CN216620190U - Air treatment equipment and air conditioner with same - Google Patents

Abstract

The utility model discloses an air treatment device and an air conditioner with the same, wherein the air treatment device comprises: the mobile chassis, the sub-shell, the first obstacle avoidance component and the second obstacle avoidance component are connected to the mobile chassis. The first obstacle avoidance assembly is arranged on the sub-shell so as to carry out obstacle avoidance detection on the first area. The second keeps away the barrier subassembly and establishes on removing the chassis to keep away the barrier to detect to the second region, the first barrier subassembly of keeping away keeps away with the barrier subassembly with the second and lies in the same one side of air treatment equipment. According to the air processing equipment provided by the embodiment of the utility model, the sub-shell is located at a higher position relative to the mobile chassis, the first obstacle avoidance component is also located at a higher position relative to the second obstacle avoidance component, and the first obstacle avoidance component located at the high position and the second obstacle avoidance component located at the low position are matched for use, so that the obstacle avoidance detection area of the whole air processing equipment is expanded, and the obstacle avoidance performance is stably improved. Therefore, the air treatment equipment can reliably avoid the barrier and smoothly position and advance in the advancing process.

Description

Air treatment equipment and air conditioner with same

Technical Field

The utility model belongs to the technical field of air treatment products, and particularly relates to air treatment equipment and an air conditioner with the same.

Background

In order to improve the quality of indoor air, the physicochemical properties of air-purifying or air-conditioning devices are generally adopted.

In the related art, the air treatment device needs to be manually moved and placed in a required space, and the degree of intelligence is low. And a movable chassis is arranged on some air treatment devices, so that intelligent movement is realized. These air handling devices are often positioned and navigated by lidar while in motion. These lidar devices are usually arranged at a high position to achieve a wide range of detection, however, too high arrangement of the lidar devices will affect the arrangement of other structural members on the upper part, and the other structural members are inconvenient to assemble; or the efficiency of receiving and sending signals of the laser radar can be obstructed after other structural members are installed, the effect of receiving and sending signals is poor, and the air treatment device cannot be accurately positioned, deviate from a route or even reliably avoid obstacles.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model aims to provide the air processing equipment which can realize accurate obstacle avoidance in the process of traveling through a plurality of groups of obstacle avoidance components, and solves the technical problems that the air processing equipment in the prior art cannot be accurately positioned, deviates from a course line and even cannot reliably avoid the obstacle when the air processing equipment relies on a laser radar to avoid the obstacle.

The utility model also aims to provide an air conditioner with the air treatment equipment.

An air treatment device according to an embodiment of the present invention includes: moving the chassis; the sub-machine shell is connected to the movable chassis; the first obstacle avoidance assembly is arranged on the sub-shell so as to carry out obstacle avoidance detection on the first area; and the second obstacle avoidance assembly is arranged on the movable chassis so as to carry out obstacle avoidance detection on a second area, and the first obstacle avoidance assembly and the second obstacle avoidance assembly are positioned on the same side of the air treatment equipment.

According to the air processing equipment provided by the embodiment of the utility model, the sub-shell is arranged on the movable chassis, so that equipment with a certain height in space is formed, wherein the sub-shell is located at a higher position relative to the movable chassis, the first obstacle avoidance component is also located at a higher position relative to the second obstacle avoidance component, and the first obstacle avoidance component located at the higher position and the second obstacle avoidance component located at the lower position are matched for use, so that the obstacle avoidance detection area of the whole air processing equipment is expanded, and the obstacle avoidance performance is stably improved. Therefore, the multi-region detection of the roadblock in the advancing direction at different heights can be realized in the advancing process of the air treatment equipment, and then the roadblock can be reliably avoided and the roadblock can be smoothly positioned for advancing.

According to some embodiments of the air treatment device of the utility model, the first area coincides with a partial area of the second area.

According to some embodiments of the air processing equipment of the present invention, the first obstacle avoidance assembly includes an obstacle avoidance sensor, a mounting frame, and a cover body, the sub-housing is provided with a mounting opening, the obstacle avoidance sensor is assembled at the mounting opening through the mounting frame, and the cover body covers the obstacle avoidance sensor.

Advantageously, the first obstacle avoidance assembly further comprises a light-transmitting plate, and the light-transmitting plate shields the mounting opening.

Optionally, the obstacle avoidance sensor includes an infrared emitting portion and an infrared receiving portion, and a partition is provided in the cover body to partition the infrared emitting portion and the infrared receiving portion.

Advantageously, a condenser lens is provided at a receiving end of the infrared receiving section.

An air treatment device according to some embodiments of the present invention further comprises a control panel, and the first and second obstacle avoidance assemblies are in communication with the control panel.

According to some embodiments of the air treatment equipment of the present invention, the second obstacle avoidance assembly includes a laser radar, a portion of the moving chassis, which faces the sub-chassis, is recessed to form an avoidance area, and the laser radar is disposed in the avoidance area.

Optionally, the air processing apparatus further includes a supporting column, the sub-enclosure is detachably connected to the moving chassis, the supporting column is disposed in the space avoiding area, the supporting column is connected to the moving chassis, and the supporting column supports the sub-enclosure.

Optionally, the mobile chassis forms an upward raised positioning portion towards the sub-shell, the sub-shell is provided with a matching portion, and the positioning portion is positioned in the matching portion.

Optionally, the second obstacle avoidance assembly further includes a line laser obstacle avoidance sensor, and the line laser obstacle avoidance sensor is arranged on a side surface of the moving chassis to detect an obstacle on one side of the moving chassis close to the ground.

Optionally, a detection area of the laser radar located at the lower portion coincides with a detection area of the line laser obstacle avoidance sensor located at the upper portion.

