CN214055284U

CN214055284U - Self-moving robot

Info

Publication number: CN214055284U
Application number: CN202021158494.3U
Authority: CN
Inventors: 杨克厅; 刘亚; 班永; 王箭
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2021-08-27
Anticipated expiration: 2030-06-19

Abstract

The application provides a self-moving robot, includes: an optical assembly disposed on top of the self-moving robot; the voice acquisition assembly is arranged around the periphery of the optical assembly. The application provides a from mobile robot encircles in optical assembly's week side through setting up pronunciation collection assembly to save the space at complete machine top.

Description

Self-moving robot

Technical Field

The application relates to the technical field of intelligence, in particular to self-moving robot.

Background

Along with the upgrading of self-moving robot products, an AI function, a 3D map function, a voice recognition function, a visual navigation (V-slam) function and the like are added to the self-moving robot, the artificial intelligence of the products is higher and higher, and not only can video transmission be realized, but also voice conversation can be realized.

In the prior art, a voice collecting component of a self-moving robot comprises a plurality of microphones which are respectively arranged on the top of the self-moving robot and are independent from each other.

Disclosure of Invention

In view of this, the present application provides a self-moving robot to solve the technical defects in the prior art.

The embodiment of the application provides a from mobile robot, includes:

an optical assembly disposed on top of the self-moving robot;

the voice acquisition assembly is arranged around the periphery of the optical assembly.

Optionally, the optical assembly is a camera assembly with a circular structure, the voice collecting assembly includes a plurality of microphones, and the plurality of microphones are arranged in a circumferential array relative to an axis of the optical assembly.

Optionally, the self-moving robot further comprises: the fan subassembly, the fan subassembly set up in one side in the casing of self-moving robot, the pronunciation collection subassembly set up in keeping away from in the casing the top of the opposite side of fan subassembly.

Optionally, the self-moving robot further comprises:

a dirt box assembly disposed upstream of the fan assembly;

wherein, the fan subassembly with the pronunciation collection subassembly distributes in the both sides of dirt box subassembly.

Optionally, the voice capture component comprises:

the microphones are all connected to the circuit board;

the microphone is characterized in that the silencing foam is cotton, each microphone is correspondingly provided with silencing foam, the silencing foam is wrapped on the peripheral side of the microphone, the upper part of the silencing foam is contracted to form a sound pickup hole, and the sound pickup hole is aligned to the microphone.

Optionally, the self-moving robot further comprises:

the fixing cover is connected above each sound pickup hole;

the fixing base is connected in the shell of the self-moving robot, and the circuit board is fixedly connected on the fixing base.

Optionally, the voice collecting component further comprises: the waterproof sound-transmitting film is arranged between each sound pickup hole and the fixing cover, and the waterproof sound-transmitting film covers the sound pickup holes.

Optionally, the diameter of the sound pickup hole matches the diameter of a sound pickup portion formed on top of the microphone.

Optionally, the fixed cover is flush with a surface of an upper housing of the self-moving robot.

Optionally, a thickness of the fixed cover is less than a thickness of a housing of the self-moving robot.

Optionally, the voice collecting assemblies are symmetrically arranged along a transverse central axis of the self-moving robot.

Optionally, the annular diameter of the voice capture assembly is associated with a camera angle range of the optical assembly and an axis angle of a camera of the optical assembly.

Optionally, the number of the microphones is 6, and the 6 microphones are arranged in an annular array.

The embodiment of the application provides a from mobile robot, includes: the voice acquisition assembly is integrated into a whole and comprises a plurality of microphones which are annularly arranged, and the microphones are arranged at the top of the self-moving robot.

The application provides a from mobile robot encircles in optical assembly's week side through setting up pronunciation collection assembly to save the space at complete machine top.

And, through setting up the integrated integrative top that sets up in the casing from mobile robot of the microphone integration that a plurality of rings were arranged, compare with each microphone independent arrangement each other, better sound field signal can be gathered to the pronunciation collection assembly of this application, guarantees sound identification's accuracy.

