CN217772202U - Floor sweeping robot - Google Patents

Abstract

The application discloses a sweeping robot, which comprises a robot body, a projector and a first driving mechanism, wherein the projector and the first driving mechanism are arranged on the robot body, and the first driving mechanism is configured to be capable of driving the projector to move relative to the robot body; the robot body is provided with a groove, and the projector is at least partially embedded in the groove; the surface of the projector is provided with a light transmitting area, light rays emitted by the projector can be projected to a preset area through the light transmitting area, and external light rays can irradiate to the light incident surface of the projector through the light transmitting area. This application makes the projector can be for sweeping the floor the robot motion under the drive of first actuating mechanism through setting up projector and first actuating mechanism on the robot body, and then can change the projection area of projector, has improved the functional single problem of robot of sweeping the floor, has increased the use scene of robot of sweeping the floor, has richened the function of robot of sweeping the floor.

Description

Floor sweeping robot

Technical Field

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

Background

The floor sweeping robot is also called an automatic sweeper, an intelligent dust collector, a robot dust collector and the like, is one of intelligent household appliances, and can automatically complete floor sweeping work in a room by means of certain artificial intelligence. The sweeping robot cleans the ground by generally adopting a brush sweeping mode and a vacuumizing mode, and finally absorbs the impurities on the ground into the garbage storage box, so that the cleaning function of the ground is completed.

However, the existing sweeping robot mainly performs sweeping and cleaning, and only performs charging or standby when not performing sweeping, and the function is relatively single.

SUMMERY OF THE UTILITY MODEL

The main technical problem who solves of this application provides a robot of sweeping the floor, can solve the robot of sweeping the floor among the prior art and have the technical problem of function singleness.

In order to solve the technical problem, the application adopts a technical scheme that: a sweeping robot is provided. The sweeping robot comprises a robot body, a projector and a first driving mechanism, wherein the projector and the first driving mechanism are arranged on the robot body, and the first driving mechanism is configured to drive the projector to move relative to the robot body;

the robot body is provided with a groove, and at least part of the projector is embedded in the groove; the surface of the projector is provided with a light transmitting area, light rays emitted by the projector can be projected to a preset area through the light transmitting area, and external light rays can irradiate to the light incident surface of the projector through the light transmitting area.

Wherein, the plane of the light-transmitting area is parallel to or intersected with the plane of the bottom surface of the groove.

The first driving mechanism comprises a first motor and a first roller, and the first roller is sleeved on an output shaft of the first motor; the output shaft of the first motor is connected to the projector, and the first motor drives the projector to move relative to the robot body.

The projector comprises a shell, a first identification camera and a projection lens, wherein the shell is surrounded to form a containing space for containing the first identification camera and the projection lens, and a light-transmitting area is arranged on the shell;

the light incident surface of the first identification camera corresponds to the light transmitting area to receive external light, and the light emergent surface of the projection lens corresponds to the light transmitting area.

The projector further comprises a dustproof cover, and the dustproof cover is arranged on the light-transmitting area and connected with the shell.

Wherein, the robot of sweeping the floor still including locating wiping mechanism on the projector, wiping mechanism includes: the second driving mechanism is arranged on the shell and is positioned on one side of the dustproof cover;

the wiping strip fixer is connected with the second driving mechanism and can reciprocate relative to the dust cover under the driving of the second driving mechanism;

and the wiping strip is arranged on one side, close to the dust cover, of the wiping strip fixer and can synchronously reciprocate along with the wiping strip fixer to wipe the dust cover.

The second driving mechanism comprises a second motor and a shaft rod which are arranged on the shell, a second roller wheel sleeved on the shaft rod, and a belt connecting the second motor and the second roller wheel; the second motor and the shaft rod are arranged on two opposite sides of the dustproof cover, and the wiping strip fixer is connected with the belt.

Wherein, the robot of sweeping the floor still including locating clean the mechanism on the recess diapire, clean the mechanism and include:

the second driving mechanism is arranged on the bottom wall of the groove and is positioned on one side of the dustproof cover;

the wiping strip fixer is connected with the second driving mechanism and can reciprocate relative to the dust cover under the driving of the second driving mechanism;

and the wiping strip is arranged on one side, close to the dust cover, of the wiping strip fixer and can synchronously reciprocate along with the wiping strip fixer to wipe the dust cover.

The second driving mechanism comprises a second motor and a shaft rod which are arranged on the bottom wall of the groove, a second roller wheel sleeved on the shaft rod, and a belt connecting the second motor and the second roller wheel; the second motor and the shaft rod are arranged on two opposite sides of the dustproof cover, and the wiping strip fixer is connected with the belt.

