CN213910040U

CN213910040U - Ground inspection module and cleaning robot

Info

Publication number: CN213910040U
Application number: CN202022222749.4U
Authority: CN
Inventors: 胡肖; 程自云
Original assignee: Shenzhen Silver Star Intelligent Technology Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-08-10
Anticipated expiration: 2030-09-30

Abstract

The embodiment of the utility model relates to the technical field of robot, a ground is examined module and cleaning machines people is disclosed, ground is examined the module and is included casing, circuit board and ground and examine the chip, the casing has the printing opacity end, the circuit board set up in the casing, ground examine the chip install in the circuit board and with the printing opacity end sets up relatively, ground is examined the chip and is included an at least transmitter and an at least receiver. Through the arrangement, the size of the ground detection module is reduced, so that the space occupied by the ground detection module is reduced, and the adaptability of the ground detection module is improved.

Description

Ground inspection module and cleaning robot

Technical Field

The utility model discloses embodiment relates to the robotechnology field, especially relates to a ground examines module and cleaning machines people.

Background

Generally, at least three ground inspection modules are arranged on a chassis of the cleaning robot, and when the cleaning robot performs cleaning work on the ground, the ground inspection modules detect whether the ground has a stepped structure, so that the cleaning robot is prevented from falling from a higher position. The ground detection module comprises at least one emitter and at least one receiver, wherein the emitter emits infrared light, and the infrared light is reflected by the ground and received by the receiver, so that whether the ground has a stepped structure or not is judged. Then, the ground detection module is large in size, occupies a large space of the chassis, and is not beneficial to overall layout.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves of embodiment provides a less, simple structure's ground of occupation space examines module and cleaning machines people.

In order to solve the above technical problem, the utility model discloses a technical scheme that embodiment adopted is:

providing a ground detection module comprising:

a housing having a light transmitting end;

a circuit board disposed within the housing;

the ground detection chip is arranged on the circuit board and is opposite to the light-transmitting end, and the ground detection chip comprises at least one transmitter and at least one receiver.

In some embodiments, the housing comprises a shell and a flashing;

the light-transmitting end is arranged at one end of the shell, and the other end of the shell is provided with a glue sealing opening;

the waterproof piece is arranged in the shell, one end of the waterproof piece is connected with the other end of the shell, the circuit board is arranged at the other end of the waterproof piece, a lead of the circuit board is led out through the sealing glue opening, and sealing glue is filled in the sealing glue opening.

In some embodiments, the housing includes a mount and a cover mounted on the mount;

the glue sealing opening is formed in the mounting seat, and the waterproof piece is mounted on the mounting seat and arranged around the glue sealing opening;

the cover body encloses the waterproof piece and the ground detection chip, the side face of one end of the installation seat is connected with the waterproof piece in a tight fit mode, and the light transmission end is arranged at one end, far away from the installation seat, of the cover body.

In some embodiments, the flashing is provided with a first connection portion and the mounting is provided with a second connection portion, the first connection portion cooperating with the second connection portion such that the flashing is fixed to the mounting.

In some embodiments, the first connecting portion is a connecting column, the second connecting portion is a connecting hole, the connecting column is inserted into the connecting hole, a step portion is arranged at one end, inserted into the connecting hole, of the connecting column, the connecting hole is provided with a step groove, and the step portion abuts against the step groove, so that the waterproof piece is fixed on the mounting seat.

In some embodiments, the mount and the flashing are integrally formed.

In some embodiments, the waterproof member is provided with a wire guide groove, the wire guide groove is communicated with the glue sealing opening, the waterproof member is arranged around one end of the glue sealing opening close to the cover body, and the circuit board is mounted at one end of the wire guide groove far away from the mounting seat.

In some embodiments, the waterproof member is further provided with a mounting groove, the mounting groove is located at one end of the wire guide away from the mounting seat, and the circuit board is mounted in the mounting groove.

In some embodiments, the upper surface of the ground sensing chip is close to or attached to the inner surface of the light-transmitting end.

