CN217285627U

CN217285627U - Cleaning robot

Info

Publication number: CN217285627U
Application number: CN202121092682.5U
Authority: CN
Inventors: 褚小明; 王戬; 高倩; 邵长东
Original assignee: Ecovacs Commercial Robotics Co Ltd
Current assignee: Ecovacs Commercial Robotics Co Ltd
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2022-08-26
Anticipated expiration: 2031-05-20

Abstract

An embodiment of the utility model provides a cleaning robot. Wherein, cleaning robot includes: the sensing device is used for sensing environmental parameters of the environment where the cleaning robot is located; the key assembly is used for responding to the operation of a user and generating a corresponding interactive instruction; the machine body is provided with a cleaning device and is used for making corresponding response according to the environmental parameters and/or the interactive instructions; the sensing device is arranged at the top of the machine body and is higher than the top surface of the machine body; the key assembly is disposed above the sensing device. According to the technical scheme provided by the embodiment of the utility model, the key assembly is arranged above the sensing device, and the position of the key assembly is more striking, so that the operation of a user is convenient; in addition, the key assembly can also play a role in protecting the sensing device besides interacting with the user.

Description

Cleaning robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a cleaning robot.

Background

At present, switches and various function keys of a cleaning robot are all arranged on a shell of the robot. The user can control the robot to execute corresponding functions by touching the keys.

In order to make the robot more concise and beautiful in appearance, control keys on the robot are designed in a more concealed place, or hidden keys and the like are arranged on a shell of the robot. For a user who uses the device for the first time, the user cannot easily find the positions of keys such as a switch, and the operation is inconvenient.

SUMMERY OF THE UTILITY MODEL

In order to improve the above problem, the embodiment of the utility model provides a cleaning robot.

In one embodiment of the present invention, a cleaning robot is provided. The cleaning robot includes:

the sensing device is used for sensing environmental parameters of the environment where the cleaning robot is located;

the key assembly is used for responding to the operation of a user and generating a corresponding interactive instruction;

the machine body is provided with a cleaning device and used for making corresponding response according to the environmental parameters and/or the interactive instructions;

the sensing device is arranged at the top of the machine body and is higher than the top surface of the machine body; the key assembly is disposed above the sensing device.

Optionally, the outer edge of the key assembly extends beyond the side elevation of the sensing device to form a protective ledge of the sensing device.

Optionally, the key assembly is a touch key assembly; wherein the touch key assembly includes:

the touch panel is used for displaying at least one touch key;

the rear shell is connected with the touch panel to form a hollow cavity;

the touch control film is arranged on the inner side surface of the touch panel;

the touch key circuit board is arranged in the hollow cavity and has a first gap with the touch panel;

the reflecting layer is arranged on the inner side surface of the rear shell and faces the touch key circuit board;

the light reflecting layer reflects light rays emitted by the light emitting device on the touch key circuit board to the touch panel, and the light rays are transmitted out of the light transmitting area of the touch panel to light the at least one touch key.

Optionally, when a plurality of touch keys are arranged on the touch panel, the key assembly further includes a light shielding layer; the shading layer is arranged between the touch film and the touch key circuit board; the light shielding layer isolates light projected to each touch key.

Optionally, a groove is formed in the touch panel, and a key covering film is embedded in the groove.

Optionally, the touch panel is an opaque panel; the inner side surface of the touch panel is provided with a light-tight layer covering the key touch area, and the light-tight layer is provided with a light-transmitting area matched with the touch key pattern and/or the characters.

Optionally, the bottom of the key assembly is provided with an assembly groove adapted to the top of the sensing device, and the top of the sensing device is located in the assembly groove.

Optionally, a supporting frame is disposed on the top surface of the machine body to erect the key assembly above the sensing device; and the support frame is provided with a lead used for electrically connecting the key assembly and the control device in the machine body.

Optionally, an indicator light for indicating different working states of the cleaning robot is arranged on the key assembly.

In another embodiment of the present invention, a cleaning robot is provided. The cleaning robot includes:

the laser radar is used for sensing environmental parameters of the environment where the cleaning robot is located;

the laser radar is arranged on the top of the machine body and is higher than the top surface of the machine body; the button subassembly sets up in lidar's top.