The sweeping robot further comprises a second recognition camera, the second recognition camera is embedded in the robot body, and the shooting direction of the second recognition camera faces the advancing direction of the robot.

The beneficial effect of this application is: through set up projector and first actuating mechanism on the robot body, make the projector can be for sweeping the floor the robot motion under the drive of first actuating mechanism, and then can change the projection area of projector, richened the function of the robot of sweeping the floor, improved the problem that the robot of sweeping the floor functional singleness has increased the use scene of the robot of sweeping the floor. In addition, through set up the recess on the robot body, and the projector can be to different use scene parts or inlay in the recess completely to promote the variety when sweeping the floor the robot and using. It can be understood that when the sweeping robot is in a standby state, the projector can be completely embedded in the groove, so that the appearance expressive force of the sweeping robot is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of a sweeping robot in some embodiments of the present application;

fig. 2 is a schematic view of an operating state of the sweeping robot in the embodiment of fig. 1;

fig. 3 is a schematic view of another working state of the sweeping robot in the embodiment of fig. 1;

fig. 4 is a schematic structural diagram of a sweeping robot in another embodiment of the present application;

fig. 5 is a schematic view of an operating state of the sweeping robot in the embodiment of fig. 4;

fig. 6 is a schematic structural diagram of a sweeping robot in another embodiment of the present application;

fig. 7 is a schematic structural diagram of a cleaning robot in another embodiment of the present application;

fig. 8 is a schematic cross-sectional structure of a sweeping robot in other embodiments of the present application;

fig. 9 is a schematic structural diagram of a sweeping robot in other embodiments of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings and embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

It should be noted that if a description of "first", "second", etc. is provided in this application, such description is for descriptive purposes only and is not to be construed as indicating or implying any implicit indication of the number of technical features shown to its relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments may be combined with each other, but must be realized by a person skilled in the art as a basis, and when the technical solutions are mutually contradictory or cannot be realized, such a technical solution should not be considered to exist in combination, and is no longer within the protection scope of the present application.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of a sweeping robot 100 in some embodiments of the present application, fig. 2 is a schematic working state diagram of the sweeping robot 100 in the embodiment of fig. 1, and fig. 3 is a schematic working state diagram of the sweeping robot 100 in the embodiment of fig. 1. The sweeping robot 100 generally includes a robot body 12, and a projector 14 and a first drive mechanism 16 provided on the robot body 12. The sweeping robot 100 may have a disc shape, or may have other shapes, such as a square shape or other polygonal shapes, which are not limited herein. The first driving mechanism 16 is configured to be able to drive the projector 14 to move relative to the robot body 12 to change the projection area of the projector 14. In one embodiment, the robot body 12 is provided with a groove 22, the projector 14 is at least partially embedded in the groove 22, and the projector 14 can project images or videos to a predetermined area. Specifically, the projector 14 has a light-transmitting region, and light emitted from a light source inside the projector 14 can be projected to a predetermined region through the light-transmitting region of the projector 14 to display an image or a video, and meanwhile, external light can also be captured into the projector 14 through the light-transmitting region of the projector 14 to perform light collection, that is, the external light can be irradiated to the light-incident surface of the projector 14 through the light-transmitting region.

In one embodiment, projector 14 may project an image or video onto the first projection area when the plane of the transmissive area of projector 14 is at a first angle relative to the bottom surface of recess 22. As shown in fig. 2, the projector 14 is in a standing state with respect to the robot body 12, that is, the projector 14 is partially inserted into the groove 22. At this time, the light emitted from the projector 14 can be projected to the ground through the transparent region, i.e. in this case, the first angle is approximately 90 °.

Projector 14 may project an image or video onto the second projection area when the plane of the transmissive area of projector 14 is at a second angle relative to the bottom surface of recess 22. As shown in fig. 3, the projector 14 is embedded in the robot body 12, that is, the projector 14 is almost completely embedded in the groove 22, and at this time, the light emitted from the projector 14 can be projected to the wall surface through the light-transmitting region, that is, in this case, the second angle is about 0 °. The projector can project some calligraphy and painting or background pictures on the wall surface or any plane capable of displaying pictures; when the owner needs to play, the projector can project the entertainment interface, and various entertainment effects can be provided for the owner.

It will be appreciated that the light emitted by the projector 14 may be at an angle to the plane of the transparent region, such that the light emitted by the projector 14 may be projected to a predetermined area (e.g., the first projection region or the second projection region) via the transparent region. The angle between the light emitted by the projector 14 and the plane of the transmissive region can be adjusted by a corresponding structure inside the projector 14, and the structure of this portion is within the understanding range of those skilled in the art, and therefore, the detailed description is omitted here. Similarly, the angle between the plane of the transparent region of the projector 14 and the bottom surface of the groove 22 may vary based on the angle between the light emitted by the projector 14 and the plane of the transparent region being adjustable, i.e., the first angle may be 60 ° to 120 °, and the second angle may be-30 ° to 30 °, in other words, the plane of the transparent region and the plane of the bottom surface of the groove 22 may be parallel or intersect.

