CN215457664U - Floor sweeping robot - Google Patents

Abstract

The utility model discloses a sweeping robot. The robot of sweeping the floor includes that casing and TOF keep away the barrier module. The shell comprises a body and a collision piece, wherein the collision piece is movably arranged on the body, and a light-transmitting part is formed on the collision piece. The barrier module is kept away to TOF accepts in the casing, and the barrier module is kept away to TOF includes support, circuit board, light projection unit and light receiving device, and support detachably installs on the body, and the circuit board is installed on the support, and light projection unit and light receiving device all set up on the support and corresponding with printing opacity portion, and light projection unit can see through printing opacity portion to target object emission light, and light receiving device can see through printing opacity portion and receive the light of target object reflection. In this application embodiment, light projection device, light receiving arrangement correspond with the cooperation of printing opacity portion and set up and can make the robot of sweeping the floor keep away the barrier according to the degree of depth information that light receiving arrangement received, simultaneously, keep away the barrier module with TOF and set up can effectually keep away the barrier module to TOF inside the casing and protect.

Description

Floor sweeping robot

Technical Field

The application relates to the technical field of sweeping robots, in particular to a sweeping robot.

Background

The floor sweeping robot is an intelligent cleaning machine, and can help a user clean the ground so as to reduce the labor intensity of the user. The robot is easy to collide with obstacles during the working and advancing process of the robot, so that how to realize the obstacle avoidance function of the robot becomes the technical problem of research of technicians.

SUMMERY OF THE UTILITY MODEL

The application provides a robot of sweeping floor.

The floor sweeping robot comprises a shell and a TOF obstacle avoidance module, wherein the shell comprises a body and a collision piece, the collision piece is movably arranged on the body, and a light transmission part is formed on the collision piece; the barrier module is kept away to TOF accepts in the casing, the barrier module is kept away to TOF includes support, circuit board, light projection unit and light receiving device, support detachably installs on the body, the circuit board is installed on the support, light projection unit with light receiving device all sets up on the support and with the circuit board electricity is connected, light projection unit with light receiving device with the printing opacity portion is corresponding, light projection unit can see through printing opacity portion is to target object transmission light, light receiving device can see through printing opacity portion receives the light of target object reflection.

In the robot of sweeping floor of this application embodiment, be formed with the printing opacity portion on the collision piece, barrier module is kept away including the support to TOF, light projection unit and light receiving device, and support detachably installs on the body of casing, and light projection unit and light receiving device all set up on the support and corresponding with the printing opacity portion, and light projection unit can see through printing opacity portion to target object transmission detection light, and light receiving device can see through the reflective detection light of printing opacity portion reception target object. So, light projection device, light receiving device correspond with the cooperation of printing opacity portion and set up and can be so that the robot of sweeping the floor can keep away the barrier according to the degree of depth information that light receiving device received, simultaneously, keep away the barrier module with TOF and set up can effectually keep away the barrier module to TOF inside the casing and protect.

In some embodiments, the light-transmitting portion is a through hole formed in the collision member, and the TOF obstacle avoidance module is accommodated in the housing and exposed from the through hole.

In some embodiments, the bracket is formed with a first mounting cavity and a second mounting cavity, the first mounting cavity and the second mounting cavity are separated by a first partition, the light projecting device is mounted in the first mounting cavity, and the light receiving device is mounted in the second mounting cavity.

In some embodiments, the first installation cavity comprises a first cavity and a second cavity which are arranged at intervals, the first cavity and the second cavity are separated by a second partition plate, the light projection device comprises a first light source and a second light source, the first light source is arranged in the first cavity, and the second light source is arranged in the second cavity;

the second installation cavity comprises a third cavity and a fourth cavity which are arranged at intervals, the third cavity and the fourth cavity are separated by a third partition plate, the light receiving device comprises a first light receiver and a second light receiver, the first light receiver is arranged in the third cavity, and the second light receiver is arranged in the fourth cavity;

the first light receiver is used for receiving the light emitted by the first light source and reflected by the target object, and the second light receiver is used for receiving the light emitted by the second light source and reflected by the target object.

In some embodiments, the bracket is formed with a first light hole communicating with the first chamber and a second light hole communicating with the second chamber, the first light source corresponds to the first light hole and emits light through the first light hole, and the second light source emits light through the second light hole.