Moreover, the voice acquisition assembly is arranged around the periphery of the optical assembly and arranged adjacently, so that the height of the self-moving robot is not increased, and a noise sound source far away from the self-moving robot can be realized, and a high-quality sound field signal optical assembly is ensured.

Secondly, a plurality of microphones are further arranged in a circumferential array relative to the axis of the optical assembly so as to ensure that a high-quality sound field signal is acquired.

Thirdly, noise reduction foam is arranged on the peripheral side of the microphone, so that the interference of an external noise source is reduced as much as possible in the process of collecting signals by the microphone; the shock absorption pad is arranged between the silencing foam and the circuit board, so that the shock resistance of the voice acquisition assembly is ensured; through set up waterproof sound-transmitting membrane between pickup hole and fixed lid to guarantee the waterproof nature of pronunciation collection subassembly.

In addition, because the fan assembly in the self-moving robot is the most main noise source, the fan assembly and the voice acquisition assembly are arranged on two sides of the self-moving robot respectively, so that the voice acquisition assembly is far away from the fan assembly as far as possible, and the influence of the noise source on the voice acquisition assembly is reduced as far as possible.

In addition, the voice acquisition assembly is symmetrically arranged along the transverse central axis of the self-moving robot, so that the accuracy of the voice acquisition assembly in recognizing the voice direction can be guaranteed.

Drawings

Fig. 1 is a first schematic structural diagram of a self-moving robot provided in this embodiment;

fig. 2 is a schematic structural diagram ii of the self-moving robot provided in this embodiment;

fig. 3 is a schematic structural diagram of a voice collecting component of the self-moving robot provided in this embodiment.

Reference numerals

11-edge brush assembly; 12-a roller brush assembly; 13-a dust box assembly; 14-a fan assembly;

15-a water tank assembly; 16-a left drive wheel assembly; 17-a right drive wheel assembly;

18-a universal wheel assembly; 19-an optical component;

20-a voice acquisition component;

21-a circuit board; 22-silencing foam; 23-a microphone; 24-a shock pad;

25-a fixed seat; 26-waterproof sound-transmitting membrane; 27-sound pickup hole; 28-fixed cover.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The terminology used in the description of the one or more embodiments is for the purpose of describing the particular embodiments only and is not intended to be limiting of the description of the one or more embodiments. As used in one or more embodiments of the present specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present specification refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first can also be referred to as a second and, similarly, a second can also be referred to as a first without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

Aiming at the technical defects that the voice acquisition component of the self-moving robot has inaccurate identification and cannot obtain high-quality sound field signals in the prior art, the application provides the self-moving robot, and the integrated voice acquisition component is arranged to enable a plurality of annularly arranged microphones to be integrally arranged at the top in the shell of the self-moving robot so as to ensure the accuracy of voice identification, and the technical defects are explained in detail one by one in the following embodiment.

First, the self-moving robot to which the present application relates is schematically explained. The self-moving robot can be various intelligent devices with cleaning functions, such as a sweeping robot with sweeping and cleaning functions, a cleaning robot with cleaning function, and the like. The self-moving robot is provided with sensors for following functions, such as a camera, a pulse radio (UWB) sensor and the like, and the sensors are matched with a proper algorithm to realize an effective and robust drawing establishing function.

The sensor includes various sensors such as a vision sensor, a laser ranging sensor, an infrared sensor, a laser sensor, a sound sensor, and the like. In this embodiment, sound collection is achieved by a sound sensor (hereinafter, a microphone).

More specifically, the number of the sound sensors may be plural, and the sound sensors may be all disposed on the top of the self-moving robot, so that a more accurate sound signal may be obtained, and a better sound field signal may be obtained.

In addition, the use scene of the self-moving robot for voice recognition in the present application includes the ground of the places such as the home, the market, the school, and the like, and may include the surfaces of various objects, for example, a flat board surface.

In the present application, various shapes of the self-moving robot are not limited, such as an oval shape, a circular shape, a convex polygon, and the like, and the self-moving robot may implement the method logic of controlling the motion of the self-moving robot by installing software, APP, or writing a program in a corresponding device inside the self-moving robot in a controller used in cooperation with the self-moving robot.

