CN214906414U - Floor cleaning robot - Google Patents

Abstract

The present disclosure provides a floor cleaning robot, including a main body and a sensor assembly disposed at a bottom of the main body and used for detecting a floor condition, the sensor assembly including a circuit board on which a front carpet receiver, a cliff receiver, an infrared emitter and a rear carpet detector are sequentially arranged from front to rear, wherein an acute angle between the front carpet receiver and a horizontal plane is greater than an acute angle between the rear carpet receiver and the horizontal plane. The floor cleaning robot with the structure can receive the infrared signal sent by the infrared emitter through the front carpet receiver and the rear carpet detector in the walking process, and can identify the floor according to the received infrared signal, so that the carpet can be accurately identified, and further the floor cleaning robot can perform targeted cleaning operation on the carpet.

Description

Floor cleaning robot

Technical Field

The disclosure belongs to the technical field of cleaning equipment, and particularly provides a floor cleaning robot.

Background

The floor cleaning robot is a robot capable of automatically cleaning the floor, and mainly comprises a floor sweeping robot, a floor mopping robot, a sweeping, sucking and mopping integrated robot and the like.

The existing floor cleaning robot can not identify the floor usually in the process of cleaning the floor, so that the floor cleaning robot can adopt the same cleaning strategy to clean the floor, floor tiles, carpets and other floors allowing the floor cleaning robot to walk. However, in general, different floor surfaces require different cleaning strategies, for example, floor or floor tiles can be cleaned by a combination of sweeping, sucking and mopping strategies, while most carpets can only be cleaned by sucking strategies and cannot be cleaned by sweeping or mopping strategies.

Therefore, in order to prevent the carpet from being damaged and to enable the floor cleaning robot to perform an effective cleaning operation on the carpet, it is necessary to enable the floor cleaning robot to recognize the carpet, which is not recognized by the existing floor cleaning robot.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems in the prior art, that is, to solve the problem that the existing floor cleaning robot cannot identify the carpet, the present disclosure provides a floor cleaning robot, including a main machine and a sensor assembly disposed at the bottom of the main machine and used for detecting the floor condition, where the sensor assembly includes a circuit board on which a front carpet receiver, a cliff receiver, an infrared emitter and a rear carpet detector are sequentially arranged from front to rear, and an acute angle between the front carpet receiver and a horizontal plane is larger than an acute angle between the rear carpet receiver and the horizontal plane.

Optionally, the angle between the front carpet receiver and the rear carpet receiver is between 75 ° and 100 °.

Optionally, the distance between the aforementioned front and rear carpet receivers and the aforementioned main machine bottom surface is smaller than the distance between the aforementioned infrared transmitter and the aforementioned cliff receiver and the aforementioned main machine bottom surface.

Optionally, the bottom of the main body is provided with a driving wheel, and an axis of the driving wheel of the floor cleaning robot is located at the rear of the sensor assembly in a state where the floor cleaning robot is placed on the floor.

Optionally, the sensor assembly further includes a fixing bracket for fixing the circuit board and a housing for enclosing the circuit board, and the fixing bracket is provided with a separation structure for separating the front carpet receiver, the cliff receiver, the infrared emitter and the rear carpet detector; the housing is provided with a light-transmitting portion corresponding to the front carpet receiver, the cliff receiver, the infrared emitter, and the rear carpet detector.

Optionally, a convex lens corresponding to the rear carpet receiver is disposed on the light-transmitting portion.

Optionally, the housing is further provided with a light shielding portion corresponding to the partition structure, and the light shielding portion protrudes from the light-transmitting portion.

Optionally, the light-transmitting portion and the light-shielding portion are both disposed on a bottom wall of the housing, and the light-shielding portion protrudes from an outer side surface and an inner side surface of the bottom wall; one end of the fixed bracket, which is close to the bottom wall of the shell, is provided with a positioning groove; the part of the shading part protruding from the inner side surface of the bottom wall is embedded into the positioning groove to limit the movement of the fixed bracket relative to the shell.

Optionally, the bottom wall of the housing is V-shaped such that the axes of the light received or emitted by the front carpet receiver, the cliff receiver, the infrared emitter and the rear carpet detector are approximately perpendicular to their respective light-transmitting portions.

Optionally, an opening hole is formed in the circuit board, a limiting rib is arranged on the fixing support, and the limiting rib is inserted into the opening hole.