In some embodiments, the TOF obstacle avoidance module further includes a first lens and a second lens, the first lens is installed at the first light through hole, and the second lens is installed at the second light through hole.

In some embodiments, the bracket further forms a third light through hole communicating with the third chamber and a fourth light through hole communicating with the fourth chamber, the first light receiver corresponds to the third light through hole and receives light through the third light through hole, and the second light receiver receives light through the fourth light through hole.

In some embodiments, the TOF obstacle avoidance module further includes a third lens and a fourth lens, the third lens is installed at the third through hole, and the fourth lens is installed at the fourth through hole.

In some embodiments, a first step hole is formed in the first chamber, the first step hole including a first step surface, the first light source including a first substrate mounted in the first step hole and abutting the first step surface, and a first light emitter disposed on the first substrate, the first light emitter protruding out of the first step hole; and/or

The second cavity is internally provided with a second stepped hole which comprises a second stepped surface, the second light source comprises a second base body and a second luminous body arranged on the second base body, the second base body is arranged in the second stepped hole and supported against the second stepped surface, and the second luminous body extends out of the second stepped hole.

In some embodiments, the TOF obstacle avoidance module further comprises a light-transmitting protective cover, the light-transmitting protective cover covers the support, the light-transmitting protective cover can transmit light, and the light-receiving device can transmit the light-transmitting protective cover to receive light.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a sweeping robot according to an embodiment of the present application;

fig. 2 is an exploded schematic view of a sweeping robot according to an embodiment of the present application;

fig. 3 is a schematic perspective view of a TOF obstacle avoidance module according to an embodiment of the present disclosure;

fig. 4 is an exploded structural schematic diagram of a TOF obstacle avoidance module according to an embodiment of the present disclosure;

fig. 5 is a schematic partial plan view of a TOF obstacle avoidance module according to an embodiment of the present disclosure;

FIG. 6 is a schematic cross-sectional view of the TOF obstacle avoidance module of FIG. 5 taken along line A-A;

fig. 7 is a schematic cross-sectional view of the TOF obstacle avoidance module of fig. 5 taken along line B-B.

Description of the main element symbols:

the cleaning robot 1000, the housing 200, the body 21, the collision member 22, the light-transmitting portion 221, the TOF obstacle avoidance module 100, the support 10, the first mounting cavity 11, the first chamber 111, the first light-transmitting hole 1111, the second chamber 112, the second light-transmitting hole 1121, the second partition 113, the second mounting cavity 12, the third chamber 121, the third light-transmitting hole 1211, the fourth chamber 122, the fourth light-transmitting hole 1221, the third partition 123, the first partition 13, the first stepped hole 14, the first stepped surface 141, the second stepped hole 15, the second stepped surface 151, the circuit board 20, the light projection device 30, the first light source 31, the first base 311, the first light emitter 312, the second light source 32, the second base 321, the second light emitter 322, the light receiving device 40, the first light receiver 41, the second light receiver 42, the cover 50, and the light-transmitting protective cover 60.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, while various specific examples of processes and materials are provided herein, one of ordinary skill in the art will recognize that other processes may be used and/or other materials may be used.

Referring to fig. 1 to 5, a sweeping robot 1000 is provided in an embodiment of the present disclosure. The sweeping robot 1000 includes a housing 200 and a TOF obstacle avoidance module 100. The housing 200 includes a main body 21 and a striker 22, the striker 22 is movably mounted on the main body 21, and a light-transmitting portion 221 is formed on the striker 22.

The TOF obstacle avoidance module 100 is housed in a housing 200. The TOF obstacle avoidance module 100 comprises a support 10, a circuit board 20, a light projection device 30 and a light receiving device 40, wherein the support 10 is detachably mounted on the body 21, the circuit board 20 is mounted on the support 10, and the light projection device 30 and the light receiving device 40 are both arranged on the support 10 and electrically connected with the circuit board 20. The light projecting device 30 and the light receiving device 40 correspond to the light transmitting portion 221, and the light projecting device 30 can emit light toward the target object through the light transmitting portion 221, and the light receiving device 40 can receive light reflected by the target object through the light transmitting portion 221.

