CN218338385U

CN218338385U - Floor cleaning device

Info

Publication number: CN218338385U
Application number: CN202222096111.XU
Authority: CN
Inventors: 赵志谋
Original assignee: Hobot Technology Inc
Current assignee: Hobot Technology Inc
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2023-01-20
Anticipated expiration: 2032-08-10

Abstract

The application discloses a floor cleaning device, wherein the floor cleaning device comprises a shell; a main control panel disposed within the housing; a cleaning assembly disposed within the housing for cleaning a floor; the laser radar module is used for detecting an obstacle of the floor and outputting a corresponding control signal and comprises a control circuit board, and the control circuit board is electrically connected with the main control board; a cover comprising at least one connector, wherein the cover protrudes from a top of the housing and covers the lidar module; and the detector is arranged on the control circuit board and used for detecting the movement of the cover body and outputting a corresponding sensing signal, wherein the sensing signal passes through the control circuit board and then outputs the main control board.

Description

Floor cleaning device

Technical Field

The application relates to a floor cleaning device, in particular to an anti-collision device applied to the floor cleaning device.

Background

Robots assist humans to perform various tasks, and thus have been widely used in various fields, such as industrial robots and household robots. The common household robot at present is a sweeping robot, which is used for sweeping the floor of a household. However, the environment of the household floor is complicated, and the sweeping robot can encounter many obstacles during the automatic sweeping process to affect the work of the sweeping robot. In order to overcome this problem, a conventional sweeping robot is provided with a laser radar (LiDAR) to detect obstacles on a path, and the sweeping robot can arrange a proper sweeping path to avoid the obstacles according to a detection result of the LiDAR, so as to improve the sweeping efficiency.

Referring to fig. 1, a conventional sweeping robot is provided with a cover 11 protruding from a top end of a housing 10, and a laser radar 12 is disposed in the cover 11. The lidar 12 may detect obstacles on the floor through a window 111 of the housing 11. However, the laser radar 12 has a detection blind area BS, so that the sweeping robot cannot effectively detect an obstacle when approaching the obstacle such as a sofa, and the card cannot be bounced in place.

In view of this, patent document CN215986508U discloses a structure capable of detecting that a protruding cover body encounters an obstacle. Fig. 2A shows a structure disclosed in the aforementioned patent document. Referring to fig. 2A, the conventional collision sensing apparatus includes a cover 21, a movable member 22, and a detector 23. The cover 21 includes a plurality of connectors 211 and at least one window 212. The cover 21 is disposed on a top of a housing 30 and protrudes from the top of the housing 30. The movable member 22 is disposed inside the housing 30, the plurality of connection members 211 of the cover 21 pass through the limiting holes 31 of the housing 30 and are locked to the locking holes 221 of the movable member 22, and the cover 21 and the movable member 22 can move between an initial position and a collision position relative to the housing 30. Between the cover 21 and the movable element 22, an accommodating space is formed through an opening 32 of the housing 30 to accommodate an electronic component (not shown in fig. 2A), such as a LiDAR (LiDAR). It will be appreciated that window 212 of enclosure 21 protrudes through the top of housing 30, allowing the lidar to detect external obstructions through window 212.

The detector 23 is located on the detector base 239 and is disposed within the housing 30. The detector 23 can detect the movement of the cover 21 and output a corresponding sensing signal, so that an external controller can take appropriate measures according to the sensing signal output by the detector 23. For example, when the cover 21 is displaced by an external impact, such as an impact against an obstacle, the movable member 22 is connected to the cover 21, and therefore the movable member 22 will displace along with the cover 21. When the moveable member 22 triggers the detector 23, the detector 23 outputs a sensing signal that collides with an obstacle. For example, the detector 23 may be a microswitch, and the sensing signal of the collision with the obstacle can be output by pressing the movable member 22 to the microswitch.