As can be appreciated by those skilled in the art, the floor cleaning robot of the present disclosure has at least the following advantages:

1. the sensor assembly is arranged at the bottom of the floor cleaning robot, and the infrared emitter, the front carpet receiver and the rear carpet detector are arranged on the sensor assembly, so that the front carpet receiver and the rear carpet detector can receive infrared signals emitted by the infrared emitter in the walking process of the floor cleaning robot, the floor cleaning robot identifies the floor according to the received infrared signals, the carpet can be accurately identified, and the floor cleaning robot can perform targeted cleaning operation on the carpet.

Further, by making the acute angle between the front carpet receiver and the horizontal plane larger than the acute angle between the rear carpet receiver and the horizontal plane, the infrared signal intensities received by the front carpet receiver and the rear carpet detector are different, so that the floor cleaning robot can identify the floor according to the difference of the infrared signal intensities to ensure the accuracy of identification. Compared with the technical means of identifying the ground by only one infrared signal received by the carpet receiver, the ground identification accuracy is improved by the two sensors of the front carpet receiver and the rear carpet detector to jointly identify the ground.

2. By setting the included angle between the front carpet receiver and the rear carpet receiver to be 75 ° to 100 °, the front carpet receiver and the rear carpet receiver can receive the infrared signal, and the difference between the received infrared signals is obvious enough (large enough) so that the floor cleaning robot can identify the floor through the difference.

3. By setting the distance between the front and rear carpet receivers and the bottom surface of the main unit to be smaller than the distance between the infrared transmitter and cliff receiver and the bottom surface of the main unit, the sensor assembly enables the ground cleaning robot to be detected in suspension, and also enables the front and rear carpet receivers to be close enough to the ground to receive stronger infrared signals.

4. By fixing the circuit board on the fixed support and arranging the separation structure on the fixed support, the four sensors can be separated from each other by the separation structure, so that the infrared signals sent by the infrared emitter are prevented from being received by the other three sensors before being projected to the ground, and wrong detection results are prevented.

5. Through set up the convex lens that corresponds with back carpet receiver on the printing opacity portion of shell for convex lens can make infrared signal converge back carpet receiver, with reinforcing carpet receiver's detectability.

Drawings

Preferred embodiments of the present disclosure are described below with reference to the accompanying drawings, in which:

FIG. 1 is a first isometric view of a floor cleaning robot in a preferred embodiment of the present disclosure;

FIG. 2 is a second isometric view of the floor cleaning robot in a preferred embodiment of the present disclosure;

FIG. 3 is an enlarged view of portion A of FIG. 2;

FIG. 4 is an exploded view of the sensor assembly in a preferred embodiment of the present disclosure;

FIG. 5 is an isometric view of a circuit board of the sensor assembly of FIG. 4;

FIG. 6 is a front view of a circuit board of the sensor assembly of FIG. 4;

FIG. 7 is an isometric view of the mounting bracket of the sensor assembly of FIG. 4;

FIG. 8 is an isometric view of the housing of the sensor assembly of FIG. 4;

fig. 9 is an isometric cross-sectional view of the housing of the sensor assembly of fig. 4.

List of reference numerals:

1. a host; 11. a drive wheel; 12. a cleaning roller;

2. a sensor assembly; 21. a circuit board; 211. a front carpet receiver; 212. a cliff receiver; 213. An infrared emitter; 214. a rear carpet detector; 215. an open pore; 22. fixing a bracket; 221. a partition structure; 222. positioning a groove; 223. limiting ribs; 23. a housing; 231. a light-transmitting portion; 2311. a convex lens; 232. a light shielding portion;

3. a collision plate;

4. a dust collecting box;

5. a mopping assembly.

Detailed Description

It should be understood by those skilled in the art that the embodiments described below are only preferred embodiments of the present disclosure, and do not mean that the present disclosure can be implemented only by the preferred embodiments, which are merely for explaining the technical principles of the present disclosure and are not intended to limit the scope of the present disclosure. All other embodiments that can be derived by one of ordinary skill in the art from the preferred embodiments provided by the disclosure without undue experimentation will still fall within the scope of the disclosure.

It should be noted that in the description of the present disclosure, the terms "center", "upper", "lower", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present disclosure, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through the communication between two elements. The specific meaning of the above terms in the present disclosure can be understood by those skilled in the art as appropriate.