Optionally, the mobile chassis comprises a support box body and an anti-collision piece, and the anti-collision piece is connected to the support box body.

According to some further embodiments of the present invention, the bumper includes a front bumper attached to a front side of the support box and a rear bumper provided to a rear side of the support box; and an avoidance port is arranged on the front anti-collision piece, and a signal of the line laser obstacle avoidance sensor can pass through the avoidance port.

An air treatment device according to some embodiments of the present invention further comprises an air treatment component disposed in the sub-enclosure.

An air conditioner according to an embodiment of the present invention includes: a host; the air treatment device in each of the foregoing examples may be detachably provided to the host machine, and the air treatment device may be positioned for recharging with respect to the host machine.

According to the air conditioner provided by the embodiment of the utility model, because the air processing equipment can realize accurate obstacle avoidance and navigation in the process of moving, when the air processing equipment is in the process of recharging, the air processing equipment can be accurately positioned, stably moved and reliably avoided from obstacles relative to the host, so that the air processing equipment can realize intelligent recharging relative to the host.

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

Drawings

The above and/or additional aspects and advantages of the present invention 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 diagram of the general structure of an air treatment device according to some embodiments of the present invention.

FIG. 2 is a front view of an air treatment device according to some embodiments of the present invention.

FIG. 3 is a side view of an air treatment device according to some embodiments of the present invention.

FIG. 4 is an exploded view of an air treatment device according to some embodiments of the present invention.

Fig. 5 is a schematic structural view of a first obstacle avoidance assembly disposed on an obstacle avoidance panel according to some embodiments of the present invention.

Fig. 6 is a schematic structural view of an obstacle avoidance panel, a first obstacle avoidance assembly, and a control panel according to some embodiments of the present invention.

Fig. 7 is an exploded view of fig. 6.

Fig. 8 is a schematic structural diagram of a first obstacle avoidance assembly according to some embodiments of the present invention.

Fig. 9 is a cross-sectional view taken along line a-a of fig. 8.

Fig. 10 is an exploded view of fig. 8.

Fig. 11 is an exploded view from another angle of fig. 8.

Fig. 12 is a schematic structural diagram of a mobile chassis, a second obstacle avoidance assembly, and a support column according to some embodiments of the present invention.

Fig. 13 is a bottom view of a mobile chassis of some embodiments of the present invention.

Fig. 14 is a schematic view of an overall structure of an air conditioner according to some embodiments of the present invention.

Reference numerals:

2000. an air conditioner;

2100. an air treatment device;

100. moving the chassis; 110. a void avoidance area; 120. a support pillar;

113. a travel assembly; 1131. a drive wheel assembly; 1132. a universal wheel assembly;

130. supporting the box body; 131. a positioning part;

140. an anti-collision member; 141. a front bumper; 1411. avoiding the mouth; 142. a rear bumper;

200. a sub-chassis; 210. an installation port; 211. a mounting site;

220. a fitting portion; 230. an air inlet; 240. an air outlet;

201. an obstacle avoidance panel; 202. a rear cover plate; 203. a top cover plate; 204. a grid assembly;

300. an air treatment component; 310. a fan assembly; 320. a purification assembly.

400. A first obstacle avoidance component;

410. an obstacle avoidance sensor; 411. an infrared emitting section; 412. an infrared receiving section; 413. a condenser lens;

420. a mounting frame; 421. an assembling portion;

430. a cover body; 431. a separator; 432. a first light-blocking channel; 433. a second light-blocking channel;

440. a light-transmitting plate; 450. an end cap;

500. a second obstacle avoidance component; 510. a laser radar; 520. a line laser obstacle avoidance sensor;

600. a control panel;

2200. a host; 2210. butting a bin; 2220. and (5) opening and closing the door.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, 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 only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention.

The air processing apparatus 2100 according to the embodiment of the present invention is described below with reference to the drawings of the specification, and the air processing apparatus 2100 according to the embodiment of the present invention can effectively recognize an obstacle during traveling, reliably avoid the obstacle, and process air during traveling.

An air treatment apparatus 2100, as shown in fig. 1, 2, and 3, according to an embodiment of the utility model, includes: the mobile chassis 100, the sub-chassis 200, the first obstacle avoidance assembly 400 and the second obstacle avoidance assembly 500.

The sub-chassis 200 is connected to the mobile chassis 100, wherein the mobile chassis 100 can support the sub-chassis 200, and the mobile chassis 100 can move with the sub-chassis 200 during the moving process. Meanwhile, the moving chassis 100 and the sub-housing 200 are formed as the air processing apparatus 2100 having a certain height, a certain width, and a certain length.

As shown in fig. 2 and fig. 3, the first obstacle avoidance component 400 is disposed on the sub-housing 200 to perform obstacle avoidance detection on a first area, where the first area mainly refers to an area on one side of the sub-housing 200, that is, an area that can be effectively detected by the first obstacle avoidance component 400.

As shown in fig. 2 and fig. 3, the second obstacle avoidance assembly 500 is disposed on the mobile chassis 100 to perform obstacle avoidance detection on a second area, where the second area mainly refers to an area located on one side of the mobile chassis 100, that is, an area that can be effectively detected by the second obstacle avoidance assembly 500.

As shown in fig. 2 and 3, the first obstacle avoidance assembly 400 and the second obstacle avoidance assembly 500 are located on the same side of the air processing apparatus 2100, and then an effective area detectable by the first obstacle avoidance assembly 400 and an effective area detectable by the second obstacle avoidance assembly 500 are necessarily formed into a larger effective detection range on the same side.