The robot 100 of sweeping floor that this application embodiment provided is through in embedding the robot body 12 with projector 14 at least part to through the projection area that first actuating mechanism 16 changed projector 14, make robot 100 of sweeping floor not only have the function of cleaning, can also realize multiple entertainment function, and then richen robot 100 of sweeping floor's function. In addition, the projector 14 is at least partially embedded in the groove 22, and when the sweeping robot 100 executes a sweeping function, the projector 14 is in a standing state; when the sweeping robot 100 performs the entertainment function, the projector 14 is embedded in the groove 22, and the light emitting surface of the projector 14 is substantially matched with the appearance surface of the robot body 12, so as to maintain the consistency of the appearance of the sweeping robot 100, i.e. maintain the surface of the sweeping robot 100 to be relatively simple. It can be understood that the projector 14 can present different forms when the sweeping robot 100 performs the sweeping and entertainment functions, which can further enrich the form diversity of the sweeping robot 100. It should be noted that, when the sweeping robot 100 is in the standby state, the projector 14 may be completely embedded in the groove 22, and an included angle between a plane where the light-transmitting area of the projector 14 is located and the bottom surface of the groove 22 is substantially 0 °, that is, the surface of the sweeping robot 100 is almost flat, so that the consistency of the appearance of the sweeping robot 100 is maintained, and the appearance expressive force of the sweeping robot 100 is further improved.

With continued reference to fig. 1, the first driving mechanism 16 may be embedded in the robot body 12, or may be disposed on the surface of the robot body 12. The first drive mechanism 16 generally includes a first motor 64 and a first roller 62, the first motor 64 is configured to provide a driving force for movement of the projector 14, and the first roller 62 is configured to guide or move the projector 14.

In one embodiment, the output shaft of the first motor 64 is connected to the projector 14, and the first roller 62 is sleeved on the output shaft of the first motor 64. The first motor 64 can drive the projector 14 to move relative to the robot body 12, thereby changing the projection area of the projector 14. The first roller 62 may be sleeved on an output shaft of the first motor 64 and connected to the projector 14, and when the first motor 64 drives the first roller 62 to rotate, the first roller 62 may drive the projector 14 to move relative to the robot body 12. Of course, in other embodiments, the first rollers 62 are only sleeved on the output shaft of the first motor 64, as shown in fig. 1, two first rollers 62 may be provided, and the two first rollers 62 are respectively disposed on two opposite sides of the projector 14, so as to avoid the shaking phenomenon when the first motor 64 drives the projector 14 to move, i.e., to ensure the stability of the movement of the projector 14. Based on this, the first roller 62 may be one or more.

The first drive mechanism 16 is simple in structure and may be embedded in the robot body 12. The projector 14 is driven to move normally, and meanwhile, the use of parts is reduced as much as possible, and the processing cost is reduced; in addition, the embedded manner can maintain the consistency of the appearance of the sweeping robot 100, i.e. the appearance of the sweeping robot 100 can be kept relatively simple.

Referring to fig. 1, the projector 14 generally includes a housing 40, a first recognition camera 42 and a projection lens 44, wherein the housing 40 encloses a receiving space for receiving the first recognition camera 42 and the projection lens 44. The housing 40 is provided with a light-transmitting area, the light incident surface of the first identification camera 42 corresponds to the light-transmitting area, and the light emergent surface of the projection lens 44 corresponds to the light-transmitting area.

Specifically, external light may be incident on the light incident surface of the first recognition camera 42 through the light transmissive region, and light emitted from the projection lens 44 may be projected to the predetermined region through the light transmissive region. When the sweeping robot 100 cleans, the projection lens 44 emits light to the ground through the light-transmitting area, the first recognition camera 42 receives the reflection light on the ground through the light-transmitting area, and the sweeping robot 100 performs contrastive analysis on white field light data set before cleaning and the reflection light received by the first recognition camera 42, so that the dirt degree of the ground is judged, and the sweeping is performed.