Referring to fig. 2A again, the movable member 22 includes a contact portion 222 and an elastic portion 223. The contact portion 222 is disposed opposite the detector 23 such that the contact portion 222 triggers the detector 23 when the movable element 22 moves to the collision position due to a collision. The elastic portion 223 is deformed to be in a force accumulation state when the movable element 22 moves to the collision position due to the collision. When the collision is eliminated, for example, retreating away from the obstacle, the restoring force of the elastic portion 223 will return the movable member 22 to the initial position.

Referring to fig. 2A again, the collision sensing apparatus further includes a fixing base 33 disposed in the accommodating space between the cover 21 and the movable member 22, and an electronic component (not shown in fig. 2A) is disposed on the fixing base 33. The relative position between the fixing seat 33 and the housing 30 is fixed, i.e. the fixing seat 33 is not moved by the cover 21 being collided. The fixing base 33 can be locked to the housing 30. The fixing base 33 includes a force-receiving portion 331. In the embodiment shown in fig. 2A, the force-receiving portion 331 is disposed opposite to the elastic portion 223 of the movable member 22. When the movable element 22 is in the collision position, the force receiving portion 331 can deform the elastic portion 223 into a force accumulation state. It can be understood that the force receiving portion 331 only needs to be fixed relative to the elastic portion 223, so that the elastic portion 223 is deformed to store force when the movable element 22 collides with the elastic portion 223.

Referring to fig. 2B, fig. 3 and fig. 4, how the movable element 22 triggers the detector 23 at the collision position and how the elastic portion 223 restores the movable element 22 to the initial position will be described. Referring to fig. 2A, when the cover 21 does not collide with an external force, the movable member 22 is located at an initial position, as shown in fig. 3. At this time, the contact portion 222 and the switch 231 of the detector 23 are kept at a proper distance D or lightly contact the switch 231 without triggering the switch, i.e., the contact portion 222 of the movable member 22 and the detector 23 are not in a contact sensing state. It will be appreciated that the sensitivity of the detector 23 to detect a collision can be controlled by adjusting the distance D between the contact portion 222 and the switch 231 to avoid slight vibration, i.e., triggering the switch 231.

Since the cover 21 is connected to the movable element 22 through the connection member 211, when the cover 21 collides with an obstacle, the movable element 22 moves to the left (moving direction Df) along with the cover 21 to be located at the collision position, as shown in fig. 2B and 4. At this time, the contact portion 222 triggers the switch 231 of the detector 23, that is, the contact portion 222 of the movable element 22 and the detector 23 are in a contact sensing state, so that the detector 23 outputs a corresponding sensing signal. Further, the elastic portion 223 is pushed by the force receiving portion 331, and is compressed and deformed to further store force. When the crash condition is removed, the restoring force of the resilient portion 223 will return the moveable member 223 to the initial position, i.e., the position shown in FIG. 3. It is understood that, by proper design, the elastic portion 223 can be deformed in tension to produce the same effect. The limiting hole 31 can limit the reciprocating distance between the initial position and the collision position of the movable member 22.

Referring to fig. 5, the floor cleaning apparatus includes a housing 30, a

cleaning assembly

50a, 50b, a laser radar 40, a driving assembly 60, and an impact sensing device 20. The

cleaning assemblies

50a, 50b are disposed within the housing 30 to clean a floor F. For example, the cleaning assembly 50a may include a brush and a dust collecting assembly for cleaning the floor; the cleaning assembly 50b may include a mop cloth and a water tank for mopping the floor.

In the embodiment of fig. 2B, in the initial position, the contact portion 222 of the movable member 22 and the detector 23 are not in a contact sensing state; in the collision position, the contact portion 222 of the movable member 22 and the detector 23 are in the contact sensing state. In the embodiment of fig. 2B, the movable element 22 needs to move a long stroke, and since the contact portion 222 is not triggered when it is slightly contacted, the switch 231 needs to be pressed to a required compression distance for triggering, and thus the stroke of the movable element 22 includes the distance D and the compression distance required when the switch 231 is switched. In this case, the time to sense the touch is somewhat delayed.