A complete self-moving robot integrates a plurality of functions, for example, a floor sweeping robot, such as a sweeping and mopping body, a large dust box, a large water tank, V-Slam intelligent navigation, Mic voice man-machine interaction and the like. Correspondingly, also for example, the sweeping robot includes: walking system, clean system and intelligent control system.

Specifically, referring to fig. 1 and 2, the walking system comprises a left driving wheel assembly 16, a right driving wheel assembly 17 and a universal wheel assembly 18, and the layout of the driving assemblies in the whole self-moving robot is always fixed and can be finely adjusted in a small space in order to ensure good movement characteristics of the whole self-moving robot.

The cleaning system includes an edge brush assembly 11, a roller brush assembly 12, a dirt box assembly 13, a fan assembly 14, a water tank assembly 15, and the like. The side brush assembly 11 includes a left side brush assembly 11 and a right side brush assembly 11, which are the first dust-generating functional module of the cleaning system, and are generally disposed in front of the whole machine. In order to ensure good cleaning efficiency of an existing sweeping robot, a cleaning system can seek a long rolling brush, a large fan, a large-capacity dust box and a large-capacity water tank as much as possible.

The intelligent control system mainly comprises a circuit control assembly, a navigation system, a voice recognition human-computer interaction system and the like. In order to minimize the height of the self-moving robot and the noise source far from the self-moving robot to ensure a good sound field signal, it is preferable to arrange the voice collecting unit 20 around the periphery of the optical unit 19 to save space. In order to ensure a good sound field, the voice collecting unit 20 must be installed on the upper surface of the self-moving robot and the diameter size of the voice collecting unit 20 is greater than 60 mm.

Specifically, the self-moving robot of the present embodiment includes: a voice capture assembly 20 and an optical assembly 19.

Specifically, the voice collecting assembly 20 is an integrated body and comprises a plurality of microphones 23 arranged in an annular shape, and the plurality of microphones 23 are arranged on the top of the shell of the self-moving robot.

The optical assembly 19 is disposed on the top of the self-moving robot, and the voice collecting assembly 20 is disposed around the peripheral side of the optical assembly 19, compared with the dispersed arrangement in which the voice collecting assemblies 20 are disposed respectively in the prior art, so that the arrangement space can be saved. Moreover, the plurality of microphones 23 of the voice acquisition assembly 20 are arranged around the periphery of the optical assembly 19, so that the design of appearance and modeling is facilitated.

Alternatively, the optical assembly 19 is a camera assembly having a circular configuration, and the plurality of microphones 23 are arranged in a circumferential array with respect to an axis of the camera assembly 19. In particular, the optical component may also have other shapes such as an oval or a rectangle. By arranging a plurality of microphones 23 in a circumferential array with respect to the axis of the optical assembly 19, a good quality sound field signal is ensured to be acquired. Alternatively, the optical assembly is a laser ranging assembly, and the plurality of microphones 23 are arranged in a circumferential array relative to the axis of the laser ranging assembly 19.

In this embodiment, the fan assembly 14 is disposed on one side of the housing of the mobile robot, and the voice collecting assembly 20 is disposed on the top of the other side of the housing away from the fan assembly 14. And, the self-moving robot further includes: a dirt box assembly 13 disposed upstream of the fan assembly 14. Wherein, the fan assembly 14 and the voice collecting assembly 20 are distributed at two sides of the dust box assembly 13.

In actual use, the fan assembly 14 of the self-moving robot is generally disposed at the rear side within the housing of the self-moving robot, and the optical assembly 19 is generally disposed at the front side within or on the housing of the self-moving robot. In order to minimize the height of the self-moving robot and the noise source far from the self-moving robot to ensure a good sound field signal, it is preferable to arrange the voice collecting unit 20 around the periphery of the optical unit 19 to save space.

On the contrary, because the fan assembly 14 and the dust box assembly 13 are uniformly arranged at the middle rear part of the self-moving robot, if the voice acquisition assembly 20 is arranged at the middle rear part of the center line of the whole machine, the whole height of the self-moving robot is increased without changing the volume of the dust box; for another example, if the voice capturing component 20 is placed at the middle rear part of the center line of the whole robot, the volume of the whole dust box is necessarily reduced without changing the height of the self-moving robot, which is not preferable in the whole design of the self-moving robot.