In an application scenario, before the sweeping robot 100 performs the sweeping operation, the first recognition camera 42 projects white light through the projector 14 to collect data of a clean floor. When the sweeping robot 100 sweeps the floor, the projector 14 can project light rays with different colors to illuminate the front end ground of the sweeping robot 100, the first recognition camera 42 collects the reflected light rays of the ground, the sweeping robot 100 judges the dirt condition of the current ground by comparing the difference between the current reflected light rays and the white field light rays collected before sweeping, and adjusts the sweeping mode of the sweeping robot 100 so that the sweeping robot 100 can perform the corresponding sweeping function.

The light-transmitting region may be one region or two regions, which is not limited herein. The light-transmitting area may project light from the projector 14 to an area outside the projector 14, and the light-transmitting area may be covered by a light-transmitting plate-shaped material or may be hollowed. For example, the light-transmitting area is an area from which the first recognition camera 42 receives external light, and from which the projection lens 44 projects light; or the light-transmitting area has two areas, which are divided into a first light-transmitting area and a second light-transmitting area, the first light-transmitting area and the second light-transmitting area are arranged on the shell 40 and respectively correspond to the first recognition camera 42 and the projection lens 44, the first recognition camera 42 receives external light through the first light-transmitting area, and light emitted by the projection lens 44 is projected through the second light-transmitting area.

Further, an output shaft of the first motor 64 may be coupled to the housing 40 to drive the projector 14 to move relative to the robot body 12 to change a projection area of the projector 14. Of course, in other embodiments, the output shaft of the first motor 64 may be in driving connection with the housing 40 via the first roller 62, that is, the first roller 62 is sleeved on the output shaft of the first motor 64 and connected with the housing 40. When the first motor 64 drives the first roller 62 to rotate, the first roller 62 can drive the projector 14 to move relative to the robot body 12.

In one embodiment, the projector 14 may further include a dust cover 46 covering the light-transmitting region, and the dust cover 46 is disposed on one side of the housing 40 and connected to the housing 40. The dust cover 46 may protect the first recognition camera 42 and the projection lens 44. The dust cover 46 may be made of a light-permeable material, for example, a glass or plastic material.

The sweeping robot 100 can generate electrostatic adsorption and adsorb certain tiny objects such as dust particles in the sweeping process, and the dust cover 46 is covered on the shell 40, so that the tiny objects such as dust particles can be prevented from being attached to the first recognition camera 42 and the projection lens 44, and a certain protection effect can be achieved on the first recognition camera 42 and the projection lens 44, and the projection effect and the sweeping effect of the sweeping robot 100 can be guaranteed.

Referring to fig. 4 and 5, fig. 4 is a schematic structural diagram of the sweeping robot 200 in another embodiment of the present application, and fig. 5 is a schematic working state diagram of the sweeping robot 200 in the embodiment of fig. 4. The sweeping robot 200 generally includes a robot body 12, and a projector 14 and a first drive mechanism 16 provided on the robot body 12. Wherein the first driving mechanism 16 is configured to drive the projector 14 to move relative to the robot body 12 to change the projection area of the projector 14. In one embodiment, the surface of the robot body 12 is provided with a groove 22, the projector 14 is at least partially embedded in the groove 22, and the projector 14 can project an image or video to a predetermined area. Specifically, the projector 14 has a transparent area, and light emitted from a light source inside the projector 14 can be projected to a predetermined area through the transparent area to display an image or a video, and external light can also be emitted into the projector 14 through the transparent area to perform light collection.

It can be understood that the sweeping robot 200 in the embodiment of fig. 4 and 5 is different from the sweeping robot 100 in the previous embodiment in that: the angle between the light emitted from the projector 14 and the plane of the transparent region is different from that in the previous embodiment.

Specifically, as shown in fig. 4, when the projector 14 is in a standing state relative to the robot body 12, that is, the projector 14 is partially embedded in the groove 22, the light emitted from the projector 14 can be projected to the wall surface through the light-transmitting region, that is, in this case, the second angle is approximately 85 ° to 95 °. For example, the second angle may be 85 °, 87 °, 90 °, 93 °, or 95 °, etc. The projector 14 may project some calligraphy and painting or background pictures on a wall surface or any plane capable of displaying pictures; when the owner needs to play, the projector can project an entertainment interface, and various entertainment effects can be provided for the owner.

As shown in fig. 5, when the projector 14 is in a recessed state with respect to the robot body 12, that is, the projector 14 is almost completely recessed in the groove 22. At this time, the light emitted from the projector 14 can be projected to the ground through the transparent region, i.e. in this case, the first angle is approximately 0 °. Meanwhile, the robot body 12 may be configured to allow light to pass through at a position corresponding to the light-transmitting area, for example, a light-transmitting hole may be formed at a position corresponding to the light-transmitting area of the robot body 12, or a transparent structure may be provided. The first recognition camera 42 may receive the reflected light from the ground through the transparent region, and the light emitted from the projection lens 44 may be projected onto the ground through the transparent region. The first recognition camera 42 projects white light through the projector 14 before cleaning, and collects data of the clean floor. When the sweeping robot 200 performs sweeping operation, the projector 14 can project light rays with different colors to illuminate the front end ground of the sweeping robot 200, the first recognition camera 42 collects reflected light rays of the ground, the projector 200 judges the dirt condition of the current ground by comparing the difference between the current reflected light rays and white field light rays collected before sweeping, and the sweeping mode of the sweeping robot 200 is adjusted so that the sweeping robot 200 can perform corresponding sweeping functions.