As can be seen from the above structure, the air processing apparatus 2100 according to the embodiment of the present invention forms an apparatus having a certain height in space by installing the sub-chassis 200 on the mobile chassis 100, wherein the sub-chassis 200 is located at a higher position relative to the mobile chassis 100, then the first obstacle avoidance assembly 400 is also located at a higher position relative to the second obstacle avoidance assembly 500, the first obstacle avoidance assembly 400 has a certain height difference relative to the second obstacle avoidance assembly 500, the first area may correspond to an area where the air processing apparatus 2100 is located at a higher position, the second area may correspond to an area where the air processing apparatus 2100 is located at a lower position, the first obstacle avoidance assembly 400 located at a higher position and the second obstacle avoidance assembly 500 located at a lower position are used in cooperation, and the area of the whole air processing apparatus 2100 when the obstacle avoidance detection is performed on the same side is expanded, so that the obstacle avoidance performance is improved step by step.

Therefore, the air handling equipment 2100 of the present invention can realize multi-zone detection of the roadblock in the traveling direction at different heights during traveling, and further can effectively avoid higher obstacles while avoiding lower obstacles during traveling, so that the air handling equipment 2100 can recognize and detect obstacles with different shapes and different heights, and further can reliably avoid obstacles, prevent the obstacles from being impacted during traveling, prevent yaw caused by impacting obstacles, and finally realize smooth positioning traveling.

Compared with the prior art that the air treatment device is inconvenient to install and poor in positioning and obstacle avoidance effects due to the fact that the air treatment device is positioned and the obstacle avoidance is achieved only by means of the laser radar, the air treatment device is convenient to connect and easy to maintain, and after assembly, the air treatment device is good in positioning effect and obstacle recognition performance, so that the obstacle avoidance can be achieved reliably, and the yaw in the advancing process is effectively prevented.

Alternatively, as shown in fig. 2 and 3, the first area may coincide with a partial area of the second area, and the detection area having the air treatment device 2100 on the same side may be used to achieve effective detection of the entire area.

For example, if the first area is located in a higher area on one side of the sub-housing 200, and the second area is located in an area on one side of the moving chassis 100 close to the ground and a lower area close to the junction of the moving chassis 100 and the sub-housing 200, effective identification of obstacles in the whole upper, middle and lower areas of the side of the air processing apparatus 2100 is realized, so that overall identification of obstacles by the air processing apparatus 2100 during traveling is greatly improved, and obstacles at different heights can be timely avoided when obstacles are identified during traveling of the air processing apparatus 2100.

Advantageously, the first obstacle avoidance assembly 400 and the second obstacle avoidance assembly 500 are disposed on the same side of the air processing device 2100 in the direction of travel, so that a joint detectable region formed by the first region and the second region coincides with a region to be detected in the direction of travel, thereby effectively ensuring reliable detection of an obstacle and obstacle avoidance efficiency of the air processing device 2100 during travel.

In the description of the present invention, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between the described features, whether they are sequential or not.

In some embodiments of the present invention, as shown in fig. 8 and 9, the first obstacle avoidance assembly 400 includes an obstacle avoidance sensor 410, a mounting bracket 420, and a cover 430, as shown in fig. 7, the sub-housing 200 is provided with a mounting opening 210, and the obstacle avoidance sensor 410 is mounted at the mounting opening 210 through the mounting bracket 420. The mounting frame 420 provides a reliable support for the obstacle avoidance sensor 410, so that the obstacle avoidance sensor 410 is stably connected to the sub-housing 200 and has a specific position relative to the mounting opening 210, thereby facilitating the obstacle avoidance sensor 410 to transmit and receive signals. The signal of the obstacle avoidance sensor 410 can be effectively transmitted and received from the mounting hole 210 without being blocked.

Optionally, the mounting frame 420 is detachably connected to the inner side surface of the sub-chassis 200, and the end of the obstacle avoidance sensor 410 extends toward the mounting opening 210, so that the first obstacle avoidance assembly 400 is disposed inside the sub-chassis 200, and the first obstacle avoidance assembly 400 is effectively prevented from being out of service due to collision between an external environment member and the first obstacle avoidance assembly 400; and can ensure that the first obstacle avoidance component 400 is not obstructed in transmitting and receiving signals. The detachable connection enables the first barrier avoidance assembly 400 to be formed as an integrated module and then installed together at the installation opening 210 for easy assembly and disassembly.

In a specific example, as shown in fig. 7, a plurality of mounting sites 211 are disposed around the mounting opening 210, as shown in fig. 8, a plurality of assembling portions 421 are correspondingly disposed on the mounting bracket 420, and the assembling portions 421 are connected to the mounting sites 211 by fasteners, so as to detachably connect the mounting bracket 420 to the sub-housing 200. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Of course, in other examples, the mounting bracket 420 and the sub-housing 200 may be detachably connected by a snap-fit or plug-in connection, and is not limited herein.

Further, as shown in fig. 9 and 10, the cover 430 covers the obstacle avoidance sensor 410, so as to effectively prevent the signal of the obstacle avoidance sensor 410 from being transmitted to an irrelevant component, ensure that the transmission signal of the obstacle avoidance sensor 410 can be transmitted outward from the installation opening 210, ensure that the reception signal can be sent to the obstacle avoidance sensor 410 from the installation opening 210, and effectively prevent the occurrence of false identification.

Optionally, the cover 430 is made of a permeation-proof rubber, so that the signal of the obstacle avoidance sensor 410 is effectively prevented from being transmitted to other irrelevant components through the cover 430, and the reliability of the signal transmission and reception of the obstacle avoidance sensor 410 is ensured. And the rubber material also can carry out certain buffering shock attenuation to keeping away barrier sensor 410, for keeping away barrier sensor 410 and providing certain guard action, prevent to keep away barrier sensor 410 atress back breakage, the effective life who prolongs and keep away barrier sensor 410.

Of course, the cover 430 may be made of other opaque materials as long as it can shield signals.

