CN213030587U

CN213030587U - Floor sweeping robot

Info

Publication number: CN213030587U
Application number: CN202022143303.2U
Authority: CN
Inventors: 徐连斌; 杨永斌; 韦绥均; 王继鑫; 王二飞
Original assignee: Suzhou 3600 Robot Technology Co Ltd
Current assignee: Suzhou 3600 Robot Technology Co Ltd
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2021-04-23
Anticipated expiration: 2030-09-25

Abstract

The utility model discloses a floor sweeping robot, which comprises a casing, wherein the casing is defined to have a front side and a rear side, and a left side and a right side which are oppositely arranged; the forward sensing module is arranged on the front side wall of the shell; and the lateral sensing module is arranged on the left side wall and/or the right side wall of the shell and comprises a lateral laser and a lateral camera. The utility model discloses technical scheme makes the robot of sweeping the floor along the wall or around other object during operation, both can keep having the work of carrying on of certain distance with basement or other objects, can detect the barrier of the position department that basement or other objects and ground contacted again and carry out corresponding obstacle-avoiding action, improves the security of the robot of sweeping the floor when along wall work.

Description

Floor sweeping robot

Technical Field

The utility model relates to a robot technical field, in particular to robot of sweeping floor.

Background

At present, in order to enable a sweeping robot to work along a wall or around other objects (such as table legs, chair legs, or a fan bracket, etc.) so as to better sweep the position where a wall foot or other objects are in contact with the ground, a distance measuring sensor is generally arranged on the side surface of the sweeping robot, and the distance between the sweeping robot and the wall or other objects can be measured through the distance measuring sensor, so that the sweeping robot can keep a distance working state with the wall or other objects when in operation. However, the sweeping robot in the related art can only measure the distance by the infrared distance measuring sensor, and cannot detect the obstacle at the position where the basement or other object contacts the ground. Therefore, when an obstacle exists at the position where the basement or other objects are contacted with the ground, the collision damage to the sweeping robot can be caused, and the safety of the sweeping robot in the process of working along the wall is reduced.

Disclosure of Invention

The utility model aims at providing a robot of sweeping floor aims at making the robot of sweeping floor along the wall or around other object during operations, can detect the barrier and keep away the barrier, improves the security of the robot of sweeping floor along the wall or around other object during operations.

In order to achieve the above object, the utility model provides a robot of sweeping floor includes:

a housing defined to have a front side and a rear side, and a left side and a right side, which are oppositely disposed;

the forward sensing module is arranged on the front side wall of the shell; and

the lateral sensing module, the left side wall and/or the right side wall of casing are equipped with the lateral sensing module, the lateral sensing module includes side direction laser instrument and side direction camera.

In an embodiment of the present invention, the housing includes:

a housing body having front and rear sides and left and right sides disposed opposite one another; and

the front collision plate is arranged on the front side wall of the shell body and can move relative to the shell body, the end part of the front collision plate is bent and extends to wrap the left side wall and/or the right side wall of the shell body, the front sensing module is installed on the shell body, and the lateral laser and the lateral camera are installed on the front collision plate.

In an embodiment of the present invention, the lateral laser and the lateral camera are installed on an inner wall surface of the front collision plate, and the front collision plate corresponds to the lateral laser and the lateral camera, and a lateral light hole is formed in a position of the lateral laser and the lateral camera.

In an embodiment of the present invention, the lateral sensing module further includes a frame body, the frame body is disposed on an inner wall surface of the front striking plate, a frame opening of the frame body is disposed toward the housing body, and a lateral light-transmitting portion is disposed at a position of the frame body corresponding to the lateral light-transmitting hole;

the lateral laser and the lateral camera are installed in the frame.

The utility model discloses an in the embodiment, the framework deviates from the one end of shell body is equipped with spacing step, spacing step includes:

the first step surface is abutted against the hole wall of the lateral light-transmitting hole; and

and the second step surface is connected with the first step surface and forms an included angle with the first step surface, and the second step surface is abutted against the inner wall surface of the front collision plate.

In an embodiment of the present invention, the inner wall surface of the front striking plate is provided with a connecting column, the side wall surface of the frame body is provided with a connecting lug, the connecting lug is abutted against the connecting column, which is away from the end of the front striking plate, and the connecting column is detachable.

In an embodiment of the present invention, the connecting lug is provided with a positioning groove on the wall surface of the connecting column, the connecting column is kept away from one end of the front striking plate is inserted into the positioning groove, and the connecting lug abuts against the groove wall of the positioning groove.

In an embodiment of the present invention, the lateral sensing module further includes a lateral circuit board, the lateral circuit board is connected to the frame body and covers the frame opening of the frame body;

the lateral laser and the lateral camera are both installed on the lateral circuit board and are electrically connected with the lateral circuit board.