In the embodiments of fig. 4 and 5, when the cleaning robot 200 is in the cleaning mode, the projector 14 is in an embedded state; in the entertainment mode, the projector 14 is in a standing position. In the embodiment of fig. 2 and 3, when the sweeping robot 200 is in the sweeping mode, the projector 14 is in the standing state; in the entertainment mode, the projector 14 is in an embedded state. It will be appreciated that the different operating states represented in the two embodiments described above are based on the angular difference between the light emitted by the projector 14 and the plane in which the transmissive region lies, on the one hand, and on the other hand, on the influence of the direction of movement of the projector.

Specifically, in the embodiment shown in fig. 2 and 3, when the sweeping robot 100 is switched from the sweeping mode to the entertainment mode, the projector 14 is switched from the standing state to the embedded state, and at this time, the projector 14 moves in the counterclockwise direction F1 shown in fig. 2 to the state shown in fig. 3. In the embodiment shown in fig. 4 and 5, when the sweeping robot 100 is switched from the entertainment mode to the cleaning mode, the projector 14 is switched from the standing state to the embedded state, and at this time, the projector 14 moves in the clockwise direction F2 shown in fig. 4 to the state shown in fig. 5.

Referring to fig. 6, fig. 6 is a schematic structural diagram of a projector 14 according to another embodiment of the present application. The projector 14 generally includes: the camera comprises a shell 40, a first recognition camera 42, a projection lens 44 and a dustproof cover 46, wherein the shell 40 is surrounded to form a containing space for containing the first recognition camera 42 and the projection lens 44. The dust cover 46 covers the housing 40 and can protect the first recognition camera 42 and the projection lens 44.

It can be understood that the sweeping robot 300 in the embodiment of fig. 6 is different from the sweeping robot 100 in the previous embodiment in that: the sweeping robot 300 may also include a wiping mechanism 18. The wiping mechanism 18 is provided on the projector 14, and is configured to remove fine substances such as dust particles from the surface of the dust cap 46. The wiping mechanism 18 generally includes: a second drive mechanism 80, a wiper strip holder 82, and a wiper strip 84. The second drive mechanism 80 is capable of driving the wiper strip retainer 82 in a reciprocating motion relative to the dust cap 46. The wiper strip 84 is secured to the wiper strip retainer 82 and is contactably connected to the dust cap 46. During the reciprocating movement of the wiper strip holder 82 relative to the dust cover 46, the wiper strip 84 contacts the surface of the dust cover 46 and can synchronously reciprocate relative to the dust cover 46, so that minute substances such as dust particles on the surface of the dust cover 46 can be removed. It will be appreciated that the size of the wiper strip 84 is no smaller than the size of the dust cap 46 and is removable for easy replacement.

The sweeping robot 300 can generate electrostatic adsorption and adsorb certain tiny objects such as dust particles during the sweeping process, and the arrangement of the wiping mechanism 18 can keep the surface of the dust cover 46 clean during projection or sweeping, so as to ensure the projection effect and the sweeping effect of the sweeping robot 300.

With continued reference to fig. 6, the second driving mechanism 80 generally includes a second motor 801, a shaft 802, a second roller 803, and a belt 804. The second motor 801 and the shaft 802 are disposed on the housing 40, and disposed on opposite sides of the dust cover 46, and the distance between the second motor 801 and the shaft 802 is greater than the length or width of the dust cover 46, and the distance is determined by the wiping direction of the wiping mechanism and can be adjusted as appropriate. Wherein the shaft 802 may be spaced from a surface of the housing 40. The second roller 803 is sleeved on the shaft rod 802, the belt 804 is sleeved on the output shaft of the second motor 801 and the second roller 803, and the belt 804 is perpendicular to or parallel to the edge of the dust cover 46. Of course, in another embodiment, as shown in fig. 6, there may be 2 second rollers 803, and 2 belts 804 may be provided at the same time. Two second rollers 803 are sleeved on the shaft lever 802 at intervals, one belt 804 is sleeved on the output shaft of the second motor 801 and one of the second rollers 803, the other belt 804 is sleeved on the output shaft of the second motor 801 and the other second roller 803, the two belts 804 are arranged in parallel and keep a certain interval, and the wiping strip fixer 82 is fixedly connected on the two belts 804. Based on this, the number of the second rollers 803 may be one or more, the number of the corresponding belts 804 may be one or more, and the number of the second rollers 803 and the number of the belts 804 are the same and are arranged in a one-to-one correspondence.