Optionally, as shown in fig. 9, 10 and 11, the first obstacle avoidance module 400 further includes an end cover 450, the end cover 450 is provided with a cover 430, the obstacle avoidance sensor 410 is installed in the cover 430, and the end cover 450 is detachably connected to the mounting frame 420, so that the components of the first obstacle avoidance module 400 are formed into a module, and assembly is facilitated. The end cover 450 and the mounting frame 420 can be connected through a buckle and can also be connected through connecting pieces such as bolts, the end cover 450 enables the cover body 430 to be more conveniently connected with the mounting frame 420, the cover body 430 is effectively prevented from being slightly deformed and being separated from the mounting frame 420, and the end cover 450 improves the support and the limit of the cover body 430.

Advantageously, as shown in fig. 5, 10 and 11, the first obstacle avoidance module 400 further includes a light-transmitting plate 440, the light-transmitting plate 440 shields the mounting opening 210, and the light-transmitting plate 440 is disposed at the mounting opening 210 and can effectively shield the mounting opening 210, so that the first obstacle avoidance module 400 is invisible when the sub-chassis 200 is viewed from the outside, and the integrity and the aesthetic property of the sub-chassis 200 in appearance are improved; and also effectively prevents dust, lint and the like from entering the sub-housing 200 from the mounting opening 210 to interfere with the transmission and reception of signals by the obstacle avoidance sensor 410. In addition, the light-transmitting plate 440 of the present invention does not shield the obstacle avoidance sensor 410 from transmitting and receiving signals, so that the inside obstacle avoidance sensor 410 can work normally.

Optionally, the light-transmissive plate 440 is a transparent plate or a translucent plate. The transparent plate has a high transmittance for light, which can greatly ensure the transmission performance of the obstacle avoidance sensor 410 during signal transmission and reception. The translucent plate ensures that the obstacle avoidance sensor 410 is not visible from the outside of the sub-enclosure 200, and thus the outside is not visible, thereby further enhancing the aesthetic appearance and integrity of the mobile air treatment device 2100.

Optionally, the light-transmitting plate 440 is a glass plate, a polyvinyl chloride plate, or a plastic plate, and the light transmittance of these plates is ensured, and the plates have certain hardness and strength, so that the obstacle avoidance sensor 410 is protected from being impacted by foreign matters while signals are effectively and smoothly received and transmitted. In addition, the plate bodies are convenient to process, manufacture and form.

Optionally, as shown in fig. 9, the obstacle avoidance sensor 410 includes an infrared emitting part 411 and an infrared receiving part 412, a partition 431 is disposed in the cover 430 to separate the infrared emitting part 411 and the infrared receiving part 412, and the partition 431 herein can effectively prevent a signal emitted by the infrared emitting part 411 from being directly received by the infrared receiving part 412 to form an invalid transceiving signal, thereby ensuring that the obstacle avoidance sensor 410 is accurate and efficient in transceiving signal, and effectively preventing false recognition and false control. The infrared emitting part 411 and the infrared receiving part 412 are integrated into one module, and the emitting angle and the receiving angle are large, so that the assembly is convenient and the mutual interference is avoided under the action of the partition 431.

Alternatively, as shown in fig. 9 and 10, the inside of the housing 430 is partitioned into a first light-blocking passage 432 and a second light-blocking passage 433 by a partition 431, and the infrared emitting part 411 is provided in the first light-blocking passage 432, so that the optical signal emitted from the infrared emitting part 411 is emitted toward the front mounting port 210 in the guidance of the first light-blocking passage 432; the infrared receiving part 412 is arranged in the second light-blocking channel 433, so that an optical signal enters the second light-blocking channel 433 from the mounting port 210, and is guided to the infrared receiving part 412 smoothly in the guidance of the infrared transmitting part 411, and the infrared receiving and transmitting process is smooth and accurate.

Advantageously, the cross section of the first light-blocking channel 432 gradually increases in the direction from the infrared emitting portion 411 to the mounting opening 210, so that the infrared light signal emitted from the infrared emitting portion 411 can more pass through the mounting opening 210 and be emitted outward; advantageously, the cross section of the second light-blocking channel 433 is gradually increased from the infrared receiving portion 412 to the mounting opening 210, so that more infrared signals incident into the mounting opening 210 can enter the infrared receiving portion 412.

Alternatively, as shown in fig. 9, the end of the infrared emitting part 411 is located at the end of the first light-blocking channel 432, so that the signals emitted by the infrared emitting part 411 can all be guided out from the first light-blocking channel 432; the end of the condenser lens 413 is close to the end of the second light-blocking channel 433, so that the infrared light incident into the mounting opening 210 can be guided to the condenser lens 413 through the second light-blocking channel 433.

Optionally, as shown in fig. 9 and 10, a condensing lens 413 is disposed at a receiving end of the infrared receiving portion 412, and the condensing lens 413 may enable the infrared signal entering from the mounting port 210 to be converged by the condensing lens 413 and then transmitted to the infrared receiving portion 412, so as to enhance the intensity of the signal received by the infrared receiving portion 412 and improve the working sensitivity and reliability of the infrared receiving portion 412.

In some embodiments of the present invention, the air treatment apparatus 2100 further comprises a control panel 600, and the first and second obstacle avoidance assemblies 400, 500 may be in communication with the control panel 600. The control board 600 may perform comprehensive analysis on signals of the first obstacle avoidance module 400 and the second obstacle avoidance module 500, and perform judgment and control according to a preset program, so that the corresponding obstacle avoidance signals are converted into obstacle avoidance actions, and the air processing device 2100 can implement autonomous obstacle avoidance.