In an embodiment of the present invention, the frame body is provided with at least two clamping blocks at the frame opening, two of the clamping blocks are disposed oppositely and clamped between the two opposite side walls of the lateral circuit.

In an embodiment of the utility model, it is located to the preceding sensing module the positive front side of casing, definition the preceding center of sensing module with line between the center of casing is sharp L1, the center of side direction sensing module with line between the center of casing is sharp L2, and the contained angle between sharp L1 and the sharp L2 is more than or equal to 45, and less than or equal to 90.

The technical scheme of the utility model the robot of sweeping the floor along the wall or around other objects (for example: table leg, chair leg, or electric fan support etc.) when working, can acquire the environmental image of the front side work area of the robot of sweeping the floor through locating the preceding sensing module of casing, for example: whether an obstacle exists in front or not is detected, or the distance between two objects can be passed. The possibility that the front side of the sweeping robot is damaged due to collision with a barrier is reduced, and therefore the safety of the sweeping robot in working is improved. And, because this preceding lateral wall of casing is located to the sensing module, can reduce the possibility that other spare parts of the robot of sweeping the floor caused the blockking to this preceding sensing module's the acquisition visual angle for this preceding sensing module has better detection visual angle to the front side work area of the robot of sweeping the floor, thereby has improved this detection effect to the sensing module.

Furthermore, the sweeping robot in the scheme can also emit line laser to the positions where the basement or other objects are in contact with the ground through the lateral laser of the lateral sensing module, then can acquire the environment images of the positions where the basement or other objects are in contact with the ground through the camera of the lateral laser module, and can calculate the laser point cloud information in the environments where the basement or other objects are in contact with the ground, and calculate the outline, height, width and other information of the obstacle based on the laser point cloud information, so that the sweeping robot can realize obstacle detection of the working environments where the basement or other objects are in contact with the ground through the lateral laser module, and can work at a certain distance from the basement or other objects based on the distance information, namely, the robot is relatively close to the basement or other objects, and is convenient for working at the basement or at the positions where other objects are in contact with the ground The garbage can be cleaned in place and can not be contacted and collided with the wall foot or other objects all the time to cause damage. Meanwhile, based on the obstacle information, when the sweeping robot finds that the upper part of the wall foot is provided with an obstacle (such as a sofa bottom, a tea table bottom or a stool bottom) or the lower part of the wall foot is provided with the obstacle to influence the normal passing of the sweeping robot, the running direction of the sweeping robot is changed in time, and the possibility that the sweeping robot collides with the obstacle at the wall corner or at the position where other objects are contacted with the ground when working along the wall is reduced. So compare in the robot of sweeping the floor among the prior art along the wall or around other object during operation only can acquire the robot of sweeping the floor and the wall foot or keep the distance along the wall or around other object work between other object, can't detect the wall foot department or whether the upper and lower side of the position department that other object and ground contacted has the barrier and probably bump with the barrier of corner department and lead to damaging, the robot of sweeping the floor in this scheme realizes detecting distance and barrier simultaneously through the side direction sensing module to improve the robot of sweeping the floor along the wall or around the security of other object during operation.

Drawings

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

Fig. 1 is an assembly structure diagram of the sweeping robot according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of the sweeping robot in fig. 1;

fig. 3 is a schematic cross-sectional view of a front striking plate of the sweeping robot in fig. 1;

FIG. 4 is an enlarged partial schematic view at A in FIG. 3;

fig. 5 is another schematic cross-sectional view of a front striking plate of the sweeping robot in fig. 1;

FIG. 6 is an enlarged partial schematic view of FIG. 5 at B;

fig. 7 is an assembly structure diagram of a lateral sensing module of the sweeping robot in fig. 1;

fig. 8 is a schematic view of an exploded structure of a lateral sensing module of the sweeping robot in fig. 1;

fig. 9 is a schematic view of another perspective view of an exploded structure of a lateral sensing module of the sweeping robot in fig. 1;

fig. 10 is an assembly structure diagram of a forward sensing module of the sweeping robot in fig. 1;

fig. 11 is a schematic view of an exploded structure of a forward direction sensing module of the sweeping robot in fig. 1;

fig. 12 is a schematic view of another perspective view of an exploded structure of a lateral sensing module of the sweeping robot in fig. 1.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				10	Casing (CN)	38	Cover plate
11	Shell body	39	First buffer part
				13	Front collision plate	50	Lateral sensing module
13a	Lateral light hole	51	Lateral laser
				131	Connecting column	53	Side direction camera
131a	Connecting hole		55					Frame body
				13c	Forward light hole	551	Lateral light transmission part
30	Forward sensing module	553	Side light-transmitting lens
				31	Forward laser	555	Limiting step
33	Forward camera	556	First step surface
				35	Mounting rack	557	Second step surface
35a	Containing groove		558					Connecting ear
				351	Forward light transmission part	558a	Mounting hole
353	Forward light-transmitting lens	558c	Locating slot
				354	Sealing element	559	Clamping block
36	Forward circuit board	57	Lateral circuit board
				37	Support frame	59	Second buffer
37a	Clamping groove

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

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

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

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

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

The utility model provides a robot of sweeping floor.