As shown in fig. 1 to 5, the floor cleaning robot of the present disclosure includes a main body 1 and a sensor assembly 2 disposed at the bottom of the main body 1 and detecting a floor condition. The sensor assembly 2 comprises a circuit board 21 on which a front carpet receiver 211, a cliff receiver 212, an infrared emitter 213 and a rear carpet detector 214 are arranged in sequence from front to rear, wherein the acute angle α between the front carpet receiver 211 and the horizontal plane is larger than the acute angle β between the rear carpet receiver 214 and the horizontal plane.

During travel of the floor cleaning robot, infrared signals emitted by the infrared emitter 213 are projected onto the floor beneath the floor cleaning robot and then reflected to the front carpet receiver 211, cliff receiver 212 and rear carpet detector 214. If the cliff receiver 212 receives the infrared signal reflected by the ground, it is determined that the ground cleaning robot is not suspended and a fall situation does not occur. The front carpet receiver 211 and the rear carpet detector 214 are used together to detect whether a carpet is present under the cleaning robot. Specifically, the floor cleaning robot makes a difference between the infrared signals received by the front carpet receiver 211 and the rear carpet detector 214, and then determines whether or not a carpet is present under the floor cleaning robot based on the difference. The specific judgment principle will be described in detail later.

Based on the foregoing description, it can be understood by those skilled in the art that the floor cleaning robot having the above-mentioned structure of the present disclosure can receive the infrared signal emitted from the infrared emitter 213 through the front carpet receiver 211 and the rear carpet detector 214 during walking, and enable the floor cleaning robot to identify the floor according to the received infrared signal, so as to accurately identify the carpet, and further enable the floor cleaning robot to perform a targeted cleaning operation on the carpet.

The floor cleaning robot of the present disclosure will be described in detail with reference to the accompanying drawings in conjunction with preferred embodiments of the disclosure.

As shown in fig. 1 and 2, the main body 1 is provided with a driving wheel 11 for driving the floor cleaning robot to travel, and the main body 1 is further provided with a cleaning roller 12 for picking up foreign matters on the floor. The front side of the main body 1 is further provided with a collision plate 3, and the collision plate 3 is used for buffering the impact of the obstacle on the main body 1 when the floor cleaning robot collides with the obstacle. The main machine 1 is further provided with a dust collecting box 4 and a floor mopping assembly 5, wherein the dust collecting box 4 is used for containing foreign matters picked up by the cleaning roller 12, and the floor mopping assembly 5 is used for mopping the floor so as to realize the floor mopping operation of the floor cleaning robot.

It should be noted that other structures of the floor cleaning robot are the same as or common in the art, and therefore will not be described herein.

As shown in fig. 2 and 3, one sensor assembly 2 is disposed on each of the left and right sides of the main unit 1, and the two sensor assemblies 2 are plane-symmetric with respect to the central axis of the main unit 1. Further, under the state that ground cleaning robot was placed on subaerial, the axis of ground cleaning robot's drive wheel 11 was located the rear portion of sensor module 2 to sensor module 2 can in time survey and detect ground, falls when preventing that ground cleaning robot the place ahead from appearing the space that sinks.

As shown in fig. 4, the sensor module 2 includes a circuit board 21, a fixing bracket 22, and a housing 23, and the circuit board 21 is mounted to the fixing bracket 22 and then inserted together into the housing 23.

As shown in fig. 5 and 6, a front carpet receiver 211, a cliff receiver 212, an infrared emitter 213, and a rear carpet detector 214 are arranged on the circuit board 21 in this order from front to rear, wherein an acute angle α between the front carpet receiver 211 and a horizontal plane is larger than an acute angle β between the rear carpet receiver 214 and the horizontal plane. Preferably, the angle between the front carpet receiver 211 and the rear carpet receiver 214 is set between 75 ° and 100 °, such as 75 °, 80 °, 86 °, 93 °, 100 °, etc.

It should be noted that the angles between the sensors and each other or the ground in the present disclosure refer to the angles between the axes of the sensors emitting or receiving light (as shown by the dotted lines in fig. 6) and each other or the ground.

As will be understood by those skilled in the art, by setting the included angle between the front carpet receiver 211 and the rear carpet receiver 214 to be between 75 ° and 100 °, the front carpet receiver 211 and the rear carpet receiver 214 can receive the infrared signal, and the difference between the received infrared signals is sufficiently obvious (large enough) so that the floor cleaning robot can identify the floor by the difference.

As can be seen in fig. 5 and 6, the distance between the front and rear carpet receivers 211 and 214 and the bottom surface of the main unit 1 is smaller than the distance between the infrared transmitter 213 and cliff receiver 212 and the bottom surface of the main unit 1. So that the front and rear carpet receivers 211 and 214 are close enough to the floor to receive a stronger infrared signal.