Optionally, the control board 600 is disposed in the sub-chassis 200, the sub-chassis 200 has more installation space therein, and the control board 600 may be connected to the first obstacle avoidance module 400 through a line, so that the efficiency of transmitting signals between the first obstacle avoidance module 400 and the control board 600 is high, which is beneficial to enhancing control. In a specific example, the control board 600 and the mounting opening 210 are arranged on the sub-chassis 200 at intervals, the control board 600 and the sub-chassis 200 are connected by a fastener, or the control board 600 and the sub-chassis 200 are bonded or welded.

In other examples, the control board 600 wirelessly communicates with the first obstacle avoidance assembly 400, thereby simplifying the space required for routing the lines.

Optionally, the control panel 600 and the second obstacle avoidance component 500 implement wireless communication, and since the second obstacle avoidance component 500 is disposed on the mobile chassis 100, the second obstacle avoidance component 500 has a long path from the control panel 600, which may be inconvenient for arranging electric wires, so that real-time communication can be implemented through wireless communication, and convenience in installation among the components is ensured.

Alternatively, as shown in fig. 13, the mobile chassis 100 includes a supporting box 130 and a traveling module 113, the traveling module 113 is disposed on a side of the supporting box 130 facing the traveling surface to drive the supporting box 130 to move, and the traveling module 113 may communicate with the control board 600, so that after the control board 600 analyzes the obstacle information, a control signal is transmitted to the traveling module 113 to control the traveling module 113 to stop traveling or turn to travel, thereby enabling the air processing apparatus 2100 to achieve final obstacle avoidance.

Alternatively, as shown in fig. 13, the traveling assembly 113 includes a driving wheel assembly 1131 and a universal wheel assembly 1132, the driving wheel assembly 1131 actively drives the support housing 130 to move, and the universal wheel assembly 1132 passively rotates along with the driving wheel assembly 1131. The drive wheel subassembly 1131 need not to rely on the manpower alright realize removing, for example, drive wheel subassembly 1131 includes drive wheel and driving piece, and the driving piece links to each other with the drive wheel, can set up battery pack in the supporting box body 130 and provide electric power for the driving piece, and the driving piece drives the drive wheel and rotates to make the drive wheel drive whole supporting box body 130 and remove, realize removing the autonomous movement on chassis 100, remove chassis 100 and remove the in-process more steady. The universal wheel assembly 1132 may further support the whole supporting box 130, so as to improve the stability of the moving chassis 100 in the moving process and facilitate the direction change of the moving chassis 100.

Optionally, as shown in fig. 13, the universal wheel assembly 1132 includes three universal wheels arranged in a triangular arrangement, and each of the universal wheels can rotate in multiple directions relative to the supporting box 130, so that the supporting box 130 can move in a balanced manner and flexibly move.

Alternatively, as shown in fig. 13, the driving wheel assembly 1131 includes two symmetrically disposed at the bottom of the support housing 130, so that the driving wheel assembly 1131 can maintain the balance of the support housing 130 during the rotation. In a specific example, the control board 600 may perform differential operation by controlling the driving wheel assembly 1131, so as to implement a pivot rotation scheme, and prevent the air processing apparatus 2100 from colliding with surrounding environment members during a large-angle turning process, so that the air processing apparatus 2100 is stable in turning, small in turning radius, small in required turning space, and flexible in obstacle avoidance.

In some embodiments of the present invention, as shown in fig. 2 and 4, the second obstacle avoidance assembly 500 includes a laser radar 510, a portion of the moving chassis 100 that is recessed toward the sub-housing 200 forms an avoidance area 110, and the laser radar 510 is disposed in the avoidance area 110. In these examples, the clearance area 110 enables the laser radar 510 to be disposed on the top of the mobile chassis 100, so as to increase the detectable range of the laser radar 510, and the laser radar 510 does not interfere with the obstacle of the sub-chassis 200 connected to the mobile chassis 100 after being installed, so that the sub-chassis 200 can still be smoothly connected to the top of the mobile chassis 100, and the mobile chassis 100 can stably support and drive the sub-chassis 200. The lidar 510 can realize the identification and positioning of long-distance obstacles, so that the environmental information data of the front side direction of the air processing equipment 2100 can be measured; laser radar 510 may also establish a cruise map by its own advantages, enabling more intelligent spatial identification. The laser radar 510 in the present invention, in combination with the obstacle avoidance sensor 410 capable of transmitting and receiving infrared light in the foregoing example, can effectively extend the obstacle detectable range and the recognition accuracy of the air processing apparatus 2100.

In the above example, the non-recessed portion of the top of mobile chassis 100 may effectively support sub-housing 200, so that sub-housing 200 is spaced from the surface of clearance area 110, and laser radar 510 is conveniently disposed.

Advantageously, the space of the clearance area 110 at least communicates with the space of the traveling direction towards one side of the mobile chassis 100, so that the laser radar 510 can transmit and receive signals without obstacles, and further, the identification precision, the induction sensitivity and the effective identification range of the laser radar 510 are improved, the laser radar 510 at least has a larger identifiable area on one side of the traveling direction, and further, the detection area of the laser radar 510 can be partially overlapped with the detection area of the first clearance assembly 400, the laser radar 510 and the first clearance assembly 400 are jointly used, and therefore the obstacle of the air treatment device 2100 on one side of the traveling direction in a certain height direction can be identified, and obstacle avoidance is facilitated.

In some specific examples, the clearance area 110 may communicate with the space on the front side, the left side, and the right side of the mobile chassis 100, and the clearance area 110 is opened by at least 180 degrees to form a larger hollow area, so as to ensure that the laser radar 510 can scan surrounding obstacles, and to achieve reliable obstacle avoidance in the map building navigation and the detectable area of the laser radar 510.