In the sweeping robot 1000 in the embodiment of the present application, the light-transmitting portion 221 is formed on the collision member 22, the TOF obstacle avoidance module 100 includes the support 10, the light projection device 30 and the light receiving device 40, the support 10 is detachably mounted on the body 21 of the housing 200, the light projection device 30 and the light receiving device 40 are both disposed on the support 10 and correspond to the light-transmitting portion 221, the light projection device 30 can transmit the detection light to the target object through the light-transmitting portion 221, and the light receiving device 40 can receive the detection light reflected by the target object through the light-transmitting portion 221. Therefore, the light projection device 30, the light receiving device 40 and the light transmission part 221 are correspondingly arranged in a matched manner, so that the sweeping robot 1000 can avoid obstacles according to the depth information received by the light receiving device 40, and meanwhile, the TOF obstacle avoiding module 100 is arranged inside the shell 200, so that the TOF obstacle avoiding module 100 can be effectively protected.

Specifically, the floor sweeping robot 1000 is an intelligent household appliance, and can automatically complete the cleaning work of the floor in a room. The housing 200 can protect the sweeping robot 1000, and the interior of the housing 200 can be used for installing a plurality of components of the sweeping robot 1000. Further, a plurality of components of the sweeping robot 1000 are mounted on the body 21.

As shown in fig. 2, the collision member 22 may be disposed at the front of the sweeping robot 1000, and it should be noted that the front may be at one side of the forward direction of the sweeping robot 1000 in the working state. The collision member 22 may be made of a hard plastic material, and may have a certain collision resistance. A certain buffer space can be reserved between the collision piece 22 and the body 21, and the buffer space can effectively reduce the vibration generated on the body 21 when the sweeping robot 1000 collides, so that the looseness of the internal parts of the sweeping robot 1000 due to severe vibration is prevented, and the service life of the sweeping robot 1000 is prolonged. The TOF obstacle avoidance module 100 can achieve the function of avoiding obstacles of the cleaning robot 1000 through the light-transmitting part 221 on the collision member 22.

The TOF obstacle avoidance module 100 can be a TOF camera using TOF (Time-Of-Flight) technology, the TOF camera generally can include a TOF light projection structure (i.e., the light projection device 30 in this application) and a light receiving structure (i.e., the light receiving device 40 in this application), light emitted by the TOF light projection structure is projected onto a target object, the light receiving structure receives light reflected by the target object, the distance between each point on the surface Of the target object and the TOF camera can be calculated according to the Time length Of light round trip and the Flight speed Of light fixation, so that depth information can be obtained, and the sweeping robot 1000 can avoid obstacles according to the depth information.

In the embodiment of the application, the TOF obstacle avoidance module 100 may also be disposed in the front of the sweeping robot 1000, and it should be noted that the TOF obstacle avoidance module 100 needs to be disposed inside the collision member 22, that is, the collision member 22 covers the outside of the TOF obstacle avoidance module 100, so that the collision member 22 can protect the TOF obstacle avoidance module 100 to a certain extent. The light projecting device 30 may include an infrared light emitter for emitting infrared light, and the light receiving device 40 may include an infrared light receiver for receiving infrared light. The light projecting device 30 emits light to the target object through the light-transmitting portion 221 on the collision member 22, the light reflected by the target object passes back through the light-transmitting portion 221 to be projected on the light receiving device 40, and depth analysis is performed according to the reflected light received by the light receiving device 40, so that obstacle information in front of the cleaning robot 1000 can be obtained, and avoidance can be performed in advance.

As shown in fig. 3 and 4, the bracket 10 is used to mount and fix each component in the TOF obstacle avoidance module 100. The light projection device 30 and the light receiving device 40 are both installed inside the frame 10, and the light receiving device 40 and the light projection device 30 are both facing the forward direction of the cleaning robot 1000. The circuit board 20 is mounted on the rear side of the support 10, which may be the side opposite to the forward direction of the sweeping robot 1000.

The circuit board 20 may be configured as a plate-shaped structure, and can be electrically connected to each component in the TOF obstacle avoidance module 100. The size of the circuit board 20 may be the same as the size of the rear side of the cradle 10, i.e., to cover the rear side of the cradle 10. The circuit board 20 may have a positioning hole, and correspondingly, the support 10 may have a positioning post matching with the positioning hole.