In order to reduce the delay time, the relative relationship between the movable member 22 and the detector 23 can be further improved to form a floor cleaning device as shown in the embodiment of fig. 6A and 6B. In the floor cleaning apparatus shown in fig. 6A and 6B, in the initial position, the contact portion 222 of the movable member 22 and the detector 23 are in a contact sensing state; in the collision position (the state of fig. 6B), the contact portion 222 of the movable member 22 and the detector 23 are not in the contact sensing state. More specifically, the following description is given.

The embodiment of fig. 2A and 2B is similar to the embodiment of fig. 6A and 6B, and therefore the same reference numerals are used for the same components, and the related description thereof is omitted. As shown in fig. 6A and 6B, the detector 23 is located on the detector base 239. In the movable member 22, the contact portion 222 is located on a first side of the substrate 224, and the elastic portion 223 is located on a second side of the substrate 224, the second side being opposite to the first side. A portion of the substrate 224 is bent toward the front and rear sides to form the contact portion 222 and the elastic portion 223. In one embodiment, a portion of the substrate is bent to form the contact portion 222 and the elastic portion 223. When the movable member 22 moves in the moving direction Df, the movable member 22 moves to the collision position (the state of fig. 6B), so that the contact portion 222 slightly contacts or does not contact the switch 231 of the detector 23. In the embodiment, the shortest moving distance of the moving element 22 only needs to be moved to a distance that the contact portion 222 slightly contacts the switch 231 of the detector 23 and the switch is not triggered, so that the detector 23 can sense that the moving element is not in the contact sensing state, the stroke is short, the delay time is short, and the sensitivity of the detector 23 for sensing the collision is high. As shown in the state of fig. 6B, when the moving member 22 moves a large distance and the contact portion 222 is not in contact with the switch 231 of the detector 23, the detector 23 already senses that the moving member is not in the contact sensing state, and the stroke from slight contact to non-contact does not affect the sensing of the detector 23.

Continuing from the above description, the laser radar 40 is disposed in the housing 11 of the collision sensing apparatus 20, such that the housing 11 surrounds the laser radar 40, and the laser radar 40 protrudes from the top of the housing 30, so as to detect the obstacle on the floor F and output a corresponding control signal. The driving assembly 60 is disposed in the housing for driving the floor cleaning device to move on the floor F according to the control signal outputted from the laser radar 40, so as to clean the floor or mop the floor. For example, the lidar 40 may detect obstacles on the floor F and generate a suitable routing, such that the driving assembly 60 drives the floor cleaning apparatus to avoid the obstacles on the floor F according to the routing. It will be appreciated that when the crash sensing device 20 outputs a sensing signal indicative of a crash, the drive assembly 60 can drive the floor cleaning device backward and/or forward to avoid the floor cleaning device jamming and failing to continue its floor cleaning operation.

SUMMERY OF THE UTILITY MODEL

The present application provides a floor cleaning device, which includes a cover and a movable member connected to each other, and the cover and the movable member can move between an initial position and a collision position relative to a housing, so that the cover triggers a detector through the movable member when the cover is collided, thereby facilitating the floor cleaning device to generate a proper avoidance measure. The detector is arranged on a control circuit board of the laser radar module, and sensing signals pass through the control circuit board and then are output to a main control board of the floor cleaning device, so that the manufacturing cost and the assembling cost of the assembly are reduced.

A floor cleaning device according to an embodiment of the present application, includes: a housing; a main control panel disposed in the housing; a cleaning assembly disposed within the housing for cleaning a floor; the laser radar module is used for detecting an obstacle of the floor and outputting a corresponding control signal and comprises a control circuit board, and the control circuit board is electrically connected with the main control board; a cover comprising at least one connector, wherein the cover protrudes from a top of the housing and covers the lidar module; the detector is arranged on the control circuit board and used for detecting the movement of the cover body and outputting a corresponding sensing signal; a movable member disposed in the housing and connected to the at least one connecting member of the cover, wherein the cover and the movable member are movable between an initial position and a collision position with respect to the housing, and the cover is moved from the initial position to the collision position when being collided by an external force, and the detector senses a state between the movable member and the detector; and the driving assembly is arranged in the shell and is electrically connected with the main control board, and is used for driving the floor cleaning device to move on the floor according to the control signal output by the laser radar module and the sensing signal output by the detector, wherein the sensing signal passes through the control circuit board and then outputs the main control board.