In some embodiments, the upper surface of the ground detection chip is spaced apart from the inner surface of the light-transmitting end, and the ground detection chip comprises the transmitter and the receiver;

the ground detection module further comprises a baffle piece, wherein the baffle piece is provided with a first light hole, a second light hole and a baffle part positioned between the first light hole and the second light hole;

the inner surface of the light-transmitting end is provided with a groove, the baffle piece is embedded into the groove, the baffle portion is arranged between the emitter and the receiver, the first light-transmitting hole corresponds to the emitter, and the second light-transmitting hole corresponds to the receiver.

In some embodiments, the cover body is provided with a slot, and the mounting base is provided with a buckle, wherein the buckle is buckled with the slot, so that the cover body is fixed on the mounting base; or,

the cover body is provided with the buckle, the mount pad is provided with the draw-in groove, the buckle lock joint in the draw-in groove makes the cover body is fixed in the mount pad.

In some embodiments, the cover is made of a transparent material.

In some embodiments, the flashing is made of a soft gel material.

On the other hand, the embodiment of the utility model provides a still provide a cleaning robot, cleaning robot includes the robot main part and set up in the module is examined to the ground of the bottom of robot main part, the module is examined for ground as above to the ground.

Compared with the prior art, the embodiment of the utility model provides a ground examines module includes casing, circuit board and ground and examines the chip, the casing has the printing opacity end, the circuit board set up in the casing, ground examine the chip install in the circuit board and with the printing opacity end sets up relatively, ground examines the chip and includes an at least transmitter and an at least receiver, has simplified ground and has examined the overall structure of module to reduced ground and examined the volume of module, and then reduced the installation and examined the shared space of module, improved ground and examined the suitability of module, the cost is lower.

Drawings

One or more embodiments are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which elements having the same reference numeral designations represent like elements and in which the figures are not to scale unless specifically stated.

Fig. 1 is a perspective view of a ground inspection module according to an embodiment of the present invention

FIG. 2 is an exploded view of the floor test module of FIG. 1;

fig. 3 is another exploded perspective view of the floor inspection module of fig. 1.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It is noted that when an element is referred to as being "secured to"/"mounted to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "upper", "lower", "inner", "outer", "vertical", "horizontal", and the like as used herein are used in the description to indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1-3, fig. 1 is a perspective view of a ground detection module 100 according to an embodiment of the present invention, fig. 2 is an exploded view of the ground detection module 100 of fig. 1, and fig. 3 is an exploded view of the ground detection module 100 of fig. 1 at another angle. The ground detection module 100 can be applied to a mobile robot and is used for detecting the distance between the mobile robot and a detection target so as to judge whether a stepped structure appears on the ground and prevent the mobile robot from falling from a high place. The ground inspection module 100 includes a housing 10, a circuit board 20, and a ground inspection chip 30. The housing 10 has a light-transmitting end 101, the circuit board 20 is disposed in the housing 10, the ground test chip 30 is mounted on the circuit board 20 and disposed opposite to the light-transmitting end 101, the ground test chip 30 is electrically connected to the circuit board 20, the ground test chip 30 includes at least one emitter 31 and at least one receiver 32, the emitter is configured to emit probe light, the receiver is configured to receive the probe light, wherein the probe light emitted from the emitter 31 is emitted to a test object through the light-transmitting end 101, and is reflected from the test object through the light-transmitting end 101 and received by the receiver 32.

The embodiment of the utility model provides an in examining module 100 with ground, the overall structure who examines module 100 with having simplified to examine module 100's volume with reduced, and then reduced the installation and examined the shared space of module 100, examine module 100's suitability with improving, the cost is lower. The ground test module 100 is described in detail below.