According to the technical scheme provided by the embodiment of the utility model, the key assembly is arranged above the sensing device, firstly, the position of the key assembly is more striking, and the operation by a user is convenient; in addition, the key assembly can interact with a user and also can protect the sensing device, namely, the key assembly can protect the sensing device from being influenced when the key assembly collides with an upper obstacle. It is visible, the embodiment of the utility model provides a scheme, simple structure, compactness, rationally distributed, the user operation of being convenient for.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a cleaning robot according to an embodiment of the present invention;

fig. 2 is a schematic top view of an interaction device of a cleaning robot according to an embodiment of the present invention;

fig. 3 is a schematic cross-sectional view of an interaction device of a cleaning robot according to an embodiment of the present invention;

fig. 4 is a schematic side view of an interaction device of a cleaning robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of the interactive device of the cleaning robot provided with the indicator light strip.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

A cleaning robot, such as a sweeping robot, a mopping robot, a sweeping and mopping integrated robot, etc., has a sensing device, such as a laser radar, etc., disposed on the top of the robot body for sensing environmental parameters of the robot environment, such as map construction, obstacle detection, etc. In order to protect the sensing device from being hit by an obstacle, a sensing device protecting cover is disposed on the body. In this way, even if the robot collides with an obstacle without sensing the obstacle above, the robot collides with the protective cover, and the sensing device is not greatly affected. The switch of cleaning machines people, fill the button, key such as wifi can set up on the shell of robot. Currently, the keys on most cleaning robot housings are also physical keys. However, in order to make the robot look more concise and beautiful in appearance, the keys may be designed to be hidden (such as the side or bottom of the robot body, etc.), or hidden keys may be provided on the outer shell of the robot, etc. The existing key design needs to occupy the internal space of the machine body, is not striking enough, and is not convenient for users to use.

Therefore, the present invention provides the following embodiments to provide a scheme that combines the interaction device with the protection cover, which not only has the function of protecting the sensing device, but also can interact with the user, so that the structure of the robot is more concise, and the position of the interaction device is more striking, which is convenient for the user to use.

Specifically, fig. 1 shows a schematic structural diagram of a cleaning robot. The cleaning robot includes: a body 1, a sensing device 3 and an interaction device 2. Wherein the sensing device 3 is used for sensing environmental parameters of the environment where the cleaning robot is located. The interaction device 2 is used for interacting with the user to generate a corresponding interaction instruction. And the machine body 1 is provided with a cleaning device and used for making corresponding response according to the environmental parameters and/or the interactive instructions. The response by the body 1 may include: start, shut down, advance, retreat, and avoid obstacle, etc., which is not limited in this embodiment.

In a particular embodiment, the body 1 may include, but is not limited to: control devices, cleaning devices, traveling devices, and the like. Wherein the cleaning device may include: a roll brush assembly, a wipe assembly, an edge brush assembly, and the like. The sensing device 3 and the interaction device 2 are both electrically connected with the control device, and the control device controls corresponding components on the machine body 1 to respond correspondingly.

Wherein, the sensing device 3 may include but is not limited to: laser radar, ultrasonic ranging sensors, infrared ranging sensors, vision sensors, and the like.

As shown in fig. 1, the sensing device 3 is disposed on the top of the machine body 1 and is higher than the top surface of the machine body. The interaction means 2 is located above the sensing means 3. In practice, the interaction device 2 may be disposed directly above the sensing device 3.

The interaction device 2 can be arranged on the machine body 1 as a protective top cover of the sensing device 3; the outer edge of the interaction device 2 extends beyond the side elevation of the sensing device 3, forming a protective eave for the sensing device 3.

Referring to the embodiment shown in fig. 2, the cleaning robot further comprises a supporting frame 4. As shown in fig. 1, the supporting frame 4 is disposed on the machine body 1, and the interaction device 2 is erected above the sensing device 3 through the supporting frame 4; the support frame 4 is provided with a threading hole or a threading groove; the interaction device 2 is electrically connected with a control device (not shown in the figure) in the machine body 1 through a wire in the threading hole or the threading groove.

It is preferable that the sensing device 3 is not blocked for one circle. The sensing device 3 senses the environmental parameters of one week, so that the control device can perform corresponding control according to the environmental parameters of one week. In practice, the sensing device 3 mostly has a sensing field angle FOV, for example, some lidar has a FOV of 270 degrees. The sensing angle of view of the sensing device 3 should be towards the front of the machine body, and therefore, in order to avoid the sensing area of the sensing device 3 being blocked, the supporting frame 4 is disposed at the rear side of the sensing device 3, i.e. the side facing the backward direction of the machine body 1 is the rear side of the sensing device 3. As shown in fig. 3 and 4, the sensing device 3 (the structure indicated by the broken line circle in fig. 3) has a sensing field angle FOV; the support frame 4 comprises two support columns 41, the two support columns 41 are located outside the sensing field angle FOV, and the two support columns 41 are arranged at intervals.