With continued reference to fig. 5 and 6, the circuit board 21 is further provided with an opening hole 215, the opening hole 215 is matched with a limit rib 223 (shown in fig. 7) on the fixing bracket 22, and in a state where the circuit board 21 is mounted on the fixing bracket 22, the opening hole 215 is fitted with the limit rib 223 for fixing the circuit board 21 and the fixing bracket 22 together.

As shown in fig. 7, the fixing bracket 22 is provided with a partition structure 221, a positioning groove 222 and a limiting rib 223. Wherein the separating structure 221 is used to separate the front carpet receiver 211, the cliff receiver 212, the infrared transmitter 213 and the rear carpet detector 214, preventing infrared light emitted by the infrared transmitter 213 from being received by the front carpet receiver 211, the cliff receiver 212 and the rear carpet detector 214 before being projected out of the sensor assembly 2, affecting the detection result. In particular, partition structure 221 is a plurality of ribs disposed on mounting bracket 22 that form mounting bracket 22 with four cavities for receiving front carpet receiver 211, cliff receiver 212, infrared emitter 213, and rear carpet detector 214, respectively.

With continued reference to fig. 7, the positioning slot 222 is disposed at one end of the fixing bracket 2 near the bottom wall of the housing 23 and can be engaged with the light shielding portion 232 (shown in fig. 8 and 9) of the housing 23, so as to fix the fixing bracket 22 and the housing 23 together. In a state where the circuit board 21 is mounted on the fixing bracket 22, the stopper rib 223 is fitted to the opening hole 215 of the circuit board 21 for fixing the circuit board 21 and the fixing bracket 22 together.

As shown in fig. 8 and 9, a light-transmitting portion 231 corresponding to front carpet receiver 211, cliff receiver 212, infrared emitter 213, and rear carpet detector 214 is provided on housing 23, and specifically, light-transmitting portion 231 is formed on the bottom wall of housing 23. As can be seen from fig. 8 and 9, the bottom wall of the housing 23 is arranged in a V-shape such that the axes (dotted lines shown in fig. 6) of the light received or emitted by the front carpet receiver 211, the cliff receiver 212, the infrared emitter 213 and the rear carpet detector 214 are approximately perpendicular to their respective light-transmitting portions 231, so that the light received or emitted by the front carpet receiver 211, the cliff receiver 212, the infrared emitter 213 and the rear carpet detector 214 can be projected directly onto the ground or onto the front carpet receiver 211, the cliff receiver 212 and the rear carpet detector 214 after passing through the bottom wall of the housing 23, thereby avoiding refraction due to non-perpendicularity with the bottom wall of the housing 23 and reducing the intensity of the infrared signal.

With continued reference to fig. 8 and 9, the housing 23 is further provided with a light shielding portion 232 corresponding to the partition structure 221 on the fixing bracket 22, and the light shielding portion 232 protrudes from the light-transmitting portion 231. Specifically, the light shielding portions 232 protrude from the inner and outer side surfaces of the bottom wall of the housing 23. The portion of the light shielding portion 232 protruding from the inner side surface of the bottom wall of the housing 23 can be inserted into the positioning slot 222 on the fixing bracket 22 to limit the movement of the fixing bracket 22 relative to the housing 23, so as to isolate the four sensors from each other and prevent the infrared signals from being transmitted between the four sensors.

As shown in fig. 9, convex lenses 2311 are provided on the inner bottom wall of the housing 23 at positions corresponding to the front cliff receiver 212, the infrared transmitter 213, and the rear carpet detector 214, respectively. A convex lens 2311 corresponding to cliff receiver 212 is used to focus the infrared light reflected back to sensor assembly 2 onto cliff receiver 212 to enhance the intensity of the received infrared signal; a convex lens 2311 corresponding to the infrared emitter 213 is used for projecting the infrared emitter 213 onto the ground after diverging so as to ensure that the infrared emitter 213 is received by the other three sensors; a convex lens 2311 corresponding to the rear carpet detector 214 is used to focus the infrared light reflected back to the sensor assembly 2 to the rear carpet detector 214 to enhance the intensity of the received infrared signal.