In an embodiment, the lidar module further includes: laser radar device, rotary platform and base, the laser radar device set up in rotary platform, the base is used for bearing rotary platform, control circuit board is close to or connect in the base.

In one embodiment, the control circuit board includes: a first connector to which the lidar module is electrically connected through circuitry in the control circuit board; and a second connector to which the detector is electrically connected through another circuit in the control circuit board.

In one embodiment, the control circuit board includes: and the laser radar module and the detector are electrically connected to the connector through a circuit in the control circuit board.

In one embodiment, the connector includes: a plurality of operation pins for controlling the laser radar module; and at least one sensing pin for receiving a sensing signal from the detector.

In one embodiment, the plurality of operation pins include a first operation pin serving as a ground line, the plurality of operation pins cooperate with each other to receive the control signal from the lidar module, and the at least one sensing pin includes a first sensing pin serving as another ground line and a second sensing pin; the first sensing pin and the second sensing pin cooperate with each other to receive the sensing signal from the detector.

In one embodiment, the plurality of operation pins includes a first operation pin as a ground line, the at least one sensing pin does not include a first sensing pin as another ground line, the at least one sensing pin includes a second sensing pin, and the first operation pin and the second sensing pin cooperate with each other to receive the sensing signal from the detector.

In one embodiment, the detector includes a micro switch, the movable member includes a contact portion and an elastic portion, the detector senses a state between the contact portion of the movable member and the detector, and the elastic portion is in an accumulated state, and the movable member further includes a substrate, and the contact portion is located on a first side of the substrate, and the elastic portion is located on a second side of the substrate, the second side being opposite to the first side.

In an embodiment, the movable member is an integrally formed component or an integrally formed sheet metal member, and a portion of the substrate is bent toward the front and rear sides or the upper and lower sides respectively to form the contact portion and the elastic portion.

In one embodiment, in the initial position, the contact portion of the movable member and the detector are in a contact sensing state; and under the collision position, the contact part of the movable piece and the detector are not in the contact induction state.

In one embodiment, the floor cleaning apparatus further comprises: a fixing seat, it is set up in the said shell, and with the relative position between the said shells is fixed, wherein the said laser radar module is set up in the said fixing seat, and the said fixing seat includes a stress portion, wherein when the said moving part is located in the said collision position, the said stress portion makes the said elastic part produce the deformation and is the said state of accumulating force.

In an embodiment, the housing includes a plurality of limiting holes, the number of the at least one connecting element is plural, and the connecting element of the cover body passes through the plurality of limiting holes to be connected with the moving element, so as to limit the movement of the cover body and the moving element between the initial position and the collision position.

The purpose, technical content, features and effects of the present application will be more readily understood by the following detailed description of the embodiments taken in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a schematic view illustrating a conventional collision sensing apparatus.

Fig. 2A is an exploded view showing a conventional collision sensing apparatus.

Fig. 2B is a bottom view showing a collision position of the conventional collision sensing apparatus.

Fig. 3 is a schematic diagram illustrating a conventional collision sensing apparatus in an initial position.

Fig. 4 is a schematic diagram illustrating a conventional collision sensing apparatus in a collision position.

Fig. 5 is a schematic view showing a conventional floor cleaning apparatus.

Fig. 6A is an exploded view showing a conventional collision sensing apparatus.

Fig. 6B is a bottom view showing a collision position of the conventional collision sensing apparatus.

Figure 7A is an exploded view of a portion of a floor cleaning device according to an embodiment of the present application.

Fig. 7B is a perspective view of a lidar module according to an embodiment of the present application.