As for the case 10 described above, the case 10 includes the outer shell 11 and the waterproof member 12. The light-transmitting end 101 is disposed at one end of the housing 11, the other end of the housing 11 is provided with a glue sealing opening 102, the light-transmitting end 101 is used for allowing the detection light emitted by the emitter 31 to be emitted out of the housing 11 and reflected to the receiver 32, and the glue sealing opening 102 is filled with a sealant. Waterproof 12 is arranged in casing 11, one end of waterproof 12 is connected with the other end of casing 11, circuit board 20 is installed at the other end of waterproof 12, the lead wire of circuit board 20 is led out through waterproof 12 and sealing glue port 102, and sealing glue is filled in sealing glue port 102. One side surface of the circuit board 20 is opposite to the light transmitting end 101, the other side surface of the circuit board 20 is opposite to the waterproof member 12, and the ground detection chip 30 is located on the side surface of the circuit board 20 opposite to the light transmitting end 101. Through the arrangement, the ground detection module 100 has good sealing performance, the waterproof and dustproof performance of the ground detection module 100 is improved, foreign matters such as external dust and water stain are prevented from entering the shell 11, the measurement work of the ground detection chip 30 is influenced, the ground detection module 100 can be applied to a severe working environment, and the service life of the ground detection module 100 is guaranteed.

With the above-described housing 11, the housing 11 includes the mount 111 and the cover 112 attached to the mount 111. The sealing opening 102 is disposed on the mounting seat 111, the sealing opening 102 penetrates through the mounting seat 111 along a height direction of the mounting seat 111, the waterproof member 12 is mounted on the mounting seat 111 and disposed around the sealing opening 102, the cover body 112 covers the waterproof member 12 and the ground detection chip 30 and is tightly fitted with a side surface of one end of the waterproof member 12 connected to the mounting seat 111, the sealing opening 102 is communicated with an inside of the cover body 112, and the light-transmitting end 101 is disposed at one end of the cover body 112 far away from the mounting seat 111. The sealing is further improved because the side of the end of flashing 12 is a close fit with cover 112.

In order to facilitate the assembly between the cover 112 and the mounting seat 111, the cover 112 is provided with a fastening slot 1121, the mounting seat 111 is provided with a fastening 1111, and the fastening 1111 is fastened to the fastening slot 1121, so that the cover 112 is fixed to the mounting seat 111. The fastening slot 1121 may be disposed on an inner side wall or an outer side wall of the cover 112, the buckle 1111 extends from the mounting seat 111 toward the cover 112, and the other end of the buckle 1111 is used for being fastened to the fastening slot 1121, and the buckle 1111 may be elastically bent relative to the mounting seat 111. The buckle 1111 and the card slot 1121 are arranged in pairs, and the number of pairs of the buckle 1111 and the card slot 1121 can be selected according to actual needs.

It will be appreciated that in some other embodiments, the cover 112 is provided with a snap and the mounting base 111 is provided with a snap slot, the snap being snapped into the snap slot so that the cover 112 is secured to the mounting base 111. The draw-in groove can set up in the lateral wall of mount pad 111 or wear to locate mount pad 111, and the buckle is extended from the cover body 112 towards the direction of mount pad 111 and is obtained, and the other end of buckle is used for the joint in the draw-in groove, and the buckle can take place elasticity relative to the cover body 112 and buckle.

It will be appreciated that in some other embodiments, the mounting seat 111 and the cover 112 may be fixed to each other by other connecting means, such as screws.

Optionally, the enclosure 112 is made of a transparent material.

In waterproof material 12 described above, waterproof material 12 is in a rectangular frustum shape, waterproof material 12 is provided with wire guide 1201, wire guide 1201 penetrates both ends of waterproof material 12, wire guide 1201 communicates with sealing compound port 102, waterproof material 12 is enclosed in one end of sealing compound port 102 close to cover body 112, and circuit board 20 is mounted on one end of wire guide 1201 remote from mounting base 111. Through the arrangement, the leads of the circuit board 20 can be orderly led out of the shell 10 through the wire guide 1201 and the glue sealing port 102, so that the wiring of the ground detection module 100 is reasonable, the circuit board 20 and the waterproof part 12 can be conveniently assembled, and the lead of the circuit board 20 and the waterproof part 12 are prevented from being assembled and interfered.