As can be seen in fig. 6, infrared light projected onto the ground by infrared emitter 213 is reflected in reflection to front cliff receiver 212, is not reflected in reflection to rear carpet detector 214, and is only reflected in diffuse reflection to rear carpet detector 214. Thus, the front cliff receiver 212 receives an infrared signal having a greater intensity than the rear carpet detector 214. Further, since surfaces of different materials (e.g., floor, tile, carpet, etc.) absorb and reflect infrared signals differently, the infrared signals received by front cliff receiver 212 and rear carpet detector 214 are also different, and the difference between the infrared signals received by front cliff receiver 212 and rear carpet detector 214 is also different. Therefore, the detection of the carpet is achieved by subtracting the infrared signals received by the front carpet receiver 211 and the rear carpet detector 214 and then determining whether the carpet is detected under the floor cleaning robot based on the difference. Further, whether a carpet is present under the floor cleaning robot can be comprehensively judged according to the intensity of the infrared signal received by the front carpet receiver 211 and/or the rear carpet detector 214, so as to improve the accuracy of carpet detection.

Based on the foregoing description, those skilled in the art will appreciate that the present disclosure receives the infrared signal from the infrared transmitter 213 through the front carpet receiver 211 and the rear carpet detector 214, and enables the floor cleaning robot to identify the floor according to the received infrared signal, so as to accurately identify the carpet, and further enable the floor cleaning robot to perform a targeted cleaning operation on the carpet.

So far, the technical solutions of the present disclosure have been described in connection with the foregoing embodiments, but it is easily understood by those skilled in the art that the scope of the present disclosure is not limited to only these specific embodiments. The technical solutions in the above embodiments can be split and combined, and equivalent changes or substitutions can be made on related technical features by those skilled in the art without departing from the technical principles of the present disclosure, and any changes, equivalents, improvements, and the like made within the technical concept and/or technical principles of the present disclosure will fall within the protection scope of the present disclosure.

Claims (10)

1. A floor cleaning robot, comprising a main body and a sensor assembly arranged at the bottom of the main body and used for detecting the floor condition, characterized in that the sensor assembly comprises a circuit board on which a front carpet receiver, a cliff receiver, an infrared emitter and a rear carpet detector are sequentially arranged from front to rear, wherein the acute angle between the front carpet receiver and the horizontal plane is larger than the acute angle between the rear carpet receiver and the horizontal plane.

2. A floor cleaning robot as claimed in claim 1, wherein the angle between the front and rear carpet receivers is between 75 ° and 100 °.

3. The floor cleaning robot of claim 1, wherein a distance between the front and rear carpet receivers and the floor of the host is less than a distance between the infrared transmitter and the cliff receiver and the floor of the host.

4. The floor cleaning robot of claim 1, wherein the bottom of the main machine is provided with drive wheels, and an axis of the drive wheels of the floor cleaning robot is located at a rear portion of the sensor assembly in a state where the floor cleaning robot is placed on the floor.

5. A floor cleaning robot as claimed in any one of claims 1-4, characterized in that the sensor assembly further comprises a fixing bracket for fixing the circuit board and a housing for enclosing the circuit board,

a separation structure for separating the front carpet receiver, the cliff receiver, the infrared emitter and the rear carpet detector is arranged on the fixed bracket;

light-transmitting portions corresponding to the front carpet receiver, the cliff receiver, the infrared transmitter, and the rear carpet detector are provided on the housing.

6. The floor cleaning robot of claim 5, wherein the light transmissive portion has a convex lens disposed thereon corresponding to the rear carpet receiver.

7. The floor cleaning robot of claim 5, wherein the housing further comprises a light blocking portion corresponding to the partition structure, the light blocking portion protruding from the light-transmitting portion.

8. The floor cleaning robot of claim 7, wherein the light-transmissive portion and the light-blocking portion are both disposed on a bottom wall of the housing, the light-blocking portion protruding from an outer side surface and an inner side surface of the bottom wall;

one end of the fixed bracket, which is close to the bottom wall of the shell, is provided with a positioning groove;

the part of the shading part protruding out of the inner side surface of the bottom wall is embedded into the positioning groove so as to limit the movement of the fixed support relative to the shell.

9. The floor cleaning robot of claim 5, wherein a bottom wall of the housing is arranged in a V-shape such that an axis of light received or emitted by the front carpet receiver, the cliff receiver, the infrared emitter, and the rear carpet detector is approximately perpendicular to their respective light-transmissive portions.

10. A floor cleaning robot as claimed in claim 5, wherein the circuit board is provided with an open hole, and the fixing bracket is provided with a limiting rib, which is inserted into the open hole.

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