The interaction device in this embodiment may include, but is not limited to, at least one of the following: the device comprises a key assembly, a touch screen assembly and a voice interaction device. The key assembly can be an entity key assembly, namely, a user presses a key, and the key is pressed to generate a corresponding pressing signal; the touch key assembly can also be a touch key assembly, namely an assembly which is touched (without pressing hard) by a user to generate a corresponding touch signal; the touch screen can also be a virtual key assembly, such as a virtual key projected on the machine body in a projection mode, and an assembly generating a corresponding operation signal due to shielding caused by pressing or touching by a user; and the like, which is not limited by the present embodiment.

In a specific implementable technical solution, the key assembly is a touch key assembly. As shown in fig. 2, the touch key assembly includes: the touch panel 22, the back shell 24, the touch key circuit board 27 and the reflective layer 25. At least one touch key is displayed on the touch panel 22. The back cover 24 is coupled to the touch panel 22 to form a hollow cavity 28. A touch film (not shown) is provided on the touch panel 22I.e. the surface of the touch panel 22 that is located within the hollow cavity 28. The touch key circuit board 27 is disposed in the hollow cavity 28 and has a first gap H with the touch panel ₁ . The reflective layer 25 is disposed on the inner side surface of the rear case 24 and faces the touch key circuit board 27. The light reflecting layer 25 reflects light emitted from the light emitting device on the touch key circuit board 27 to the touch panel 22, and the light is transmitted out of the light transmitting area of the touch panel 22 to illuminate the at least one touch key. The reflective layer 25 and the touch key circuit board 27 have a second gap H ₂ . The first gap H ₁ And the second gap H ₂ In relation to the uniformity of the light projected onto the touch panel 22, the first gap H can be determined according to the brightness requirement of the touch key, the shape and size of the touch key, the size of the touch key assembly, etc ₁ And the second gap H ₂ This embodiment is not particularly limited to this. For example, in one embodiment, the first gap H ₁ Any value between 3mm and 6mm can be selected, including 3mm and 6 mm; the second gap H ₂ Any value between 5mm and 8mm may be selected, including 5mm and 8 mm.

One or more touch keys may be presented on the touch panel 22. When the touch panel 22 has a plurality of touch keys, as shown in fig. 2, the touch key assembly further includes a light shielding layer 23; the light shielding layer 23 is disposed between the touch film (not shown) and the touch key circuit board 27; the light shielding layer 23 isolates light projected to each touch key.

Further, as shown in fig. 2, a key coating 21 is provided on an outer surface of the touch panel 22. Specifically, a groove is formed in the touch panel 22, and a key cover film 21 is embedded in the groove. In addition, the touch panel 22 is an opaque panel, or an opaque layer covering the entire inner side surface is provided on the inner side surface of the touch panel to shield various components inside the touch panel. The inner side of the touch panel 22 may also be provided with an opaque layer covering the key touch area, and the opaque layer has a transparent area matching with the touch key pattern and/or text.

Still further, the interaction device may be further provided with an indicator light for indicating different working states of the cleaning robot. The indicating lamp can be a lamp strip consisting of a plurality of lamp beads, and can indicate that the cleaning robot is in different working states by displaying different colors and/or flashing frequencies. More specifically, as shown in fig. 5, an indicator light strip 29 is disposed around an edge of the key assembly (e.g., a touch key assembly). For example, the indicator light strip 29 displays green indicating that the cleaning robot is in a cleaning state; the indicator light strip 29 displays red to indicate that the cleaning robot is in a low-power state and needs to be charged; and so on.

