cleaning module includes:

Round brush assembly, dirt case assembly and the power part being arranged in order along the direct of travel of described autonomous cleaning devices；

One-level air channel, is arranged between described cleaning member and described dirt case assembly；

Light breeze road, is arranged between described dirt case assembly and described power part, and the inwall windward side in described light breeze road is in Arc；

Wherein, described one-level air channel is matched with described power part, so that the cleaning object that described cleaning member cleans is described The wind that power part produces is delivered in described dirt case assembly；Described light breeze road is matched with described power part, so that described The wind of dirt case assembly output is smoothed guiding to the air inlet of described power part on preset direction.

19. autonomous cleaning devices according to claim 18 it is characterised in that described one-level air channel be in bell mouth shape, and Described one-level air channel take up an official post corresponding sectional area at anti-phase with regard to the spacer between this arbitrary place and described cleaning member From.

20. autonomous cleaning devices according to claim 19 it is characterised in that described light breeze road be in bell mouth shape, institute The air outlet stating light breeze road is snap-fit attachment to the air inlet of described power part；Wherein, described power part is axial flow blower, And the rotating shaft of the air inlet of described power part and described axial flow blower is in the same direction.

21. autonomous cleaning devices according to claim 18 are it is characterised in that round brush assembly includes round brush and round brush storehouse； Described round brush includes rotating shaft, the glue brush part being arranged in described rotating shaft and hairbrush part；

Wherein, described glue brush part is formed compared with little deviation angle in the face of cylinder of described round brush and described rotor shaft direction between, so that The intensity of going for a drive of described glue brush part reaches preset strength；And, described hairbrush part in the face of cylinder of described round brush with described turn Form relatively large deviation angle, so that some brush tuft forming described hairbrush part are arranged successively along described rotor shaft direction between direction of principal axis When, predetermined angle is reached to the face of cylinder inner circumferential angle of coverage of described round brush.

22. autonomous cleaning devices according to claim 21 are it is characterised in that the centre position of described glue brush part is along described Direct of travel bends, so that the wind that described power part produces can be carried out to cleaning object in the centre position of described glue brush part Collect；Wherein, the centre position of described glue brush part is more late compared with other positions reaches described one-level air channel.

23. autonomous cleaning devices according to claim 18 are it is characterised in that described dirt case assembly includes: dirt box and can Cooperation is installed on the filter screen of described dirt box, and described dirt box forms at least both-side opening；One side opening is the inlet air of described dirt box Mouthful, another side opening is the air outlet of described dirt box；Wherein, described filter screen is installed on described air outlet, and goes out described in covering Air port.

24. autonomous cleaning devices according to claim 23 are it is characterised in that described perception module sets adjacent to described dirt box Put.