Referring to fig. 1, fig. 2, fig. 7, fig. 8 and fig. 9, in an embodiment of the present invention, the sweeping robot includes a housing 10, a forward sensing module 30 and a lateral sensing module 50; wherein, the housing 10 is defined to have a front side and a rear side, and a left side and a right side, which are oppositely disposed; the forward sensing module 30 is disposed on the front sidewall of the casing 10; the left side wall and/or the right side wall of the housing 10 are/is provided with a lateral sensing module 50, and the lateral sensing module 50 comprises a lateral laser 51 and a lateral camera 53.

In an embodiment of the present invention, the housing 10 can be mainly used for installing the front sensor module 30, the lateral sensor module 50 and other components of the floor sweeping robot, so that each component of the floor sweeping robot can form a whole body to facilitate transportation and management. The projection shape of the housing 10 on the horizontal plane may be substantially circular, so that the circumferential surface thereof is an arc surface and has a guiding function, thereby improving the smoothness of the sweeping robot during turning, and simultaneously enabling the volume of the housing 10 to be relatively small. Of course, in other embodiments, the projection shape of the casing 10 on the horizontal plane may also be a square or other shapes. In addition, the front side of the housing 10 is a side of the housing 10 facing the forward direction of the sweeping robot, the rear side is a side of the housing 10 departing from the forward direction of the sweeping robot, and the left side and the two sides are the other two sides perpendicular to the forward direction respectively. Referring to fig. 10, 11 and 12, the forward direction sensing module 30 is mainly used for detecting obstacles in a front working area of the sweeping robot, so as to reduce the possibility of collision between the front side of the sweeping robot and the obstacles. Wherein, this forward sensing module 30 can include forward laser 31 and forward camera 33 to through forward laser 31 to the front side work area emission line laser of robot of sweeping the floor, in order to form the laser cloud point in operational environment. Then, the environment image is acquired through the forward camera 33, the laser point cloud information of the working environment is calculated, and the information such as the outline, the height and the width of the obstacle is calculated based on the laser point cloud information, so that the obstacle is detected, and the obstacle in the working environment is avoided by the controller running direction of the subsequent sweeping robot 100. For example, the angle between the line laser emitted by the forward laser 31 and the vertical plane is known, and the distance between the forward laser 31 and the working surface where the sweeping robot is located is also known, so that the distance between the sweeping robot and the obstacle can be calculated by using a trigonometric function. Preceding sensing module 30 in this scheme carries out the obstacle detection to the operational environment of robot of sweeping the floor through preceding laser instrument 31, and the laser instrument has the advantage that detection precision is high, measuring distance is far away, coverage is wide and anti environmental disturbance ability is strong for preceding sensing module 30 in this application can have better detection effect to the barrier, thereby improves the obstacle avoidance effect of robot of sweeping the floor. Moreover, the forward direction sensing module 30 in this scheme only includes one forward direction laser 31 and forward direction camera 33 for the quantity of the sensor of required setting is less relatively and has simplified the structure of keeping away the barrier of robot of sweeping the floor, thereby reduces the manufacturing cost of robot of sweeping the floor. Of course, the present application is not limited thereto, and in other embodiments, the forward sensing module 30 may also include only the forward camera 33 or directly employ radar obstacle avoidance detection. To facilitate the installation of the forward laser 31 and the forward camera 33, the forward sensing module 30 may further include a mounting bracket 35, and the forward laser 31 and the forward camera 33 are mounted on the mounting bracket 35. Since the structure of the mounting bracket 35 is relatively simple and the volume is relatively small, it is convenient to mount the forward laser 31 and the forward camera 33 to the mounting bracket 35 at this time, and then mount the mounting bracket 35 to the cabinet 10. Specifically, the mounting bracket 35 may be fixed to the casing 10 by screws, snap-fitting or magnetic attraction. In order to make the installation of the forward laser 31 and the forward camera 33 more compact, a receiving groove 35a is concavely provided on one surface of the mounting bracket 35; the forward laser 31 and the forward camera 33 are both embedded in the accommodating groove 35a, a forward light-transmitting portion 351 is formed on the bottom wall of the accommodating groove 35a, and the forward light-transmitting portion 351 covers the forward laser 31 and the forward camera 33. Wherein, preceding printing opacity portion 351 can inlay for mounting bracket 35 and establish a preceding printing opacity lens 353 and form, and at this moment, mounting bracket 35 is equipped with sealing member 354 towards the wall of printing opacity lens 353, and this sealing member 354 is the annular form to encircle and set up with preceding camera 33 to laser instrument 31, in order to realize sealed dustproof and waterproof vapour's effect, thereby further improve the guard action to laser instrument 31 and preceding camera 33. Of course, the forward light-transmitting portion 351 may be a through hole that communicates the accommodation groove 35a with the outside. Further, in order to facilitate the control of the work of the forward laser 31 and the forward camera 33, the forward sensing module 30 further includes a forward circuit board 36, the forward circuit board 36 is disposed in the accommodating groove 35a and electrically connected to the forward laser 31 and the forward camera 33, so as to independently control the forward laser 31 and the forward camera 33 to perform obstacle detection work through the forward circuit board 36. In an embodiment of the present invention, the forward direction