Fig. 8 is a diagram illustrating a connection relationship between a control circuit board and a main control board of a laser radar module according to an embodiment of the present application.

Reference numerals:

10: shell body

100: floor cleaning device

11: cover body

111: window

12: laser radar

21: cover body

211: connecting piece

212: window

22: movable part

221: lock hole

222: contact part

223: elastic part

224: substrate

23: detector

231: switch with a switch body

239: detector base

30: shell body

31: limiting hole

32: opening of the container

33: fixed seat

331: stress-receiving part

400: laser radar module

410: laser radar device

420: rotary platform

423: detector

430: base seat

431: medium drive device

440: control circuit board

441: connector with a locking member

442: connector with a locking member

451: cable conductor

50a, 50b: cleaning assembly

60: drive assembly

70: main control panel

BS: detecting blind area

F: floor board

Detailed Description

Various embodiments of the present application will be described in detail below with reference to the drawings. This application is intended to cover such alternatives, modifications, and equivalents as may be included within the spirit and scope of the present application as defined by the appended claims. In the description of the specification, numerous specific details are set forth in order to provide a more thorough understanding of the present application; however, the present application may be practiced without some or all of these specific details. In other instances, well-known steps or components have not been described in detail so as not to unnecessarily obscure the present application. The same or similar components in the drawings will be denoted by the same or similar symbols. It is noted that the drawings are merely schematic and do not represent actual sizes or quantities of elements, and some details may not be fully drawn for brevity of the drawings.

Figure 7A is an exploded view of a portion of a floor cleaning device according to an embodiment of the present application. Fig. 7B is a perspective view of a lidar module according to an embodiment of the present application. Fig. 7B is a perspective view when viewed from the back surface side of the laser radar module. Referring to fig. 7A and 7B, a floor cleaning apparatus 100 according to an embodiment of the present disclosure includes a cover 21, a movable member 22 (fig. 7B), and a lidar module 400. The cover 21 includes a plurality of connectors 211 and at least one window 212. The cover 21 is disposed on a top of a housing 30 and protrudes from the top of the housing 30. The movable member 22 is disposed inside the housing 30, the plurality of connection members 211 of the cover 21 pass through the limiting holes 31 of the housing 30 and are locked to the locking holes 221 of the movable member 22, and the cover 21 and the movable member 22 can move between an initial position and a collision position relative to the housing 30. Between the cover 21 and the movable member 22, an accommodating space is formed through the opening 32 of the housing 30 to accommodate the laser radar module 400. It will be appreciated that window 212 of enclosure 21 protrudes through the top of housing 30, allowing the lidar to detect external obstructions through window 212.

Referring to fig. 7B, the lidar module 400 includes: laser radar device 410, rotary platform 420, base 430, control circuit board 440. Lidar device 410 includes a lidar sensor; and the top cover is arranged above the laser radar sensor. The top cover is used for protecting the laser radar sensor. A light emitting hole and a light receiving hole are formed in a side edge of the top cover, and the light emitting hole and the light receiving hole are located at substantially the same height as the laser radar sensor. Laser radar device 410 is disposed above rotary platform 420, and base 430 is used for carrying rotary platform 420. In one embodiment, an adjustment device is disposed between lidar device 410 and rotary platform 420, and the adjustment device is configured to rotate lidar device 410 about a first axis parallel to rotary platform 420. The first axial direction (not shown) is a reference direction, and laser radar apparatus 410 is rotated about the first axial direction by driving device 431 in base 430.

The control circuit board 440 is adjacent to or connected to the base 430, and preferably the control circuit board 440 is disposed on the back side of the base 430. The laser radar device 410 and the driving device 431 in the base 430 are electrically connected to the control circuit board 440, and the control circuit board 440 is connected to a main control board 70 of the floor cleaning device 100 through a cable 451 (see fig. 7A).