Optionally, as shown in fig. 4 and 12, the air processing apparatus 2100 further includes a supporting pillar 120, the sub-chassis 200 is detachably connected to the mobile chassis 100, and the sub-chassis 200 is fixed to the mobile chassis 100 by one or more combinations of plugging, clamping, and bolting, so as to facilitate installation of the laser radar 510, and also to enable the components in the sub-chassis 200 to be assembled to the mobile chassis 100 after the installation of the components is completed, thereby facilitating assembly of the components in the sub-chassis 200, and the sub-chassis 200 located at the upper portion and the mobile chassis 100 located at the lower portion can be integrally assembled.

Further, as shown in fig. 3 and 12, the supporting column 120 is disposed in the clearance area 110, the supporting column 120 is connected to the mobile chassis 100, and the supporting column 120 supports the sub-chassis 200, so that the situation that the local support of the sub-chassis 200 is weakened by the mobile chassis 100 due to the additional provision of the clearance area 110 can be effectively improved by disposing the supporting column 120, so that the entire surface of the sub-chassis 200 is stable and not easy to tilt relative to the mobile chassis 100, and the sub-chassis 200 is effectively prevented from collapsing at the clearance area 110. In addition, the supporting column 120 also stably maintains the height of the clearance area 110, so that the laser radar 510 is prevented from being extruded by the sub-housing 200 and parts inside the sub-housing 200, and the laser radar 510 has reliable operation, long service life, smooth signal transmission and reception, and high identification sensitivity.

Optionally, as shown in fig. 4 and fig. 13, the mobile chassis 100 forms an upward protruding positioning portion 131 towards the sub-chassis 200, the sub-chassis 200 is provided with a matching portion 220, and the positioning portion 131 is positioned in the matching portion 220, so that when the sub-chassis 200 is connected to the mobile chassis 100, the matching portion 220 and the positioning portion 131 can achieve foolproof matching of the sub-chassis 200 with respect to the mobile chassis 100, and also can achieve a certain pre-positioning, which facilitates subsequent fixing of the sub-chassis 200 and the mobile chassis 100; seamless connection between the sub-enclosure 200 and the mobile chassis 100 can be realized, and the appearance attractiveness of the whole air treatment equipment 2100 is improved.

Optionally, as shown in fig. 2 and fig. 3, the second obstacle avoidance assembly 500 further includes a line laser obstacle avoidance sensor 520, the line laser obstacle avoidance sensor 520 is disposed on a side surface of the mobile chassis 100 to detect an obstacle on a side of the mobile chassis 100 close to the ground, where the line laser obstacle avoidance sensor 520 can effectively supplement an obstacle avoidance blind area recognizable by the laser radar 510, and further expand an obstacle recognizable range of the air processing device 2100, so as to effectively improve the obstacle avoidance performance of the air processing device 2100. The first obstacle avoidance assembly 400, the laser radar 510 and the line laser obstacle avoidance sensor 520 are matched together, so that obstacles at all heights from the upper part to the lower part of the front area of the air processing equipment 2100 in the traveling direction are effectively identified, and therefore reliable obstacle avoidance and accurate positioning of the whole machine in the traveling process are achieved.

In the above example, the detection area of the laser radar 510 located at the lower portion coincides with the detection area of the line laser obstacle avoidance sensor 520 located at the upper portion, so that seamless connection between the two detection areas is achieved, and a phenomenon that a detection blind area occurs during the traveling process and the obstacle collides with the obstacle is prevented.

Optionally, there is at least one line laser obstacle avoidance sensor 520, and the line laser obstacle avoidance sensor 520 is disposed on a side surface, such as a front side surface in the drawing, of the mobile chassis 100 facing the traveling direction, so that the line laser obstacle avoidance sensor 520 detects an obstacle close to the ground during traveling, and the mobile chassis 100 is effectively prevented from being blocked by the obstacle on the ground and toppling over during moving; the line laser obstacle avoidance sensor 520, the laser radar 510 and the first obstacle avoidance assembly 400 are matched to realize that the obstacle avoidance scanning range completely covers the front of the machine, and the obstacle avoidance scanning range is completely distributed.

In a specific example, the line laser obstacle avoidance sensors 520 are two arranged on the side surface of the mobile chassis 100 at intervals, so that the detectable range of the line laser obstacle avoidance sensors 520 in the horizontal direction is expanded, and the effective detectable area of the mobile chassis 100 in the horizontal direction is increased in the traveling process.

Optionally, as shown in fig. 4, the mobile chassis 100 further includes a bumper 140, the bumper 140 is connected to the support box 130, and the bumper 140 can cushion against the surface of the support box 130 after being impacted, so as to effectively cushion the impact of the impact force on the components inside the support box 130. The collision-prevention piece 140 can be used as the last collision-prevention barrier of the mobile chassis 100, so as to effectively prevent the air processing apparatus 2100 from being damaged by physical collision, overcome the final guarantee that no obstacle is found by the first obstacle-avoidance assembly 400 and the second obstacle-avoidance assembly 500, and improve the safety of the mobile chassis 100 during movement. In some specific examples, an elastic buffer is disposed between the bumper 140 and the support box 130 to buffer the collision obstacle.

Alternatively, as shown in fig. 4, the collision preventing member 140 includes a front collision preventing member 141 and a rear collision preventing member 142, and the front collision preventing member 141 is attached to the front side of the support case 130, thereby achieving effective collision prevention of the moving chassis 100 when it moves forward; the rear collision prevention member 142 is provided at the rear side of the support case 130, thereby achieving effective collision prevention of the moving chassis 100 when retreating.

Optionally, a trigger switch or the like may be further disposed in the supporting box 130 to connect with the collision prevention member 140, and when the collision prevention member 140 is hit and the trigger switch is triggered, the control board 600 may further control the moving chassis 100 to stop moving further toward the obstacle.