excitation sensing module further includes a bracket 37, and the bracket 37 is embedded in the accommodating groove 35 a; the forward laser 31, the forward camera 33 and the forward circuit board 36 are mounted to a bracket 37. It can be understood that the forward laser 31, the forward camera 33 and the forward circuit board 36 are mounted and carried by the bracket 37, so that several persons can be mounted in the accommodating groove 35a at one time, thereby improving the convenience of mounting. In addition, the forward laser 31 and the forward camera 33 can be detachably mounted on the bracket 37, so that the forward laser 31 and the forward camera 33 can be detached when being damaged, thereby facilitating maintenance and replacement. Specifically, it can be fixed through the joint to preceding laser instrument 31 and preceding camera 33, can form two joint grooves 37a on the support 37 this moment, and preceding laser instrument 31 and preceding camera 33 hold respectively in two joint grooves 37a and by the spacing fixed of joint. So carry out the joint through joint groove 37a to preceding laser instrument 31 and preceding camera 33 fixed for need not to set up too much connection structure in order to carry out spacing fixed to it on preceding laser instrument 31 and preceding camera 33. Therefore, the installation and fixation of the forward laser 31 and the forward camera 33 can be realized, and the safety of the self structure of the forward laser 31 and the forward camera 33 is ensured. Of course, the forward laser 31 and the forward camera 33 can also be fixed to the bracket 37 by magnetic attraction. The forward circuit board 36 may be detachably mounted to the bracket 37, so that the forward circuit board 36 can be detached for repair and replacement when damaged. Specifically, the forward circuit board 36 may be connected to the bracket 37 by screws, so that the mounting effect of the forward circuit board 36 may be ensured and the mounting process of the forward circuit board 36 may be simplified. Of course, the forward circuit board 36 may be fixed to the bracket 37 by snap-fit or magnetic attraction. It should be noted that the present application is not limited thereto, and in other embodiments, the forward laser 31, the forward camera 33 and the forward circuit board 36 may be fixedly connected to the bracket 37 in an unreleasable manner. To facilitate easy replacement of the bracket 37, the bracket 37 may also be detachably connected to the mounting bracket 35, for example: but may be secured to the mounting bracket 35 by screw, snap or magnetic attachment. Further, the forward sensing module 30 may further include a cover plate 38, wherein the cover plate 38 is connected to the mounting frame 35 and covers the notch of the accommodating groove 35 a. So cover in the notch of storage tank 35a through apron 38, can make apron 38 and mounting bracket 35 enclose to close and form the space comparatively sealed relatively, reduce debris such as external steam or dust and get into storage tank 35a and to the forward laser instrument 31 that is located in storage tank 35a, to the camera 33 or to the forward possibility that causes the influence to circuit board 36 etc. to this security of sensing module 30 in the use has been improved to the front. The cover plate 38 and the mounting frame 35 may be detachably connected, so that the cover plate 38 can be detached when the components in the accommodating groove 35a are damaged. Specifically, the cover plate 38 may be fixed to the mounting frame 35 by screw connection, snap connection or magnetic attraction. In order to improve the safety of the forward laser 31, the forward camera 33 and the forward circuit board 36 during the mounting process, the forward sensor module 30 may further include a first buffer 39, and the first buffer 39 is located on the surface of the cover plate 38 facing the bottom wall of the accommodating groove 35a and is clamped and fixed by the cover plate 38 and the mounting frame 35. The cover plate 38 is isolated from the forward laser 31, the forward camera 33 and the forward circuit board 36 by the first buffer 39, so that the cover plate 38 is in flexible contact with the forward laser 31, the forward camera 33 and the forward circuit board 36. The possibility of the cover plate 38 damaging the surfaces of the forward laser 31, the forward camera 33 and the forward circuit board 36 can be reduced, thereby improving the safety of the forward laser 31, the forward camera 33 and the forward circuit board 36 during the installation process. The first buffer 39 may be made of foam, rubber, or silicone. In addition, in order to reduce the blind angle caused by the front laser 31 and the front camera 33 at the position of the sweeping robot near the front side of the housing 10, the front laser 31 and the front camera 33 may be disposed obliquely downward on the bracket 37, so that the light-emitting angle of the front laser 31 and the front camera 33 is obliquely downward. Wherein, preceding laser instrument 31 can be located the top of preceding camera 33 to the line laser that this preceding laser instrument 31 sent is located this acquisition visual angle of preceding camera 33, and then is convenient for this preceding camera 33 to obtain the laser cloud point that preceding laser instrument 31 formed. The lateral laser 51 of the lateral sensor module 50 may be mainly used to emit laser light to the left and/or right side of the housing 10 to form a laser cloud point in the lateral working environment. And then, the environment image is acquired through the lateral camera 53, the laser point cloud information of the lateral working environment is calculated, and the information such as the outline, the height and the width of the obstacle is calculated based on the laser point cloud information, so that the obstacle is detected. In addition, the number of the lateral sensing modules 50 may be a group, and the group is disposed on the left side wall or the right side wall of the housing 10, so as to reduce the manufacturing cost of the sweeping robot. Of course, the number of the lateral sensing modules 50 may also be at least two, so that the lateral sensing modules 50 are disposed on both the left and right sides of the casing 10. At the moment, the sweeping robot can work along the wall in the clockwise direction and can also work along the wall in the anticlockwise direction, so that the convenience of the sweeping robot in the use process is improved.