The detector 423 is disposed on the control circuit board 440 and located in the housing 30. In one embodiment, the first side of the control circuit board 440 is disposed on the base 430, and the detector 423 is disposed on a second side of the control circuit board 440, wherein the first side (front side) is opposite to the second side (back side). The detector 423 can detect the movement of the cover 21 and output a corresponding sensing signal, so that an external controller can take appropriate measures according to the sensing signal output by the detector 423. For example, when the cover 21 is displaced by an external impact, such as an impact against an obstacle, the movable member 22 is connected to the cover 21, and therefore the movable member 22 will displace along with the cover 21. When the moveable member 22 triggers the detector 423, the detector 423 outputs a sensing signal that impacts an obstacle. For example, the detector 423 may be a microswitch, and the sensing signal of the collision with the obstacle can be output by pressing the movable member 22 to the microswitch.

Referring to fig. 7B again, the movable member 22 includes a contact portion 222 and an elastic portion 223. The contact portion 222 is disposed opposite the detector 423 so that the contact portion 222 triggers the detector 423 when the movable member 22 moves to the collision position due to the collision. The elastic portion 223 is deformed to be in a force accumulation state when the movable element 22 moves to the collision position due to the collision. When the collision is eliminated, for example, retreating away from the obstacle, the restoring force of the elastic portion 223 will return the movable member 22 to the initial position.

Referring to fig. 7A again, the floor cleaning device 100 further includes a fixing base 33 disposed in the accommodating space between the cover 21 and the movable member 22, and the laser radar device 410 is disposed on the fixing base 33. The relative positions between the fixing seat 33 and the housing 30 are fixed, that is, the fixing seat 33 is not moved by the collision of the cover 21. The fixing base 33 can be locked to the housing 30. The fixing base 33 includes a force-receiving portion 331. In the embodiment shown in fig. 7A and 7B, the force-receiving portion 331 is disposed opposite to the elastic portion 223 of the movable element 22. When the movable element 22 is located at the collision position, the force-receiving portion 331 can deform the elastic portion 223 to be in a force-storing state. It can be understood that the force-receiving portion 331 can cause the elastic portion 223 to deform and store force when the movable element 22 collides with the elastic portion 223 as long as the force-receiving portion 331 is fixed relative to the elastic portion 223. Therefore, the present application can also be realized by providing a suitable force-bearing structure as the force-bearing portion on the inner side of the housing 30.

Since the cover 21 is connected to the movable element 22 through the connection member 211, when the cover 21 collides with an obstacle, the movable element 22 moves along with the cover 21 to be located at the collision position. At this time, the contact portion 222 triggers the switch 231 (see fig. 7B) of the detector 423, that is, the contact portion 222 of the movable element 22 and the detector 423 are in a contact sensing state, so that the detector 423 outputs a corresponding sensing signal. Further, the elastic portion 223 is pushed by the force receiving portion 331, and is compressed and deformed to further store force. When the collision condition is removed, the restoring force of the elastic portion 223 will return the movable piece 223 to the initial position. It is understood that, by proper design, the elastic portion 223 can be deformed in a stretching manner to produce the same effect. The limiting hole 31 can limit the reciprocating distance between the initial position and the collision position of the movable member 22. The cleaning components of the floor cleaning device 100 may include components such as brushes and dust collection components for cleaning the floor; the cleaning assembly may include a cleaning cloth and a water tank for mopping the floor. It is understood that the floor cleaning device of the present application may include both sweeping and mopping functions, or may have only sweeping or mopping functions.

The control circuit board 440 includes a connector 441 and circuitry (not shown). The detector 423 is provided to the control circuit board 440, and is electrically connected to the connector 441 through a circuit in the control circuit board 440. The cable 451 is connected to the connector 441. The control circuit board 440 and the main control board 70 are electrically connected to each other and communicate with each other through a cable 451. The connector 441 includes: a plurality of operation pins for controlling lidar module 400, and at least one sensing pin for receiving a sensing signal from detector 423.