The wiper strip holder 82 is fixedly connected to the belt 804, and the wiper strip holder 82 is substantially a plate-shaped structure, a strip-shaped structure, or other rigid structure with certain hardness. The wiper strip 84 is disposed on a side of the wiper strip retainer 82 adjacent to the dust cap 46 and is adapted to contact the dust cap 46, wherein the wiper strip 84 is typically made of a softer material such as foam, fiber cloth, flexible gel, etc. to avoid hard contact with the dust cap 46 and thereby scratching the dust cap 46. The second motor 801 can drive the belt 804 to rotate in the opposite direction, so as to drive the wiping strip holder 82 to reciprocate relative to the dust cap 46, and further drive the wiping strip 84 to perform a reciprocating wiping motion on the dust cap 46, so as to remove dust and the like on the surface of the dust cap 46.

Referring to fig. 7 and 8, fig. 7 is a schematic structural diagram of a sweeping robot 400 in another embodiment of the present disclosure, fig. 8 is a schematic sectional structural diagram of the sweeping robot 400 in the embodiment of fig. 7, and the sweeping robot 400 generally includes a robot body 12, and a projector 14 and a first driving mechanism 16 disposed on the robot body 12. Wherein the first driving mechanism 16 is configured to drive the projector 14 to move relative to the robot body 12.

It can be understood that the sweeping robot 400 in the embodiment of fig. 7 is different from the sweeping robot 100 in the previous embodiment in that: the sweeping robot 400 may also include a wiping mechanism 18. The wiping mechanism 18 is disposed on the bottom wall of the groove 22 and is configured to remove fine particles such as dust particles from the surface of the dust cap 46. The wiping mechanism 18 generally includes: a second drive mechanism 80, a wiper strip holder 82, and a wiper strip 84. The second drive mechanism 80 is capable of driving the wiper strip retainer 82 in a reciprocating motion relative to the dust cap 46. The wiper strip 84 is secured to the wiper strip retainer 82 and is contactably connected to the dust cap 46. During the reciprocating movement of the wiper strip holder 82 relative to the dust cover 46, the wiper strip 84 contacts the surface of the dust cover 46 and can synchronously reciprocate relative to the dust cover 46, so that minute substances such as dust particles on the surface of the dust cover 46 can be removed. It will be appreciated that the size of the wiper strip 84 is no smaller than the size of the dust cap 46 and is removable for replacement.

With continued reference to fig. 8, the second driving mechanism 80 generally includes a second motor 801, a shaft 802, a second roller 803, and a belt 804. The second motor 801 and the shaft 802 are disposed on the bottom wall of the groove 22, and the distance between the second motor 801 and the shaft 802 is larger than the length or width of the dust cover 46, and the distance is determined by the wiping direction of the wiping mechanism and can be adjusted appropriately. The second roller 803 is sleeved on the shaft rod 802, the belt 804 is sleeved on the output shaft of the second motor 801 and the second roller 803, and the belt 804 is perpendicular to or parallel to the edge of the dust cover 46. Of course, in another embodiment, as shown in fig. 6, there may be 2 second rollers 803, and 2 belts 804 may be provided at the same time. Two second rollers 803 are sleeved on the shaft rod 802, one belt 804 is sleeved on the output shaft of the second motor 801 and one of the second rollers 803, the other belt 804 is sleeved on the output shaft of the second motor 801 and the other second roller 803, the two belts 804 are arranged in parallel and keep a certain interval, and the wiping strip fixer 82 is fixedly connected on the two belts 804. Based on this, the number of the second rollers 803 may be one or more, the number of the corresponding belts 804 may be one or more, and the number of the second rollers 803 and the number of the corresponding belts 804 are the same and are arranged in a one-to-one correspondence.

The wiper strip holder 82 is fixedly connected to the belt 804, and the wiper strip holder 82 is substantially a plate-shaped structure, a strip-shaped structure, or another rigid structure having a certain hardness. The wiper strip 84 is disposed on a side of the wiper strip retainer 82 adjacent to the dust cap 46 and is adapted to contact the dust cap 46, wherein the wiper strip 84 is typically made of a softer material such as foam, fiber cloth, flexible gel, etc. to avoid hard contact with the dust cap 46 and thereby scratching the dust cap 46. The second motor 801 can drive the belt 804 to rotate in the opposite direction, so as to drive the wiping strip holder 82 to reciprocate relative to the dust cap 46, and further drive the wiping strip 84 to perform a reciprocating wiping motion on the dust cap 46, so as to remove dust and the like on the surface of the dust cap 46.