Thus, the circuit board 20 and the support 10 can be positioned and connected through the positioning holes and the positioning columns, and further the circuit board 20 and the support 10 are fixed. The locating hole can be seted up a plurality ofly, and the reference column corresponds each other with the action is empty. In the embodiment of the present application, the fixing manner of the circuit board 20 and the bracket 10 is not particularly limited.

Referring to fig. 2, in some embodiments, a plurality of TOF obstacle avoidance modules 100 may be disposed in the housing 200 at regular intervals along the circumferential direction of the housing 200.

Therefore, the plurality of TOF obstacle avoidance modules 100 can detect the peripheral situation of the sweeping robot 1000 in a wider range, so that the ability of the sweeping robot 1000 to avoid obstacles is improved, and cleaning work can be better performed.

Specifically, the shape of the sweeping robot 1000 is substantially circular, a plurality of TOF obstacle avoidance modules 100 can be arranged on the housing at intervals along the circumferential direction, and the TOF obstacle avoidance modules 100 can be arranged in 2, 3, 4, and the like. For example, the TOF obstacle avoidance module 100 may be set to be 2, and 2 TOF obstacle avoidance modules 100 are symmetrically arranged on two sides of the right front of the sweeping robot 1000, and the TOF obstacle avoidance module 100 can determine the obstacle condition of the sweeping robot 1000 in the forward direction. The TOF obstacle avoidance module 100 can be set to 3, one of them sets up in the dead ahead of robot 1000 of sweeping the floor, and two other symmetry sets up respectively in the both sides of robot 1000 of sweeping the floor, and the TOF obstacle avoidance module 100 can be confirmed the place ahead of robot 1000 of sweeping the floor and the obstacle condition of both sides. Obstacle module 100 can be kept away to TOF and set up to 4, and 4 TOF keeps away obstacle module 100 and can set up at four directions of sweeping the floor robot 1000 all around at even interval, and obstacle module 100 can be kept away to TOF can confirm the obstacle condition homoenergetic all around of sweeping the floor robot 1000. The number of the TOF obstacle avoidance modules 100 is not specifically limited in the embodiment of the application, and the number of the TOF obstacle avoidance modules 100 can be further determined according to the working environment of the sweeping robot 1000.

Referring to fig. 1 and 2, in some embodiments, the transparent portion 221 is a through hole formed in the collision member 22, and the TOF obstacle avoidance module 100 is accommodated in the housing 200 and exposed from the through hole.

In this way, the TOF obstacle avoidance module 100 can transmit and receive signals through the light-transmitting portion 221 on the collision member 22, and further detect the surrounding environment of the sweeping robot 1000.

Specifically, the light-transmitting portion 221 may be a through hole penetrating the collision member 22. The positions of the through holes on the collision member 22 correspond to the positions and the number of the TOF obstacle avoidance modules 100. In another embodiment, the light-transmitting portion 221 may be a lens, a glass, a light-transmitting plastic product, or the like, which can transmit light. Thus, the light-transmitting portion 221 can protect the TOF obstacle avoidance module 100 while being capable of transmitting light, for example, external dust or foreign matter can be prevented from falling on the TOF obstacle avoidance module 100. The size and shape of the light-transmitting portion 221 are not particularly limited in the present embodiment, so that the light projection device 30 can transmit light through the light-transmitting portion 221 and the light receiving device 40 can receive reflected light.

Referring to fig. 5 to 7, in some embodiments, the bracket 10 is formed with a first mounting cavity 11 and a second mounting cavity 12, the first mounting cavity 11 and the second mounting cavity 12 are separated by a first partition 13, the light projection device 30 is mounted in the first mounting cavity 11, and the light reception device 40 is mounted in the second mounting cavity 12.

Thus, the light projection device 30 and the light receiving device 40 are separated by the first partition plate 13, so that light rays emitted by the light projection device 30 are prevented from being directly received by the light receiving device 40, and the detection of the TOF obstacle avoidance module 100 on the surrounding environment of the sweeping robot 1000 is prevented from being influenced.