The technical scheme of the utility model the robot of sweeping the floor along the wall or around other objects (for example: table leg, chair leg, or electric fan support etc.) when working, can acquire the environmental image of the front side work area of the robot of sweeping the floor through locating the preceding sensing module group 30 of casing 10, for example: whether an obstacle exists in front or not is detected, or the distance between two objects can be passed. The possibility that the front side of the sweeping robot is damaged due to collision with a barrier is reduced, and therefore the safety of the sweeping robot in working is improved. Moreover, since the front side wall of the housing 10 is provided with the front sensor module 30, the possibility that other parts of the sweeping robot block the acquired view angle of the front sensor module 30 can be reduced, so that the front sensor module 30 has a better detection view angle for the front working area of the sweeping robot, and the detection effect of the front sensor module 30 is improved.

Further, the robot of sweeping the floor in this scheme can also be through the lateral direction laser 51 of side direction sensing module 50 can be to basement department or the position department transmission line laser that other objects and ground contacted, later can acquire the environmental image of basement department or the position department that other objects and ground contacted through the camera 53 of side direction laser module 50, and solve and calculate this basement department or the position department environment interior laser point cloud information that other objects and ground contacted, calculate information such as the outline, height and width of barrier based on laser point cloud information, thereby make the robot of sweeping the floor realize the obstacle detection to basement department or the position department operational environment that other objects and ground contacted through side direction laser module 50. The sweeping robot can keep working at a certain distance from the wall feet or other objects based on the distance information, namely, the sweeping robot is relatively close to the wall feet or other objects, so that garbage at the positions where the wall feet or other objects are in contact with the ground can be conveniently cleaned in place, and the sweeping robot can not be in contact collision with the wall feet or other objects all the time to cause damage. Meanwhile, based on the obstacle information, when the sweeping robot finds that the normal passing of the sweeping robot is influenced by the fact that obstacles (such as a sofa bottom, a tea table bottom, a stool bottom and the like) are arranged above the wall feet or at the positions where other objects are in contact with the ground or whether obstacles are arranged below the sweeping robot, the running direction of the sweeping robot is changed timely, and the possibility that the sweeping robot collides with the obstacles at the wall corners when working along the wall or around other objects is reduced. So compare in the robot of sweeping the floor among the prior art along the wall or around other object during operation can only acquire the robot of sweeping the floor and the wall foot or keep the distance along wall work between other objects, can't detect whether have the barrier in the upper and lower place of the position department that wall foot department or other object and ground contacted and probably bump with the barrier of corner department or other object and ground position department that contacts and lead to damaging, the robot of sweeping the floor in this scheme detects when realizing distance and barrier through side direction sensing module 50 to improve the robot of sweeping the floor along the wall or around the security of other object during operation.

Referring to fig. 1 and 2 in combination, in an embodiment of the present invention, the housing 10 includes a housing body 11 and a front striking plate 13, the housing body 11 has a front side and a rear side, and a left side and a right side, which are oppositely disposed; the front striking plate 13 is disposed on the front side wall of the housing body 11 and can move relative to the housing body 11, the end portion of the front striking plate 13 bends and extends to wrap the left side wall and/or the right side wall of the housing body 11, the front sensing module 30 is mounted on the housing body 11, and the lateral laser 51 and the lateral camera 53 are mounted on the front striking plate 13.