Taking a cleaning robot as an example, as shown in fig. 1 and 3, the interaction device 2 is a key assembly, and an outer edge of the key assembly extends beyond a side elevation of the sensing device 3 to form a protective ledge of the sensing device 3. And the key assembly is a touch key assembly. The touch panel 22 of the touch key assembly is provided with a power key, a recharge key, a wifi key and three keys. The touch key assembly is further provided with an annular interactive lamp strip, as shown in fig. 5, the annular interactive lamp strip surrounds the edge of the touch panel of the touch key assembly for a circle. The touch key assembly includes: a touch panel 22, and a back case 24. The touch panel 22 is snapped into the rear housing 24 to form a closed hollow cavity 28, and then connected thereto by fasteners 26 (e.g., screws in fig. 2). Specifically, as shown in fig. 2, the orientation of the touch panel 22 is provided with an insertion portion on the inner side surface of the rear shell 24, the orientation of the rear shell 24 is provided with a protrusion on the inner side surface of the touch panel 22, the protrusion is provided with a slot, and a corresponding protruding position of the rear shell 24 is provided with a jack penetrating through the slot. The insertion portion of the touch panel 22 is inserted into the raised slot, and the fastening member 26 (e.g., a screw) is screwed into the threaded hole of the insertion portion from the insertion hole of the rear case 24, thereby completing the connection. Fig. 2 is a schematic cross-sectional view, which only shows a connection structure of a group of insertion portions, protrusions, and screws, and actually, two, three, or more groups may be disposed on the touch key assembly, and the connection structure is determined according to an actual size of the touch key assembly, which is not limited in this embodiment.

The hollow cavity 28 is internally provided with the following components in sequence: the touch key circuit board 27, the shading layer 23, the touch control film. Due to the existence of the light shielding layer, the touch key circuit board 27 and the touch panel 22 form a first gap H ₁ . Referring to fig. 2, the end surface of the protrusion 241 of the rear case 24 serves to support the touch key circuit board 27, and the height of the protrusion 241 defines a second gap H between the touch key circuit board 27 and the reflective layer 25 ₁ . After the insertion portion of the touch panel 22 is inserted into the protrusion of the rear case 24 and locked by a screw, the positions of the touch key circuit board 27, the light shielding layer 23, and the touch film supported by the end portion of the protrusion are fixed.

The touch film can be a transparent ITO touch film. Among them, ITO is an abbreviation of Indium Tin Oxides, which is an N-type oxide semiconductor, Indium Tin oxide, and an ITO thin film, i.e., an Indium Tin oxide semiconductor transparent conductive film, has excellent conductivity and transparency, and can cut off electron radiation, ultraviolet rays and far infrared rays harmful to a human body. The light shielding layer can be light shielding EVA (Ethylene Vinyl Acetate Copolymer, Chinese culture name) layer.

A groove is further formed on the outer end surface (i.e., the end surface exposed outside) of the touch panel 22, and a key cover film 21 is embedded in the groove. Further, the bottom of the key assembly, such as the bottom of the rear case 24 of the touch key assembly (i.e. the end surface of the side facing away from the touch panel), is provided with a mounting groove 242 (as shown in fig. 5) adapted to the top of the sensing device 3, and the top of the sensing device 3 is located in the mounting groove 242. In the structure shown in fig. 5, the key assembly is supported by the supporting frame on the rear side, and the other end of the key assembly is suspended, so that the user can touch the key assembly lightly without any problem. However, the downward pressing action when the user touches the touch screen is not eliminated, and the top of the sensing device 3 is located in the assembly groove by arranging the assembly groove, so that the suspended part of the key assembly is supported, and the conditions of instability and shaking under the condition of the user can be avoided. It can be seen that the structure of the assembly groove 242 makes the structure of the key assembly more stable.

The touch key assembly is selected to replace an entity key, and water can be prevented from entering the assembly for a robot which needs to work in a water environment or needs water to participate in cleaning. In addition, the touch key assembly is arranged above the sensing device, so that the operation of an operator is more convenient, and the recognition degree is higher.

The utility model provides a technical scheme except can using on cleaning machines people, still can use other types's equipment, if remove goods robot, delivery robot etc. as following the general equipment of independently marcing. The robot corresponding to different functions may have different external shapes and internal functional components of the device body, and this embodiment is not particularly limited thereto. Specifically, the autonomous mobile device includes: the device comprises a device body, a sensing device and an interaction assembly. Wherein the sensing means is for sensing an environmental parameter of an environment in which the autonomous travelling device is located; the interaction component is used for interacting with a user to generate a corresponding interaction instruction; the device body is used for making corresponding response according to the environment parameters and/or the interaction instructions. The sensing device is arranged on the equipment body, a protective cover used for protecting the sensing device is further arranged on the equipment body, and the interaction assembly is arranged on the protective cover.

Specifically, the interaction device in the cleaning robot may include the interaction component and the protection cover in this embodiment. That is, the protective cover in the present embodiment includes the following in the above-described embodiment: touch panel, backshell and support frame. The interaction assembly is arranged in a hollow cavity formed by the touch panel and the rear shell: the touch key circuit board comprises a reflecting layer, a touch key circuit board, a shading layer and a touch film. For related contents, reference is made to the contents above, which are not described herein again.