In addition, in order to ensure accuracy of recognizing a sound direction of the voice collecting assembly 20, the voice collecting assembly 20 is symmetrically disposed along a central axis in a lateral direction of the self-moving robot. Moreover, the voice acquisition assembly 20 is arranged in the center, so that the appearance attractiveness of the self-moving robot is guaranteed.

Optionally, since the voice capturing assembly 20 is disposed on the peripheral side of the optical assembly 19, the annular diameter of the voice capturing assembly 20 is related to the range of the shooting angle of the optical assembly 19 and the axis angle of the camera. Specifically, the larger the camera angle range of the optical assembly 19, the larger the ring diameter of the voice capturing assembly 20. The greater the angle of the camera axis to the vertical, the greater the annular diameter of the voice capture assembly 20.

In the design process, the minimum camera angle range of the optical assembly 19 is acquired as accurately as possible, so that the annular diameter of the voice acquisition assembly 20 can be minimized. Also, the angle of the axis of the camera to the vertical is taken as much as possible to accurately design the annular diameter of the voice capturing assembly 20.

It should be noted that the field of view (FOV) of the optical assembly 19 refers to the range that can be covered by the camera, and the object beyond this angle will not be received in the lens, usually expressed in terms of the angle, i.e. the range of the camera angle.

The following is a schematic description of the speech acquisition assembly 20 according to the present embodiment.

Referring to fig. 3, the self-moving robot further includes: a fixed cover 28 and a fixed seat 25, and the voice collecting assembly 20 of the present embodiment is fixed between the fixed cover 28 and the fixed seat 25.

Specifically, the voice collecting assembly 20 of the present embodiment includes: circuit board 21, amortization bubble cotton 22, shock pad 24 and waterproof sound-transmitting membrane 26.

Wherein, the fixing seat 25 is connected in the shell of the self-moving robot, and the circuit board 21 is fixedly connected on the fixing seat 25.

The microphones 23 are all connected to the circuit board 21, so that the sound signals collected by the mobile robot microphones 23 are converted into electric signals and transmitted to the processor of the mobile robot.

Each microphone 23 is correspondingly provided with a silencing foam 22, the silencing foam 22 covers the periphery of the microphone 23, the upper part of the silencing foam 22 is contracted to form a sound pickup hole 27, and the sound pickup hole 27 is aligned with the microphone 23. The fixing cover 28 is connected above each sound pickup hole 27 to fix the silencing foam 22. In the present embodiment, the fixing cover 28 is one large fixing cover, and the plurality of sound pickup holes 27 are commonly connected to the fixing cover 28.

Alternatively, the diameter of the sound pickup hole 27 is matched with the diameter of a sound pickup portion formed at the top of the microphone 23 to secure the sound pickup effect of the microphone 23.

The cushion 24 is disposed on the peripheral side of the sound deadening foam 22 and in the space between the sound deadening foam 22 and the wiring board 21.

Specifically, the shock absorbing pad 24 in this embodiment may be made of various materials, such as sponge, silica gel, etc., and the silica gel shock absorbing pad 24 is preferred in this embodiment to ensure the shock absorbing effect.

A waterproof sound-transmitting membrane 26 is provided between each sound pickup hole 27 and the fixing cover 28, and the waterproof sound-transmitting membrane 26 covers the sound pickup hole 27.

In the embodiment, the silencing foam 22 is arranged on the peripheral side of the microphone 23, so that the interference of an external noise source is reduced as much as possible in the process of acquiring signals by the microphone 23; the shock-proof performance of the voice acquisition component 20 is ensured by arranging the shock-absorbing pad 24 between the silencing foam 22 and the circuit board 21; the waterproof sound-transmitting membrane 26 is provided between the sound pickup hole 27 and the fixing cover 28 to ensure the waterproof property of the voice collecting assembly 20.