It can be understood that the housing 10 is composed of the housing body 11 and the front striking plate 13, so that when the sweeping robot collides with an obstacle, the front striking plate 13 collides with the obstacle to reduce damage to the housing body 11 and other parts. Specifically, the front striking plate 13 may be connected to the housing body 11 through an elastic member, the housing body 11 may further be provided with a proximity sensor at a position corresponding to the front striking plate 13, and the front striking plate 13 is driven to approach the proximity sensor when in contact collision with an obstacle, so that the proximity sensor triggers to sense that the front striking plate 13 and the obstacle have in contact collision, so that the subsequent sweeping robot adjusts the running direction to continue to normally work. Of course, the present application is not limited thereto, and in other embodiments, the front striking plate 13 may also be directly and only movably connected to the housing 10 by the elastic member, for example: a resilient steel sheet or a spring, etc. The side laser 51 and the side camera 53 are mounted on the front striking plate 13, so that the side laser 51 and the side camera 53 can be arranged opposite to each other, and the possibility that other parts block the visual angles of the side laser 51 and the side camera 53 is reduced. So make this side direction laser instrument 51 and side direction camera 53 have better acquisition visual angle to the basement and carry out better range finding and obstacle detection, guarantee to sweep the floor that the robot is close to the basement as far as possible, nevertheless keep having certain distance with the basement all the time again. At this time, the light emitting angles of the side laser 51 and the side camera 53 may be set obliquely downward, so as to further facilitate the distance measurement detection and obstacle detection for the corner of the wall. And preceding sensor module 30 is installed in shell body 11, also install in shell body 11 to the mounting bracket 35 of module before, because shell body 11 can not take place to rock relatively when sweeping the floor the robot work and comparatively stable, make install in mounting bracket 35 also install comparatively stably to laser instrument 31 and preceding camera 33 before, can carry out stable obstacle detection to the work area of neighbouring robot front side of sweeping the floor, guarantee the accuracy of detection effect and further reduce the robot of sweeping the floor and the possibility that the obstacle bumps. And the front collision plate 13 covers the front laser 31 and the front camera 33, so that the front collision plate 13 can play a certain protection role on the front laser 31 and the front camera 33, the possibility of damage of foreign objects is reduced, and the service life of the front laser 31 and the front camera 33 can be prolonged. At this time, the front striking plate 13 may be provided with a front light-transmitting hole 13c at a position corresponding to the front laser 31 and the front camera 33. Of course, in other embodiments, the forward module can also be mounted on the front striking plate 13.

In an embodiment of the present invention, the lateral laser 51 and the lateral camera 53 are installed on the inner wall surface of the front collision plate 13, and the lateral light-transmitting hole 13a is provided at the position of the front collision plate 13 corresponding to the lateral laser 51 and the lateral camera 53.

It can be understood that the side direction laser 51 and the side direction camera 53 are installed on the inner wall surface of the front collision plate 13, so that the side direction laser 51 and the side direction camera 53 can be protected by the front collision plate 13 to a certain extent, the possibility of damage of the side direction laser 51 and the side direction camera 53 by foreign objects is reduced, and the service life of the side direction laser 51 and the service life of the side direction camera 53 can be prolonged beneficially

Referring to fig. 3, fig. 4, fig. 7, fig. 8 and fig. 9, in an embodiment of the present invention, the lateral sensing module 50 further includes a frame 55, the frame 55 is disposed on an inner wall surface of the front striking plate 13, a frame opening of the frame 55 is disposed toward the housing body 11, and a lateral light-transmitting portion 551 is disposed at a position of the frame 55 corresponding to the lateral light-transmitting hole 13 a; the side laser 51 and the side camera 53 are mounted in a frame 55.

It can be understood that the frame 55 can be used for installing and bearing the lateral laser 51 and the lateral camera 53, the frame 55 is relatively simple in structure and relatively small in size, the lateral laser 51 and the lateral camera 53 can be conveniently installed in the frame 55, and then the lateral laser 51, the lateral camera 53 and the lateral frame 55 are integrally installed between the bottom shell and the face cover in a disposable manner, so that the installation convenience of the laser and the camera is improved. The lateral transparent portion 551 may be formed by inserting a lateral transparent lens 553 into the frame 55, or may be formed by forming a through hole for communicating the frame 55 with the outside.

Referring to fig. 3 and 4, in an embodiment of the present invention, a limiting step 555 is disposed at an end of the frame 55 away from the housing body 11, the limiting step 555 includes a first step surface 556 and a second step surface 557, and the first step surface 556 abuts against a hole wall of the light hole 13 a; the second step surface 557 is connected to the first step surface 556 and is provided at an angle to the first step surface 556, and the second step surface 557 abuts against the inner wall surface of the front striker plate 13.

It can be understood that, before the installation of the frame body 55, the limiting step 555 has a pre-positioning effect on the installation of the frame body 55, so that the frame body 55 is accurately placed at the preset installation position for installation. After the frame 55 is mounted, the limit step 555 has a limit function, so that the possibility of movement of the frame 55 can be reduced, and the mounting stability of the frame 55 can be improved. Meanwhile, the arrangement can make the distribution of the frame body 55 and the front striking plate 13 more compact. The limiting step 555 may be disposed around the frame 55, or may be disposed around a portion of the frame 55.