According to the prior art of fig. 6A, after the detector 23 is mounted on the detector base 239, the detector base 239 is fixed in the housing 30, and two wires are connected or welded between the detector 423 and a main control board (not shown in fig. 6A). In contrast, according to the embodiment of fig. 7A and 7B, since the detector 423 is mounted on the control circuit board 440, no additional wires directly connected to the detector 423 and the main control board are required, and no components of the detector base 239 are required. It is only necessary to change the structures of the connector 441 and the cable line 451 which are originally present, and to add pins and wires. The manufacturing cost and the assembly cost of the assembly are reduced.

Fig. 8 is a diagram illustrating a connection relationship between a control circuit board and a main control board of a laser radar module according to an embodiment of the present application. In one embodiment, two

connectors

441 and 442 are formed on the control circuit board 440. Connector 441 is electrically connected to one connector of main control board 70 via cable 451, and connector 442 is electrically connected to the other connector of main control board 70 via cable 452. Laser radar module 400 is electrically connected to connector 441 through circuitry in control circuit board 440. The detector 423 is electrically connected to the connector 442 through another circuit in the control circuit board 440. The connector 442 includes a first sensing pin 421 and a second sensing pin 422. The first sensing pin 421 is a ground line, and the first sensing pin 421 and the second sensing pin 422 are matched with each other to receive the sensing signal from the detector 423.

In one embodiment, lidar module 400 and detector 423 may also be electrically connected to connector 441 through circuitry on control circuit board 440, as shown in the embodiment of fig. 7A. Compared to the embodiment of fig. 8, the embodiment of fig. 7A can reduce the cable 452, the connector 442, and the other connector of the main control board 70. The manufacturing cost and the assembly cost of the assembly are reduced.

In one embodiment, as shown in fig. 7B, the operation pins include three

operation pins

411, 412, 413, for example. Operation pin 411 may be used to provide power, operation pin 412 may be used to receive signals from lidar device 410, and operation pin 413 may be a ground line. In one embodiment, the operation pins may further include an operation pin (not shown) for controlling the driving device 431 of the base 430. The at least one sensing pin comprises a sensing pin 419, and the sensing pin 419 and the operation pin 413 which is a ground line are electrically connected to the detector 423, respectively, and cooperate with each other to receive a sensing signal from the detector 423. In this embodiment, since the detector 423 and the lidar module 400 share the operation pin 413 as a ground line, the design of the circuit of the control circuit board 440 is simplified.

The operation pins cooperate with each other to control lidar module 400. In one embodiment, the at least one sensing pin may further include another ground line (not shown) different from the operation pin 413, and the sensing pin 419 and the another ground line are electrically connected to the detector 423 respectively and cooperate with each other to receive the sensing signal from the detector 423. Compared to the present embodiment, the connector 441 in the embodiment of fig. 7B does not need an additional ground line, has a simpler structure, and does not need an additional circuit corresponding to the additional ground line in the control circuit board 440.

In the floor cleaning apparatus 100 shown in fig. 7A and 7B, in the initial position, the contact portion 222 of the movable member 22 and the detector 423 are in a contact sensing state; in the collision position, the contact portion 222 of the movable member 22 and the detector 423 are not in the contact sensing state. As shown in fig. 7B, in the movable member 22, the contact portion 222 is located on a first side of the substrate 224, and the elastic portion 223 is located on a second side of the substrate 224, the second side being opposite to the first side. A portion of the substrate 224 is bent toward the front and rear sides to form the contact portion 222 and the elastic portion 223. In one embodiment, a portion of the substrate is bent to form the contact portion 222 and the elastic portion 223. When the movable member 22 moves, the movable member 22 moves to the collision position, so that the contact portion 222 slightly contacts or does not contact the switch 231 of the detector 423. In the present embodiment, the shortest moving distance of the moving element 22 only needs to be moved to a distance that the contact portion 222 slightly contacts the switch 231 of the detector 423 and the switch is not triggered, so that the detector 423 can sense that the moving element is not in the contact sensing state, the stroke is short, the delay time is short, and the sensitivity of the detector 423 for sensing the collision is high.