Optionally, the fixing cover 28 is detachably connected above the voice collecting assembly 20, and the fixing cover 28 is flush with the surface of the upper housing of the self-moving robot, so as to ensure the aesthetic appearance of the whole robot.

Optionally, the fixing cover 28 is detachably connected to the voice collecting assembly 20 by screws, so as to be conveniently disassembled and assembled.

Also, the thickness of the fixing cover 28 is smaller than that of the upper case of the self-moving robot so that the voice collecting assembly 20 is as close as possible to the surface of the self-moving robot.

In this embodiment, the number of the microphones 23 may be any, for example, 4, 6, 8, and the like, in this embodiment, it is preferable that the number of the microphones 23 is 6, and the 6 microphones 23 are arranged in an annular array, so that the arrangement space and the cost are saved while better sound field signals are acquired.

When installed, the voice capture assembly 20 is installed as follows:

1) adhering the waterproof breathable film to the silencing foam 22 to form a waterproof foam assembly;

2) sleeving the waterproof foam component on the microphone 23 to complete preliminary positioning;

3) sleeving a shock pad 24 on the waterproof foam component, and then mounting the whole component on the circuit board 21;

4) the voice collecting assembly 20 is pressed by the fixing cap 28 and then fixedly coupled by 3 screws to securely fix the voice collecting assembly 20 in the upper cap.

The application provides a from mobile robot encircles in optical component 19's week side through setting up pronunciation collection component 20 to save the space at complete machine top, and make things convenient for the appearance modeling design.

And, through setting up the pronunciation collection subassembly 20 that integrates, make the microphone 23 integration an organic whole that a plurality of rings were arranged set up in the top in the casing from mobile robot, arrange each microphone independently each other and compare, better sound field signal can be gathered to the pronunciation collection subassembly 20 of this application, guarantees sound identification's accuracy.

Moreover, the voice collecting assembly 20 is arranged around the optical assembly 19, so that the height of the self-moving robot is not increased, and a noise source far away from the self-moving robot can be realized, and a good sound field signal is ensured.

Secondly, a plurality of microphones 23 are further arranged in a circumferential array relative to the axis of the optical assembly 19 to ensure that a good quality sound field signal is collected.

Thirdly, the silencing foam 22 is arranged on the peripheral side of the microphone 23, so that the interference of an external noise source is reduced as much as possible in the process of acquiring signals by the microphone 23; the shock-proof performance of the voice acquisition component 20 is ensured by arranging the shock-absorbing pad 24 between the silencing foam 22 and the circuit board 21; the waterproof sound-transmitting membrane 26 is provided between the sound pickup hole 27 and the fixing cover 28 to ensure the waterproof property of the voice collecting assembly 20.

In addition, because the fan assembly 14 in the self-moving robot is the most important noise source, the fan assembly 14 and the voice acquisition assembly 20 are respectively arranged on two sides of the self-moving robot, so that the voice acquisition assembly 20 is far away from the fan assembly 14 as far as possible, and the influence of the noise source on the voice acquisition assembly 20 is reduced as far as possible.

In addition, through with pronunciation collection assembly 20 along the horizontal axis symmetry setting of self-moving robot, can guarantee the accuracy of pronunciation collection assembly 20's discernment sound direction.

Application scenario 1

Taking an automatic robot as an example of a sweeping robot, in the process of executing a sweeping task, the optical assembly adopts a laser ranging assembly to acquire distance information of each obstacle in a working environment, and voice man-machine interaction is performed through a plurality of microphones arranged on the peripheral side of the optical assembly. The microphones receive voice commands through the sound pickup holes and transmit the voice commands to the processor through the circuit board. The sound propagation direction can be identified through a plurality of microphones to control the whole machine motion logic.

For example:

and under the condition that the voice command of 'regression charging' is determined to be received, the sweeping robot plans a recharging path so as to control the sweeping robot to execute recharging tasks.

In the case where it is determined that the voice instruction of "cleaning" is received, the sweeping robot plans a cleaning route, and then performs cleaning of the floor surface based on the cleaning route.