Specifically, the bracket 10 may be regarded as a rectangular parallelepiped frame, and the inside of the bracket 10 has an accommodating space. The first partition 13 is transversely disposed inside the bracket 10, and divides the accommodating space into two parts, and the two parts separated from top to bottom in the bracket 10 can be the first installation cavity 11 and the second installation cavity 12 respectively. The first installation cavity 11 is used for installing the light projection device 30, and the second installation cavity 12 is used for installing the light receiving device 40, so that the space of the first installation cavity 11 is smaller than that of the second installation cavity 12, the area of the light receiving device 40 can be larger, and the detection range of the sweeping robot 1000 to the outside is larger.

Referring to fig. 5-7, in some embodiments, the first installation cavity 11 includes a first chamber 111 and a second chamber 112 that are spaced apart from each other, the first chamber 111 and the second chamber 112 are separated by a second partition 113, the light projection device 30 includes a first light source 31 and a second light source 32, the first light source 31 is disposed in the first chamber 111, and the second light source 32 is disposed in the second chamber 112;

the second installation cavity 12 comprises a third cavity 121 and a fourth cavity 122 which are arranged at intervals, the third cavity 121 and the fourth cavity 122 are separated by a third partition 123, the light receiving device 40 comprises a first light receiver 41 and a second light receiver 42, the first light receiver 41 is arranged in the third cavity 121, and the second light receiver 42 is arranged in the fourth cavity 122;

the first light receiver 41 is used for receiving the light emitted by the first light source 31 and reflected by the target object, and the second light receiver 42 is used for receiving the light emitted by the second light source 32 and reflected by the target object.

In this way, the first and second chambers 111 and 112 are disposed such that the first and second light sources 31 and 32 are separated from each other, and light emitted from the first and second light sources 31 and 32 is prevented from interfering with each other. The third chamber 121 and the fourth chamber 122 are disposed such that the first light receiver 41 receives the reflected light of the light emitted from the first light source 31 alone, and the second light receiver 42 receives the reflected light of the light emitted from the second light source 32 alone.

Specifically, the optical axes of the first light source 31 and the second light source 32 may be disposed at an angle, and the optical axes may be central axes of the light rays emitted from the first light source 31 and the second light source 32. For example, the included angle between the optical axes of the first light source 31 and the second light source 32 is 60 °; the optical axis included angle between the first light source 31 and the second light source 32 is 90 °. Therefore, the first light source 31 and the second light source 32 emit light rays in a crossed manner, so that the area of light rays scanned is larger, the number of the TOF obstacle avoidance modules 100 can be reduced, and the cost is saved.

The second barrier 113 may be disposed in a "V" shape, and a specific angle of the "V" shape may correspond to an included angle between optical axes of the first light source 31 and the second light source 32. The angle between the optical axes of the first light source 31 and the second light source 32 is not particularly limited. The first light source 31 and the second light source 32 may be supported against the second barrier 113 to be fixed.

The third partition plate 123 may be provided as a flat plate structure, and the third partition plate 123 may be vertically provided in the second mounting cavity 12 and equally divide the second mounting cavity 12 into two parts, i.e., the third chamber 121 and the fourth chamber 122.

Referring to fig. 5 and 6, in some embodiments, the bracket 10 is formed with a first light passing hole 1111 communicating with the first chamber 111 and a second light passing hole 1121 communicating with the second chamber 112, the first light source 31 corresponds to the first light passing hole 1111 and emits light through the first light passing hole 1111, and the second light source 32 emits light through the second light passing hole 1121.

In this way, the light emitted by the first light source 31 and the light emitted by the second light source 32 can pass through the first light passing hole 1111 and the second light passing hole 1121 respectively, and then pass through the light passing part 221 on the collision member 22 to perform the detection of the surrounding environment of the cleaning robot 1000.

Specifically, the first light passing hole 1111 and the second light passing hole 1121 respectively penetrate through the first chamber 111 and the second chamber 112, and the first light passing hole 1111 and the second light passing hole 1121 are arranged at intervals. The first light passing hole 1111 is disposed on a side of the first cavity 111 facing the collision member 22, and the second light passing hole 1121 is disposed on a side of the second cavity 112 facing the collision member 22.

Referring to fig. 5 and fig. 6, in some embodiments, the TOF obstacle avoidance module 100 further includes a first lens (not shown) and a second lens (not shown), the first lens is installed at the first light passing hole 1111, and the second lens is installed at the second light passing hole 1121.

In this way, the first and second lenses can diffuse the light emitted from the first and second light sources 31 and 32, so that the irradiation area of the light is wider.