Referring to fig. 5 and 6, in an embodiment of the present invention, the inner wall surface of the front striking plate 13 is provided with a connecting post 131, the side wall surface of the frame 55 is provided with a connecting lug 558, and the connecting lug 558 abuts against one end of the connecting post 131 far away from the front striking plate 13 and is detachably connected to the connecting post 131.

It can be understood that the arrangement of the engaging lug 558 provides an arrangement position for providing a connecting structure for connecting with the front striker 13, and reduces the influence of the connecting structure on the overall strength of the frame body 55, thereby being beneficial to ensuring the overall strength of the frame body 55. Connecting post 131 may be used to support connecting lug 558, which may enhance the stability of connecting lug 558 and facilitate the stability of connecting lug 558 and connecting post 131. The connecting lug 558 and the connecting column 131 are detachably connected, so that the frame body 55 can be detached when the frame body 55 or the lateral laser 51 and the lateral camera 53 in the frame body 55 are damaged, and the convenience of maintenance and replacement is improved. The connecting column 131 can be provided with a connecting hole 131a, the connecting lug 558 can be provided with a mounting hole 558a, the mounting hole 558a and the connecting hole 131a are oppositely arranged, the sweeping robot can further comprise a fastener, and the fastener penetrates through the mounting hole 558a and is inserted into the connecting hole 131a, so that the connecting lug 558 and the connecting column 131 can be detachably connected. At this time, the connection hole 131a may be a threaded hole, and the fastening member is a screw; of course, the connection hole 131a may be a fastening hole, and the fastening member may be a fastening post. Alternatively, the connecting lug 558 and the connecting post 131 may be magnetically attached.

In an embodiment of the present invention, the connecting lug 558 has a positioning groove 558c facing the wall of the connecting rod 131, and one end of the connecting rod 131 far from the front striking plate 13 is inserted into the positioning groove 558c and abuts against a groove wall of the positioning groove 558 c.

It can be understood that the positioning slot 558c has a pre-alignment function for the installation of the connecting lug 558 and the connecting column 131, so that the accurate alignment installation of the two can be facilitated. Meanwhile, the contact area between the connecting lug 558 and the connecting pole 131 is increased by the positioning slot 558c, so that the mounting stability of the connecting lug 558 and the connecting pole 131 can be improved. The mounting hole 558a of the connecting lug 558 may be provided with a bottom wall of the positioning slot 558c, so that when the connecting post 131 is inserted into the positioning slot 558c, the connecting hole 131a and the mounting hole 558a are relatively disposed, and the convenience of alignment between the connecting post 131a and the mounting hole 558a is improved, thereby improving the mounting efficiency of the frame 55.

Referring to fig. 7, fig. 8 and fig. 9, in an embodiment of the present invention, the lateral sensing module 50 further includes a lateral circuit board 57, the lateral circuit board 57 is connected to the frame body 55 and covers the frame opening of the frame body 55; the lateral laser 51 and the lateral camera 53 are mounted on a lateral circuit board 57 and are electrically connected to the lateral circuit board 57.

It can be understood that the lateral circuit board 57 independently controls the lateral laser 51 and the lateral camera 53 to perform distance detection and obstacle detection, so as to reduce the influence of other control circuit boards of the sweeping robot on the lateral sensing module 50, thereby improving the working stability of the lateral sensing module 50. And lateral laser 51 and lateral camera 53 all install lateral circuit board 57 for the three can form the disposable installation in framework 55 after an entirety, thereby can improve the convenience of lateral sensing module 50 equipment. Meanwhile, the frame opening of the frame body 55 is sealed by the lateral circuit board 57, so that the sealing performance of the frame body 55 is improved, and the damage to the lateral laser 51 and the lateral camera 53 caused by the external moisture or dust entering the frame body 55 can be reduced. The lateral laser 51 and the lateral camera 53 may be soldered to a circuit board, so that the electrical connection between the lateral laser 51 and the lateral circuit board 57 can be realized, and the stability of the installation of the lateral laser 51 and the lateral camera 53 can be ensured. Thus, the electrical and physical connection structures between the lateral laser 51 and the lateral camera 53 and the lateral circuit board 57 are simplified, so that the manufacturing cost of the lateral sensing module 50 can be reduced. The lateral circuit board 57 may be connected to the frame 55 by screws, so that only through holes for screws to pass through need to be provided on the lateral circuit. In order to further reduce the blind area of the lateral laser 51 and the lateral camera 53 on the basement during the detection, the light-emitting angles of the lateral laser 51 and the lateral camera 53 may be set obliquely downward to have a better detection view angle on the basement below. Wherein, the lateral circuit board 57 can be installed obliquely, and the lateral laser 51 and the lateral camera 53 are vertically installed on the lateral circuit board 57; it is of course also possible that the lateral circuit board 57 is vertically upright and that the lateral laser 51 and the lateral camera 53 are mounted obliquely to the lateral circuit board 57. In order to enable the lateral laser 51 and the lateral camera 53 to have a large acquisition visual angle for the upper and lower parts of the basement, the lateral laser 51 and the lateral camera 53 can be located at the same height, and meanwhile, the acquisition visual angles can be better converged by the lateral camera 53, so that the lateral camera 53 can conveniently detect and acquire the laser cloud point formed by the lateral laser 51. In addition, in order to reduce the pressure loss caused by the excessive locking force during the locking process of the lateral circuit board 57 and the frame 55, the lateral sensing module 50 may further include a second buffer member 59, and the second buffer member 59 is disposed on a side of the lateral circuit board 57 facing the frame 55 and is clamped and fixed by the lateral circuit board 57 and the frame 55. The second buffer 59 may be made of foam, rubber, or silicone.