It can be understood that, in the embodiment, when the projector 14 is accommodated in or completely embedded in the groove 22, the light-transmitting area of the projector 14 is disposed adjacent to the bottom wall of the groove 22, and the light emitted by the projector 14 can be emitted through the bottom wall of the groove 22. Further, the wiping mechanism 18 is disposed on the bottom wall of the groove 22, and can be used for cleaning the dust cap 46, and meanwhile, it is ensured that the surface of the sweeping robot body 12 is relatively flat, so that the appearance of the sweeping robot 500 is relatively simple.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a sweeping robot 500 according to another embodiment of the present application, in which the sweeping robot 500 generally includes a robot body 12, a projector 14 and a first driving mechanism 16, which are disposed on the robot body 12. Wherein the first driving mechanism 16 is configured to drive the projector 14 to move relative to the robot body 12.

It can be understood that the sweeping robot 500 in the embodiment of fig. 9 is different from the sweeping robot 100 in the previous embodiment in that: the sweeping robot 500 may further include a second recognition camera 20.

The second recognition camera 20 is embedded in the robot body 12, and is configured to recognize an obstacle in front of the sweeping robot 500, so as to adjust the state of the projector 14, so as to avoid the risk of collision between the sweeping robot 500 and the obstacle. Wherein, the shooting direction of the second recognition camera 20 faces the advancing direction of the sweeping robot 500.

The sweeping robot 500 may encounter various different types of obstacles during the sweeping process, and it should be noted that the obstacles are different from the objects for sweeping the garbage, and cannot be swept by the sweeping robot 500. In one embodiment, the second recognition camera 20 may determine the size and the ground clearance of the obstacle in the forward direction of the sweeping robot 500 and the distance between the sweeping robot 500 and the obstacle by using the reflected light. When the obstacle is in contact with the ground, that is, the ground clearance of the obstacle is 0, the sweeping robot 500 bypasses the obstacle to perform sweeping.

When the obstacle is not in contact with the ground, the sweeping robot can make different judgments according to the ground clearance of the obstacle. Reference may be made in particular to the description of the following examples:

in one embodiment, when the projector 14 is in the embedded state, the sweeping robot 500 approaches an obstacle, and if the ground clearance of the obstacle is smaller than the height of the sweeping robot 500, the sweeping robot 500 bypasses the obstacle area for sweeping.

In an embodiment, when the projector 14 is in the embedded state, the sweeping robot 500 approaches an obstacle, and if the ground clearance of the obstacle is greater than the height of the sweeping robot 500, the sweeping robot 500 enters the obstacle area for sweeping.

In one embodiment, when the projector 14 is in a standing state, the sweeping robot 500 approaches an obstacle, and if the ground clearance of the obstacle is smaller than the height of the sweeping robot 500, the sweeping robot 500 bypasses the obstacle area to perform sweeping. It will be appreciated that the height herein may include the height of the projector 14 relative to the ground when standing.

In one embodiment, when the projector 14 is in the standing state, the sweeping robot 500 approaches an obstacle, and if the ground clearance of the obstacle is larger than the total height of the sweeping robot 500 and the projector 14 in the standing state, the sweeping robot 500 enters the obstacle area for sweeping.

By adding the second recognition camera 20 to receive the reflected light in front of the sweeping robot 500, the sweeping robot 500 can determine the ground clearance of the front obstacle, and further can adjust the state of the projector 14, so that the sweeping robot 500 performs different operations on the obstacles with different ground clearances, for example, the state of the projector is adjusted, so that the sweeping robot 500 can enter the space below the obstacle with the ground clearance greater than the height of the sweeping robot 500 and the ground clearance less than the total height of the sweeping robot 500 and the projector 14 in a standing state for cleaning, the trafficability of the sweeping robot 500 is enhanced, and the cleaning area of the sweeping robot 500 is enlarged.