Specifically, the shapes of the first lens and the second lens may be matched with the first light passing hole 1111 and the second light passing hole 1121. The first lens and the second lens can be collimating lenses, a diffuser can be arranged in front of the collimating lenses, the collimating lenses are used for collimating the light rays, and the collimated light rays can be emitted in a divergent mode after penetrating through the diffuser, so that the irradiation area of the light source is enlarged.

Referring to fig. 5 and 7, in some embodiments, the bracket 10 further forms a third light hole 1211 communicating with the third chamber 121 and a fourth light hole 1221 communicating with the fourth chamber 122, the first light receiver 41 corresponds to the third light hole 1211 and receives light through the third light hole 1211, and the second light receiver 42 receives light through the fourth light hole 1221.

In this way, the reflected light of the first light source 31 and the second light source 32 reflected by the object may first pass through the light-transmitting portion 221 of the collision member 22, and then respectively pass through the third light-passing hole 1211 and the fourth light-passing hole 1221 to be mapped on the first light receiver 41 and the second light receiver 42.

Specifically, the third light passing hole 1211 and the fourth light passing hole 1221 respectively penetrate through the third chamber 121 and the fourth chamber 122, and the third light passing hole 1211 and the fourth light passing hole 1221 are arranged at intervals. The third light-passing hole 1211 is provided on the side of the third chamber 121 facing the collision member 22, and the fourth light-passing hole 1221 is provided on the side of the fourth chamber 122 facing the collision member 22.

Referring to fig. 5 and 7, in some embodiments, the TOF obstacle avoidance module 100 further includes a third lens (not shown) and a fourth lens (not shown), the third lens is installed at the third light passing aperture 1211, and the fourth lens is installed at the fourth light passing aperture 1221.

In this way, the third lens and the fourth lens can converge the reflected light of the first light source 31 and the second light source 32 reflected back by the object, so that the reflected light is mapped on the first light receiver 41 and the second light receiver 42.

Specifically, the third lens and the fourth lens may have shapes matched with the third through-aperture 1211 and the fourth through-aperture 1221. The third lens and the fourth lens may be a converging lens, so as to better converge the reflected light onto the light receiving device 40.

In some embodiments, the light emitted from the first light source 31 reflected by the target object may be mapped on the second light receiver 42, and the light emitted from the second light source 32 reflected by the target object may be mapped on the first light receiver 41. This is not particularly limited by the present application.

Referring to fig. 5 and 6, in some embodiments, a first stepped hole 14 is formed in the first chamber 111, the first stepped hole 14 includes a first stepped surface 141, the first light source 31 includes a first substrate 311 and a first light emitter 312 disposed on the first substrate 311, the first substrate 311 is mounted in the first stepped hole 14 and abuts against the first stepped surface 141, and the first light emitter 312 protrudes out of the first stepped hole 14; and/or

A second stepped hole 15 is formed in the second cavity 112, the second stepped hole 15 includes a second stepped surface 151, the second light source 32 includes a second base 321 and a second light emitter 322 disposed on the second base 321, the second base 321 is mounted in the second stepped hole 15 and abuts against the second stepped surface 151, and the second light emitter 322 extends out of the second stepped hole 15.

In this manner, the first light source 31 and the second light source 32 can be fixed by the first stepped hole 14 and the second stepped hole 15.

Specifically, the first light emitter 312 faces the first light passing hole 1111, and the second light emitter 322 faces the second light passing hole 1121.

Referring to fig. 5, in some embodiments, the support 10 of the TOF obstacle avoidance module 100 further includes a cover 50, and the cover 50 may be disposed on an upper portion of the first mounting cavity 11. The cover 50 is detachably connected to the bracket 10, so that when the first light source 31 and the second light source 32 in the first installation cavity 11 are failed, the first light source 31 and the second light source 32 can be maintained and replaced by detaching the cover 50, and the failure, namely the scrapping condition, can be avoided. Further, the connection surface of the cover 50 and the bracket 10 may be matched with the structure in the first installation cavity 11, so as to fix the first light source 31 and the second light source 32.