Further, as shown in fig. 12, an avoidance port 1411 is provided on the front anti-collision member 141, and a signal of the line laser obstacle avoidance sensor 520 can pass through the avoidance port 1411, that is, the line laser obstacle avoidance sensor 520 can transmit and receive a signal through the avoidance port 1411, and the front anti-collision member 141 does not generate interference on a detection signal of the line laser obstacle avoidance sensor 520 in a process of telescopic movement, so that the line laser obstacle avoidance sensor 520 can detect smoothly, and a physical anti-collision strategy of the front anti-collision member 141 can also be implemented.

In the specific example of the present invention, during the obstacle avoidance process of the air processing device 2100, by setting a machine control operation strategy, a complete obstacle avoidance cruise function can be implemented, for example, firstly, the first obstacle avoidance assembly 400 and the second obstacle avoidance assembly 500 located on the front side detect an obstacle in the direction of travel, and when it is determined that there is no obstacle, the traveling assembly 113 drives the mobile chassis 100 to advance; when it is determined that there is an obstacle and the vehicle needs to turn, the laser radar 510 may determine whether there is an obstacle on both sides, and when it is determined that there is no obstacle, the control board 600 controls the driving wheel assembly 1131 to implement differential operation, thereby implementing pivot turning and further implementing reversing driving.

In some embodiments of the present invention, as shown in fig. 4, the air processing device 2100 further comprises an air processing component 300, and the air processing component 300 is disposed in the sub-chassis 200, thereby achieving an integral assembly of the sub-chassis 200 and the air processing component 300 on the mobile chassis 100. The movable chassis 100 can bring the air processing component 300 in the mover housing 200 to automatically move to a target position, and the movement is convenient without depending on manpower. The air treatment component 300 can also be flexibly operated according to different air qualities, for example, when the temperature difference of different positions in a room is large, the movable chassis 100 can be moved to different positions, so that the air treatment component 300 can directly adjust the temperature of the position, the pertinence is strong, the temperature of the whole room can be quickly adjusted to be uniform, the function of the air treatment component 300 can be fully exerted, and the flexibility and the efficiency of air treatment can be improved.

Alternatively, as shown in fig. 1 and 4, the sub-enclosure 200 is provided with an air inlet 230 and an air outlet 240, as shown in fig. 4, the air processing component 300 includes a fan assembly 310 and a purifying assembly 320, and when the fan assembly 310 operates, the direction and the flow rate of the air flow can be changed, and the air flow is driven to flow through the purifying assembly 320 from the air inlet 230 and then is exhausted from the air outlet 240, so that the indoor air is continuously purified.

For example, the purification component 320 may be a formaldehyde purification component or a PM2.5 purification component, and when the fan component 310 rotates, the air flow brought in from the air inlet 230 may be purified by the formaldehyde purification component or the PM2.5 purification component and then blown out from the air outlet 240, so as to effectively reduce the formaldehyde concentration and the fine dust content in the air and improve the freshness of the indoor air.

When the traveling assembly 113 of the mobile chassis 100 moves in the processes of aldehyde absorption and dust collection, the formaldehyde purification assembly can be further driven to absorb formaldehyde, and the PM2.5 purification assembly can be further driven to absorb fine dust, so that the aldehyde absorption efficiency and the dust purification efficiency of the whole house are improved.

For another example, the air processing component 300 includes a fan assembly 310 and a heat exchanger, and the fan assembly 310 operates to drive an airflow to enter from the air inlet 230 and to be heat exchanged by the heat exchanger and then to be blown out from the air outlet 240, so as to adjust the temperature of the airflow. Or the heat exchanger is replaced by a refrigeration ice crystal module to realize the adjustment of the temperature of the airflow.

As another example, the air treatment unit 300 includes a fan assembly 310 and a humidifier or a fragrance applicator to effectively adjust the humidity or taste of the air. The humidifier may be a wet film or an atomizer, among other components.

Optionally, as shown in fig. 4, the sub-chassis 200 includes an obstacle avoidance panel 201, a back cover plate 202, and a top cover plate 203, where the obstacle avoidance panel 201 is formed into a semi-enclosed frame shape, a first obstacle avoidance assembly 400 and a second obstacle avoidance assembly 500 are disposed on a front side of the obstacle avoidance panel 201, an air inlet 230 is disposed on a left side and/or a right side of the obstacle avoidance panel 201, the back cover plate 202 is connected to a back side of the obstacle avoidance panel 201, the top cover plate 203 is connected to tops of the back cover plate 202 and the obstacle avoidance panel 201, and an air outlet 240 is disposed on the top cover plate 203, so as to form the complete sub-chassis 200, the sub-chassis 200 is configured into a multi-surface shape, and it is convenient for the sub-chassis 200 to be internally provided with the aforementioned air treatment component 300 and other components.

In a specific example, the left side and the right side of the obstacle avoidance panel 201 are respectively provided with one air inlet 230, and each air inlet 230 is provided with a group of purification assemblies 320, so as to improve the air purification efficiency of the air treatment device 2100.

Optionally, the air outlet 240 of the top cover plate 203 is provided with a grille assembly 204, so as to effectively prevent external burrs from entering the sub-enclosure 200; and also prevents a human hand from reaching into the sub-enclosure 200. An air guide may be further disposed at the air outlet 240, so as to improve the air supply range and directional air supply performance of the air treatment apparatus 2100.

The air conditioner 2000 according to the embodiment of the present invention will be described with reference to the accompanying drawings, and the air conditioner 2000 according to the present invention is adapted to adjust the physicochemical properties of air, such as the temperature, humidity, cleanliness, smell, and the like of the conditioned air. The air conditioner 2000 of the utility model has flexible working range, can provide differentiated services, and is accurate and reliable in recharging and obstacle avoidance.