Further, waterproof part 12 is further provided with mounting groove 1020, mounting groove 1020 and circuit board 20 are adapted, mounting groove 1020 is located the one end that wire casing 1201 keeps away from mount pad 111, circuit board 20 is installed in mounting groove 1020, and seal the one end that wire casing 1201 keeps away from mount pad 111, wherein, circuit board 20 covers the one end that wire casing 1201 keeps away from mount pad 111 of locating, and the edge butt of circuit board 20 keeps away from the inside wall that mount pad 111 in wire casing 1201, thereby realize keeping away from the one end of mount pad 111 to wire casing 1201 and seal. One side surface of the circuit board 20 is opposite to the wire guide 1201, and the other side surface of the circuit board 20 is opposite to the light transmitting end 101. Through the arrangement, part of the sealant can be directly filled and sealed in the wire guide 1201 through the sealant sealing port 102, the sealant is prevented from directly flowing into the wire guide 1201 along the outer side wall of the waterproof part 12 or the inner side wall of the cover body 112, the ground detection chip 30 or the light transmission end 101 is shielded, and filling and sealing work is facilitated.

In the specific implementation process, the lead is firstly led out of the casing 10 through the wire guide 1201 and the sealing opening 102, then the lead is pulled to enable the circuit board 20 to be clamped in the installation groove 1020, one end, far away from the installation seat 111, of the wire guide 1201 is sealed, then the encapsulation treatment is carried out, the molten sealing glue enters the wire guide 1201 through the sealing opening 102 and flows to one side face, opposite to the wire guide 1201, of the circuit board 20, after the sealing glue is cooled, the sealing opening 102 is sealed by the sealing glue, the circuit board 20 is fixed in the installation groove 1020 of the waterproof part 12, and the lead after the encapsulation treatment is not prone to being torn off.

In order to prevent the detection light emitted by the emitter 31 from being reflected by the inner side wall of the end of the cover 112 close to the light transmitting end 101, the upper surface of the ground detection chip 30 is close to or attached to the inner surface of the light transmitting end 101, so that the detection light emitted by the emitter 31 can be directly emitted outwards through the light transmitting portion, and the inner surface of the light transmitting end 101 is prevented from reflecting the detection light emitted by the emitter 91.

In other embodiments, the upper surface of the ground sensing chip 30 is spaced apart from the inner surface of the transparent end 101, and the ground sensing chip 30 includes a transmitter 31 and a receiver 32. The ground inspection module further comprises a baffle piece, and the baffle piece is provided with a first light hole, a second light hole and a baffle part positioned between the first light hole and the second light hole. The internal surface of light-transmitting end is equipped with the recess, separates during shelves piece embedding recess, separates shelves portion and separates the shelves between transmitter and receiver, and first light trap corresponds the transmitter setting, and the second light trap corresponds the receiver setting. The barrier member may also serve to prevent the detection light emitted from the emitter 31 from being reflected.

To achieve a fixed connection of flashing 12 to mounting base 111, flashing 12 is provided with a first connecting portion 121, mounting base 111 is provided with a second connecting portion 1112, and first connecting portion 121 cooperates with second connecting portion 1112 such that flashing 12 is fixed to mounting base 111.

In this embodiment, first connection portion 121 is a connection column, the connection column extends from one end of waterproof member 12 close to mounting seat 111 toward mounting seat 111, second connection portion 1112 is a connection hole, the connection hole is disposed along the height direction of mounting seat 111, and the connection hole may be a through hole or a blind hole. The connecting column is inserted into the connecting hole, a step 1211 is arranged at one end, inserted into the connecting hole, of the connecting column, the step 1211 protrudes from the circumferential outer side wall of the connecting column, a step groove is formed in the connecting hole, the step groove extends outwards from the circumferential inner side wall of the connecting hole, the step 1211 abuts against the step groove, one end, close to the mounting seat 111, of the waterproof piece 12 abuts against the mounting seat 111, and therefore the waterproof piece 12 is fixed to the mounting seat 111. The number of the connecting columns corresponds to the number of the connecting holes, and the number of the connecting columns and the number of the connecting holes can be selected according to actual needs.