And under the condition that the voice command of 'back-off' is determined to be received, the sweeping robot controls the driving wheel assembly to rotate reversely so as to realize the back-off of the sweeping robot.

Under the condition that the voice command of 'steering' is received, the sweeping robot controls the movement of the driving wheel assembly and the universal wheel assembly to realize the steering of the sweeping robot.

Application scenario 2

Taking an automatic robot as an example of a monitoring robot, in the process of executing a patrol task, the optical assembly adopts a camera assembly which acquires images of a working environment and collects external sound information through a plurality of microphones arranged on the peripheral sides of the optical assembly. The microphones receive voice commands through the sound pickup holes and transmit the voice commands to the processor through the circuit board. The sound propagation direction can be identified through a plurality of microphones to control the whole machine motion logic.

For example:

in the case where an external sound is collected, the self-moving robot aligns the camera with the sounding organism for determining whether the organism is an owner or a thief.

The embodiment also discloses a self-moving robot, including: the voice acquisition assembly is integrated into a whole and comprises a plurality of microphones which are annularly arranged, and the microphones are arranged at the top of the self-moving robot.

The self-moving robot that this embodiment provided, through the pronunciation collection subassembly that sets up integration, the microphone integration an organic whole that makes a plurality of rings arrange sets up in the top in self-moving robot's casing, and arrange independently each other with each microphone and compare, and the pronunciation collection subassembly of this application can gather better sound field signal, guarantees sound identification's accuracy.

Specifically, the arrangement positions of the microphones may be selected in various ways, for example, the microphones of the present embodiment may be arranged in a circumferential array with respect to the axis of the optical assembly arranged on the top of the self-moving robot, so as to save the arrangement space.

In addition, for the specific structure and mutual position of other components of the self-moving robot, and for the specific composition structure of the voice acquisition assembly, reference may be made to the description of the foregoing embodiments, and details are not described here.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.

In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. A self-moving robot, comprising:

an optical assembly disposed on top of the self-moving robot;

2. The self-propelled robot as recited in claim 1, wherein the optical assembly is a circular configuration of the camera assembly, and wherein the voice capture assembly comprises a plurality of microphones arranged in a circumferential array relative to an axis of the camera assembly.

3. The self-moving robot according to claim 1, further comprising:

the fan subassembly, the fan subassembly set up in one side in the casing of self-moving robot, the pronunciation collection subassembly set up in keeping away from in the casing the top of the opposite side of fan subassembly.

4. The self-moving robot according to claim 3, further comprising:

a dirt box assembly disposed upstream of the fan assembly;

5. The self-moving robot of claim 2, wherein the voice capture component comprises:

the microphones are all connected to the circuit board;

6. The self-moving robot of claim 5, further comprising:

the fixing cover is connected above each sound pickup hole;

7. The self-moving robot of claim 6, wherein the voice capture component further comprises:

the waterproof sound-transmitting film is arranged between each sound pickup hole and the fixing cover, and the waterproof sound-transmitting film covers the sound pickup holes.

8. The self-moving robot as claimed in claim 5, wherein the diameter of the sound pickup hole matches the diameter of a sound pickup portion formed on the top of the microphone.

9. The self-moving robot as claimed in claim 6, wherein the fixing cover is flush with a surface of an upper case of the self-moving robot.

10. The self-moving robot as claimed in claim 6, wherein a thickness of the fixed cover is smaller than a thickness of a housing of the self-moving robot.

11. The self-moving robot as claimed in claim 1, wherein the voice collecting assembly is symmetrically disposed along a transverse central axis of the self-moving robot.

12. The self-moving robot of claim 1, wherein an annular diameter of the voice capture assembly is associated with a camera angle range of the optical assembly and an axis angle of a camera of the optical assembly.

13. The self-moving robot as claimed in claim 2, wherein the number of said microphones is 6, and the 6 microphones are arranged in a circular array.

14. A self-moving robot, comprising:

an optical assembly disposed on top of the self-moving robot;

the voice acquisition assembly is integrated and arranged around the optical assembly; the voice acquisition assembly comprises a plurality of microphones which are annularly arranged, and the microphones are arranged at the top of the self-moving robot.