An air conditioner 2000 according to an embodiment of the present invention, as shown in fig. 14, includes: the air processing apparatus 2100 and the host 2200 in the foregoing examples, and the structure of the air processing apparatus 2100 has been described in detail in the foregoing examples, and will not be described herein again. The air treatment device 2100 is detachably mounted to the host 2200, and the air treatment device 2100 may be positioned for recharging relative to the host 2200.

As can be seen from the above structure, in the air conditioner 2000 according to the embodiment of the present invention, since the air processing device 2100 can implement precise obstacle avoidance and navigation during the process of moving, when the air processing device 2100 is in the process of recharging, the air processing device 2100 can be precisely positioned, stably moved, and reliably avoid an obstacle, so that the air processing device 2100 can implement intelligent recharging with respect to the host 2200.

Alternatively, as shown in fig. 14, the host 2200 includes a host housing provided with a docking bay 2210, wherein the docking bay 2210 has a certain accommodation space, and an opening and closing door 2220 openably and closably provided at a bay opening of the docking bay 2210. When the opening and closing door 2220 opens the cabin opening, the air treatment equipment 2100 can be placed in the butt joint cabin 2210; when the door 2220 is opened and closed to close the opening, the external air processing device 2100 cannot enter the docking bay 2210, and the air processing device 2100 already located in the docking bay 2210 is invisible from the outside, thereby improving the aesthetic appearance of the air conditioner 2000. The air treatment apparatus 2100 can independently operate when the energy is sufficient, and at this time, the docking bay 2210 of the host 2200 is closed by the opening and closing door 2220, so that the appearance of the host 2200 is complete and beautiful, foreign materials such as ash and shavings are not easy to enter into the docking bay 2210, and various components in the docking bay 2210 are effectively protected by the host housing and the opening and closing door 2220.

Optionally, a heat exchange circulation component may be disposed in the main machine 2200, so as to perform internal circulation heat exchange with the indoor air, and thus the main machine 2200 and the air processing device 2100 cooperate to achieve combined regulation and control of the indoor air quality.

Optionally, a power supply device is disposed in the docking chamber 2210, and a charging device is disposed on the mobile chassis 100 of the air treatment device 2100, wherein the power supply device charges the mobile chassis 100 after the air treatment device 2100 enters the docking chamber 2210, so that the air treatment device 2100 has sufficient power to freely move and independently work within a certain range for a certain time.

In the description of the present invention, it should 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; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The driving principle of the driving assembly 113 and the specific obstacle recognition principle of the first obstacle avoidance assembly 400 and the second obstacle avoidance assembly 500 of the air processing apparatus 2100 and the air conditioner 2000 having the same according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., 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 utility model. In this specification, the schematic representations of the terms used above 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 invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (16)

1. An air treatment device, comprising:

moving the chassis;

the sub-machine shell is connected to the movable chassis;

the first obstacle avoidance assembly is arranged on the sub-shell so as to carry out obstacle avoidance detection on the first area;

and the second obstacle avoidance assembly is arranged on the movable chassis so as to carry out obstacle avoidance detection on a second area, and the first obstacle avoidance assembly and the second obstacle avoidance assembly are positioned on the same side of the air treatment equipment.

2. An air treatment device according to claim 1, characterized in that the first area coincides with a partial area of the second area.

3. The air processing device of claim 1, wherein the first obstacle avoidance assembly comprises an obstacle avoidance sensor, a mounting frame and a cover body, a mounting opening is formed in the sub-housing, the obstacle avoidance sensor is assembled at the mounting opening through the mounting frame, and the cover body covers the obstacle avoidance sensor.

4. An air treatment device according to claim 3, wherein the first obstacle avoidance assembly further comprises a light transmissive panel that conceals the mounting opening.

5. The air treatment device of claim 3, wherein the obstacle avoidance sensor comprises an infrared emitting portion and an infrared receiving portion, and a partition is provided in the enclosure to partition the infrared emitting portion and the infrared receiving portion.

6. The air treatment apparatus according to claim 5, wherein a condenser lens is provided at a receiving end of the infrared receiving portion.

7. The air treatment device of claim 1, further comprising a control panel, the first and second obstacle avoidance assemblies being communicable with the control panel.

8. The air treatment equipment of claim 1, wherein the second obstacle avoidance component comprises a laser radar, a part of the moving chassis, which faces the sub-housing, is recessed to form an avoidance area, and the laser radar is arranged in the avoidance area.

9. The air treatment apparatus of claim 8, further comprising a support post, wherein the sub-enclosure is removably attached to the moving chassis, wherein the support post is disposed in the keep-out region, wherein the support post is attached to the moving chassis, and wherein the support post supports the sub-enclosure.

10. The air treatment apparatus of claim 9 wherein the mobile chassis forms an upwardly raised detent towards the sub-enclosure, the sub-enclosure being provided with a mating portion in which the detent is located.

11. The air treatment device of claim 8, wherein the second obstacle avoidance assembly further comprises a line laser obstacle avoidance sensor disposed on a side of the moving chassis to detect an obstacle on a ground side of the moving chassis.

12. The air treatment apparatus of claim 11, wherein a lower detection area of the lidar coincides with an upper detection area of the line laser obstacle avoidance sensor.

13. An air treatment device according to claim 11, wherein the mobile chassis comprises a support box and a fender, the fender being connected to the support box.

14. The air treatment apparatus according to claim 13, wherein the bumper includes a front bumper attached to a front side of the support box and a rear bumper provided at a rear side of the support box; the front anti-collision piece is provided with an avoidance port, and the signal of the line laser obstacle avoidance sensor can penetrate through the avoidance port.

15. An air treatment device according to any of claims 1-14, further comprising an air treatment component provided in the sub-enclosure.

16. An air conditioner, comprising:

a host;

an air treatment device according to any of claims 1-15, detachably provided to the main unit, the air treatment device being positionable for refilling with respect to the main unit.

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