The following is a brief description of the technical solution provided by the embodiments of the present invention in combination with some application scenarios.

Scene one

The user wants to turn on the indoor cleaning robot to work to clean the floor at home. Users can see the interaction devices on the top of the robot and above the laser radar without finding the on-off key back and forth like the old robot. The user can start the indoor cleaning robot by touching or pressing a switch key on the interactive device.

The user sitting at home watching television suddenly sees the interactive device's indicator light on top of the robot, above the lidar, as red. The user realizes that the robot is in a low-power working state at present, and after the user stands up or the robot cleans an area near the user, the user touches a recharging key on the interactive device so as to enable the robot to move to the base for charging. Because the interaction device is arranged on the top of the robot and above the laser radar, the position is prominent, a user can easily find out the corresponding functional control so as to enable the cleaning robot to make a corresponding response, and the user does not need to bend down and approach the robot to find the functional control in the whole process, so that the robot is simple and convenient.

Scene two

Robot designer need not consider that the mutual device sets up just not influence the problem of aesthetic property in which position of fuselage with the top of mutual device design at robot top, laser radar, also need not consider how make full use of fuselage inner space so that mutual device can set up the problem wherein, still need not consider the design of laser radar safety cover. Therefore, after the design of the interaction device is completed, the design of the interaction function and the laser radar protection function is completed by designers, the structure is simpler, and the appearance of the robot body is simpler.

Scene three

The cleaning robot provided by the embodiment can be a household cleaning robot or a commercial cleaning robot. The above scenario exemplifies the case of a home robot. In this scenario, a commercial cleaning robot will be taken as an example. The commercial cleaning robot may be a floor cleaning application in a mall, a bank, a hospital, an office building, a subway station, a hotel, etc.

For example, a sweeping and mopping integrated cleaning robot works in a shopping mall to clean the floor of the shopping mall. A staff of a department of cleaning in a market can start the cleaning robot by touching a starting control key which is arranged at the top of the robot and is positioned above a sensing device (such as a laser radar), and the started cleaning robot can move along a preset cleaning path and clean and mop the ground in the moving process. The cleaning robot has no need for following during cleaning.

The volume of a commercial cleaning robot is somewhat larger than that of a household cleaning robot. If the key is arranged to be more hidden for attractive appearance, the difficulty of searching for the key by a user is increased invisibly; therefore, the interaction device (including the start control key, the recharge key, the wifi key and the like) is arranged above the sensing device of the commercial cleaning robot, and the using convenience effect is very obvious.

The user may be able to easily operate the interaction means at the top of the cleaning robot without bending over or bending over a substantial amount.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A cleaning robot, characterized by comprising:

2. The cleaning robot as claimed in claim 1, wherein an outer edge of the key assembly extends beyond a side elevation of the sensing device to form a protective ledge of the sensing device.

3. The cleaning robot of claim 1, wherein the key assembly is a touch key assembly; wherein the touch key assembly includes:

the touch panel is used for displaying at least one touch key;

the rear shell is connected with the touch panel to form a hollow cavity;

4. The cleaning robot of claim 3, wherein when a plurality of touch keys are disposed on the touch panel, the key assembly further comprises a light shielding layer;

the shading layer is arranged between the touch control film and the touch key circuit board;

the light shielding layer isolates light projected to each touch key.

5. The cleaning robot as claimed in claim 3, wherein a groove is provided on the touch panel, and a key cover film is embedded in the groove.

6. The cleaning robot according to claim 3, wherein the touch panel is an opaque panel;

the inner side surface of the touch panel is provided with a light-tight layer covering the key touch area, and the light-tight layer is provided with a light-transmitting area matched with the touch key pattern and/or the characters.

7. The cleaning robot as claimed in any one of claims 1 to 6, wherein the bottom of the key assembly is provided with a fitting groove adapted to the top of the sensing device, the top of the sensing device being located in the fitting groove.

8. The cleaning robot as claimed in any one of claims 1 to 6, wherein a support frame is provided on a top surface of the body to mount the key assembly above the sensing device;

and the support frame is provided with a lead used for electrically connecting the key assembly and the control device in the machine body.

9. The cleaning robot as claimed in any one of claims 1 to 6, wherein the button assembly is provided with an indicator light for indicating different working states of the cleaning robot.

10. A cleaning robot, characterized by comprising:

the machine body is provided with a cleaning device and is used for making corresponding response according to the environmental parameters and/or the interactive instructions;