In summary, the projector and the first driving mechanism are arranged on the robot body, so that the projector can move relative to the sweeping robot under the driving of the first driving mechanism, and further the projection area of the projector can be changed, when the sweeping robot projects to areas such as a room wall surface and the like, the projector can project images or videos, and the sweeping robot has the functions of rendering the room and providing entertainment for a host; when the robot of sweeping the floor throws the region to the ground region, the projector can gather the reverberation on ground through first discernment camera, and the robot of sweeping the floor judges the dirty condition on current ground through the difference between the white field light of current reflection light of contrast and collection before sweeping, adjusts the mode of sweeping the robot of sweeping the floor. As can be appreciated, the projector first enables the sweeping robot to render a room and provide entertainment to the host; and secondly, the sweeping robot can be assisted to sweep more effectively. That is to say, set up the function that the robot was swept the floor in the robot of sweeping the floor of projector has richened, improved the problem that robot was swept the floor to the function singleness, increased the use scene of robot of sweeping the floor. In addition, through set up the recess on the robot body, and the projector can be to the use scene part of difference or inlay in the recess completely to promote the variety when sweeping floor the robot and using. It can be understood that, when the robot of sweeping the floor is in the standby state, the projector 14 can be embedded in the groove 22 completely, and the included angle between the plane where the light-transmitting area of the projector 14 is located and the bottom surface of the groove 22 is approximately 0 ° at this moment, that is, the surface of the robot 100 of sweeping the floor is almost flat, the consistency of the appearance of the robot 100 of sweeping the floor is maintained, and further the appearance expressive force of the robot of sweeping the floor is improved.

The above description is only an embodiment of the present application, and not intended to limit the scope of the present application, and all modifications that can be made by using equivalent structures or equivalent processes in the specification and drawings of the present application, or applied to other related technical fields directly or indirectly, are included in the scope of the present application.

Claims (10)

1. A sweeping robot is characterized by comprising a robot body, a projector and a first driving mechanism, wherein the projector and the first driving mechanism are arranged on the robot body, and the first driving mechanism is configured to drive the projector to move relative to the robot body;

the robot body is provided with a groove, and at least part of the projector is embedded in the groove; the surface of the projector is provided with a light transmitting area, light rays emitted by the projector can be projected to a preset area through the light transmitting area, and external light rays can irradiate to the light incident surface of the projector through the light transmitting area.

2. The sweeping robot of claim 1, wherein the plane of the light-transmitting area is parallel to or intersects with the plane of the bottom surface of the groove.

3. The sweeping robot of claim 1, wherein the first driving mechanism comprises a first motor and a first roller, and the first roller is sleeved on an output shaft of the first motor;

the output shaft of the first motor is connected to the projector, and the first motor drives the projector to move relative to the robot body.

4. The sweeping robot according to claim 3, wherein the projector comprises a housing, a first recognition camera and a projection lens, the housing encloses a housing space for housing the first recognition camera and the projection lens, and a light-transmitting area is arranged on the housing;

the light incident surface of the first recognition camera corresponds to the light transmitting area to receive external light, and the light emergent surface of the projection lens corresponds to the light transmitting area.

5. The sweeping robot of claim 4, wherein the projector further comprises a dust cover, the dust cover is disposed on the light-transmitting area and connected to the housing.

6. The sweeping robot of claim 5, further comprising a wiping mechanism disposed on the projector, the wiping mechanism comprising:

the second driving mechanism is arranged on the shell and is positioned on one side of the dustproof cover;

the wiping strip fixer is connected with the second driving mechanism and can reciprocate relative to the dust cover under the driving of the second driving mechanism; and

and the wiping strip is arranged on one side, close to the dust cover, of the wiping strip fixer and can synchronously reciprocate along with the wiping strip fixer to wipe the dust cover.

7. The sweeping robot of claim 6, wherein the second driving mechanism comprises a second motor and a shaft rod arranged on the housing, a second roller sleeved on the shaft rod, and a belt connecting the second motor and the second roller;

the second motor and the shaft rod are arranged on two opposite sides of the dustproof cover, and the wiping strip fixer is connected with the belt.

8. The sweeping robot of claim 5, further comprising a wiping mechanism disposed on the bottom wall of the trough, the wiping mechanism comprising:

the second driving mechanism is arranged on the bottom wall of the groove and is positioned on one side of the dustproof cover;

the wiping strip fixer is connected with the second driving mechanism and can reciprocate relative to the dust cover under the driving of the second driving mechanism; and

and the wiping strip is arranged on one side, close to the dust cover, of the wiping strip fixer and can synchronously reciprocate along with the wiping strip fixer to wipe the dust cover.

9. The sweeping robot of claim 8, wherein the second driving mechanism comprises a second motor and a shaft rod arranged on the bottom wall of the groove, a second roller sleeved on the shaft rod, and a belt connecting the second motor and the second roller;

the second motor and the shaft rod are arranged on two opposite sides of the dustproof cover, and the wiping strip fixer is connected with the belt.

10. The sweeping robot of claim 1, further comprising a second recognition camera embedded in the robot body, wherein the second recognition camera shoots towards the advancing direction of the robot.

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