Referring to fig. 5, in some embodiments, the TOF obstacle avoidance module 100 further includes a transparent protective cover 60, the transparent protective cover 60 covers the support 10, the light emitting device can emit light through the transparent protective cover 60, and the light receiving device 40 can receive light through the transparent protective cover 60.

Thus, the light-transmitting protective cover 60 can protect the light projection device 30 and the light receiving device 40 on the support 10, and prevent dust, impurities and the like from affecting the light path.

Specifically, the light-transmissive protective cover 60 may be made of a glass material or a light-transmissive plastic material. The light-transmitting protective cover 60 covers the side of the bracket 10 close to the striker 22, and the light-transmitting protective cover 60 is detachably mounted to the bracket 10.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A sweeping robot is characterized by comprising:

the shell comprises a body and a collision piece movably arranged on the body, wherein a light-transmitting part is formed on the collision piece; and

TOF keeps away barrier module, TOF keeps away barrier module and accepts in the casing, TOF keeps away barrier module includes support, circuit board, light projection unit and light receiving device, support detachably installs on the body, the circuit board is installed on the support, light projection unit with light receiving device all sets up on the support and with circuit board electricity is connected, light projection unit with light receiving device with the printing opacity portion is corresponding, light projection unit can see through printing opacity portion is to target object transmission light, light receiving device can see through printing opacity portion receives the light of target object reflection.

2. The sweeping robot of claim 1, wherein the light-transmitting portion is a through hole formed in the collision member, and the TOF obstacle avoidance module is accommodated in the housing and exposed from the through hole.

3. The sweeping robot of claim 1, wherein the bracket is formed with a first mounting cavity and a second mounting cavity, the first mounting cavity and the second mounting cavity are separated by a first partition plate, the light projecting device is mounted in the first mounting cavity, and the light receiving device is mounted in the second mounting cavity.

4. The sweeping robot of claim 3, wherein the first mounting cavity comprises a first chamber and a second chamber which are arranged at an interval, the first chamber and the second chamber are separated by a second partition plate, the light projection device comprises a first light source and a second light source, the first light source is arranged in the first chamber, and the second light source is arranged in the second chamber;

the second installation cavity comprises a third cavity and a fourth cavity which are arranged at intervals, the third cavity and the fourth cavity are separated by a third partition plate, the light receiving device comprises a first light receiver and a second light receiver, the first light receiver is arranged in the third cavity, and the second light receiver is arranged in the fourth cavity;

the first light receiver is used for receiving the light emitted by the first light source and reflected by the target object, and the second light receiver is used for receiving the light emitted by the second light source and reflected by the target object.

5. The sweeping robot of claim 4, wherein the bracket is formed with a first light hole communicating with the first chamber and a second light hole communicating with the second chamber, the first light source corresponds to the first light hole and emits light through the first light hole, and the second light source emits light through the second light hole.

6. The sweeping robot of claim 5, wherein the TOF obstacle avoidance module further comprises a first lens and a second lens, the first lens is installed at the first light through hole, and the second lens is installed at the second light through hole.

7. The sweeping robot of claim 4, wherein the bracket further defines a third light hole communicating with the third chamber and a fourth light hole communicating with the fourth chamber, the first light receiver corresponds to the third light hole and receives light through the third light hole, and the second light receiver receives light through the fourth light hole.

8. The sweeping robot of claim 7, wherein the TOF obstacle avoidance module further comprises a third lens and a fourth lens, the third lens is installed at the third light through hole, and the fourth lens is installed at the fourth light through hole.

9. The sweeping robot of claim 4, wherein a first step hole is formed in the first chamber, the first step hole comprises a first step surface, the first light source comprises a first substrate and a first light emitter disposed on the first substrate, the first substrate is mounted in the first step hole and abuts against the first step surface, and the first light emitter protrudes out of the first step hole; and/or

The second cavity is internally provided with a second stepped hole which comprises a second stepped surface, the second light source comprises a second base body and a second luminous body arranged on the second base body, the second base body is arranged in the second stepped hole and supported against the second stepped surface, and the second luminous body extends out of the second stepped hole.

10. The sweeping robot according to claim 1, wherein the TOF obstacle avoidance module further comprises a light-transmitting protective cover, the light-transmitting protective cover covers the support, the light-transmitting device can transmit the light-transmitting protective cover to transmit light, and the light-receiving device can transmit the light-transmitting protective cover to receive light.

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