In an embodiment of the present invention, the frame body 55 is provided with at least two clamping blocks 559 at the frame opening, wherein the two clamping blocks 559 are disposed oppositely and clamped on the two opposite side walls of the lateral circuit.

It can be understood that the lateral circuit board 57 is clamped and limited by the clamping block 559, so that the possibility of deviation of the lateral circuit board 57 in the process of being installed on the frame body 55 can be reduced, and the final installation effect of the lateral circuit board 57 can be ensured. Meanwhile, the contact area between the lateral circuit board 57 and the frame body 55 is increased, so that the stability of mounting the lateral circuit board 57 can be improved.

Referring to fig. 1, in an embodiment of the present invention, the forward sensing module 30 is located at the front side of the casing 10, a line between the center of the forward sensing module 30 and the center of the casing 10 is defined as a straight line L1, a line between the center of the lateral sensing module 50 and the center of the casing 10 is defined as a straight line L2, and an included angle between the straight line L1 and the straight line L2 is greater than or equal to 45 ° and less than or equal to 90 °.

That is, the lateral sensing module 50 can be installed at any position on the front left side or the front right side of the housing 10, so as to ensure that the lateral sensing module 50 can perform timely distance detection and obstacle detection on a certain corner when the floor sweeping robot performs cleaning operation on the corner. The forward sensing module 30 is located at the front side of the housing 10, so that the forward sensing module 30 can perform uniform obstacle detection on the two working environments in front of the sweeping robot.

The above only is the preferred embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structure changes made by the contents of the specification and the drawings under the inventive concept of the present invention, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A sweeping robot is characterized by comprising:

the forward sensing module is arranged on the front side wall of the shell; and

2. A sweeping robot according to claim 1, wherein said housing comprises:

3. The sweeping robot according to claim 2, wherein the lateral laser and the lateral camera are mounted on an inner wall surface of the front striking plate, and a lateral light hole is formed in the position, corresponding to the lateral laser and the lateral camera, of the front striking plate.

4. The sweeping robot of claim 3, wherein the lateral sensing module further comprises a frame body, the frame body is arranged on an inner wall surface of the front striking plate, a frame opening of the frame body is arranged towards the shell body, and a lateral light-transmitting part is arranged on the frame body at a position corresponding to the lateral light-transmitting hole;

the lateral laser and the lateral camera are installed in the frame.

5. The sweeping robot of claim 4, wherein one end of the frame body, which is away from the shell body, is provided with a limiting step, and the limiting step comprises:

6. The sweeping robot according to claim 4, wherein the inner wall surface of the front striking plate is provided with a connecting column, the side wall surface of the frame body is provided with a connecting lug, and the connecting lug abuts against one end of the connecting column, which is far away from the front striking plate, and is detachably connected with the connecting column.

7. The sweeping robot of claim 6, wherein the connecting lug is provided with a positioning groove on the wall surface facing the connecting column, and one end of the connecting column far away from the front striking plate is inserted into the positioning groove and abuts against the groove wall of the positioning groove.

8. A sweeping robot according to any one of claims 4 to 7, wherein the lateral sensing module further comprises a lateral circuit board connected to the frame body and covering the frame opening of the frame body;

9. The sweeping robot of claim 8, wherein the frame has at least two clamping blocks at the opening, and the two clamping blocks are disposed opposite to each other and clamped between two opposite side walls of the lateral circuit.

10. The sweeping robot according to any one of claims 1 to 4, wherein the forward sensing module is located at the front side of the housing, a line connecting the center of the forward sensing module and the center of the housing is defined as a straight line L1, a line connecting the center of the lateral sensing module and the center of the housing is defined as a straight line L2, and an included angle between the straight line L1 and the straight line L2 is greater than or equal to 45 ° and less than or equal to 90 °.