It is understood that, in some other embodiments, the first connecting portion 121 is a connecting hole, the second connecting portion 1112 is a connecting column, the connecting column is inserted into the connecting hole, and one end of the connecting column inserted into the connecting hole is provided with a step portion, the connecting hole is provided with a step groove, and the step portion abuts against the step groove, so that the waterproof member 12 is fixed to the mounting seat 111.

Optionally, the mounting seat 111 and the waterproof member 12 are integrally formed. The waterproof member 12 is made of a soft rubber material having a waterproof function, and the waterproof member 12 is integrally formed with the mounting base 111 by insert molding.

Optionally, the ground detection chip employs a proximity sensor LTR-553ALS-01 that provides the capability to detect objects within a user-configurable distance, supports interrupt functionality, and does not require polling sensor readings, thereby enhancing system functionality that facilitates false trigger occurrences. This proximity sensor has integrateed transmitter and receiver, and its SCL pin is connected with MCU's SCL pin, and its SDA pin is connected with MCU's SDA pin, and data transmission to MCU that will this proximity sensor gather through the SDA pin, and then MCU judges according to this data whether the robot is located can fall, and the control robot stops to advance.

The embodiment of the utility model provides a still provide a cleaning robot, cleaning robot include the robot main part and set up and examine module 100 in the ground of the bottom of robot main part, examine module 100 for the ground that above-mentioned embodiment provided should examine module 100, examine the distance that module 100 is used for detecting robot body and detection target with ground to judge whether stair structure appears on ground.

It is above only that the utility model discloses an embodiment is not consequently the restriction the utility model discloses a patent range, all utilize the utility model discloses the equivalent structure or the equivalent flow transform that the specification and the drawing were held and are done, or direct or indirect application is in other relevant technical field, all including on the same reason the utility model discloses a patent protection scope.

Claims

1. A ground detection module, comprising:

a housing having a light transmitting end;

a circuit board disposed within the housing;

2. The ground detection module of claim 1, wherein the housing comprises a shell and a waterproof member;

3. The ground detection module of claim 2, wherein the housing includes a mount and a cover mounted on the mount;

4. The floor inspection module of claim 3, wherein the flashing is provided with a first connection portion and the mounting base is provided with a second connection portion, the first connection portion and the second connection portion cooperating such that the flashing is secured to the mounting base.

5. The ground detection module of claim 4, wherein the first connecting portion is a connecting column, the second connecting portion is a connecting hole, the connecting column is inserted into the connecting hole, and a step portion is arranged at one end of the connecting column inserted into the connecting hole, the connecting hole is provided with a step groove, and the step portion abuts against the step groove, so that the waterproof member is fixed on the mounting seat.

6. The ground detection module of claim 5, wherein the mounting seat and the waterproof member are integrally formed.

7. The ground detection module of claim 3, wherein the waterproof member is provided with a wire guide groove, the wire guide groove is communicated with the glue sealing opening, and the circuit board is mounted at one end of the wire guide groove far away from the mounting seat.

8. The ground detection module of claim 7, wherein the waterproof member is further provided with a mounting groove, the mounting groove is located at an end of the wire guide away from the mounting seat, and the circuit board is mounted in the mounting groove.

9. The ground detection module of claim 1, 2 or 3, wherein the upper surface of the ground detection chip is close to or attached to the inner surface of the light-transmitting end.

10. The earth inspection module of claim 1, 2 or 3, wherein the upper surface of the earth inspection chip is spaced apart from the inner surface of the light-transmitting end, the earth inspection chip comprising the transmitter and the receiver;

11. The ground detection module of claim 3, wherein the cover body is provided with a clamping groove, and the mounting base is provided with a buckle which is buckled with the clamping groove, so that the cover body is fixed on the mounting base; or,

12. The ground inspection module of claim 3, wherein the enclosure is made of a transparent material.

13. The ground detection module of claim 2 or 3, wherein the waterproof member is made of a soft rubber material.

14. A cleaning robot, characterized by comprising:

the ground detection module is set at the bottom of the robot main body, and the ground detection module is set in any one of claims 1 to 13.