In one embodiment, the moveable member 22 may be an integrally formed component, such as an injection molded plastic component. In a preferred embodiment, the movable member 22 may be an integrally formed sheet metal member. For example, referring to fig. 3, the movable member 22 includes a base plate 224, a portion of the base plate 224 is bent downward to form the contact portion 222, and another portion of the base plate 224 is bent upward to form the elastic portion 223. The elastic portion 223 may be an elastic piece protruding or recessed toward the collision position. It will be appreciated that the orientation of the contact portion 222 and the resilient portion 223 may be designed differently in cooperation with different mechanical designs. For example, a portion of the substrate 224 is bent upward to form the contact portion 222, and another portion of the substrate 224 is bent downward to form the elastic portion 223. Alternatively, the contact portion 222 and the elastic portion 223 are on the same side of the substrate 224. It will be appreciated that the integral moving part 22 reduces the number of parts, simplifies the assembly process, and improves the reliability of the assembly, thereby significantly reducing the cost of production and maintenance. In an embodiment, when the movable element 22 is located at the initial position, the elastic portion 223 can also abut against the force-receiving portion 331, so that the elastic portion 223 generates a slight deformation. The restoring force of the elastic portion 223 can push the connecting member 211 connected to the movable member 22 against the right side end of the limiting hole 31 of the housing 30. According to this structure, the switch 231 can be further prevented from being triggered by a slight vibration.

When the cover body 21 of the floor cleaning device 100 is collided, the upper stress quantity of the floor cleaning device 100 is transmitted to the lower connecting piece to be transmitted as force, then the collision stress quantity is transmitted to the lower sheet metal part serving as the movable piece 22, and the movable piece 22 transmits force to the detector 423 such as a limit switch, so that the function of collision detection is achieved. The floor cleaning device 100 of the present application is interlocked with the cover body 21 through the movable element 22, so that the detector 23 can be triggered by the movable element 22 when the cover body 21 is collided, and the floor cleaning device 100 can generate an appropriate avoidance measure. In one embodiment, the contact portion 222 and the resilient portion 223 of the moveable member 22 are located on the base 224 of the moveable member 22, which simplifies the process and time for assembling the floor cleaning device 100. In one embodiment, the movable member 22 is an integrally formed movable member, which can reduce the number of components, simplify the assembly process, and improve the reliability of the assembly, thereby greatly reducing the production and maintenance costs.

In one embodiment, the detector 423 is disposed on the control circuit board 440 of the lidar module 400 and electrically connected to the main control board 70 through the circuit in the control circuit board 440 and the connector 441, so as to simplify the assembly process. In one embodiment, the detector 423 is electrically connected to the sensing pin 419 and the operation pin 413 as a ground line, so that a pressure point and a wire can be reduced by sharing the operation pin 413 as a ground line.

The above-described embodiments are provided only for illustrating the technical spirit and features of the present application, and the purpose thereof is to enable those skilled in the art to understand the content of the present application and to implement the same, so that the scope of the present application should not be limited by the above-described embodiments, and all equivalent changes and modifications made in the spirit of the present application should be covered by the scope of the present application.

Claims

1. A floor cleaning apparatus, comprising:

a housing;

a main control panel disposed within the housing;

a cleaning assembly disposed within the housing for cleaning a floor;

the laser radar module is used for detecting an obstacle of the floor and outputting a corresponding control signal and comprises a control circuit board, and the control circuit board is electrically connected with the main control board;

a cover comprising at least one connector, wherein the cover protrudes from a top of the housing and covers the lidar module;

the detector is arranged on the control circuit board and used for detecting the movement of the cover body and outputting a corresponding sensing signal;

a movable member disposed in the housing and connected to the at least one connecting member of the cover, wherein the cover and the movable member are movable between an initial position and a collision position with respect to the housing, and the cover is moved from the initial position to the collision position when being collided by an external force, and the detector senses a state between the movable member and the detector; and

a driving assembly disposed in the housing and electrically connected to the main control board for driving the floor cleaning device to move on the floor according to the control signal outputted from the lidar module and the sensing signal outputted from the detector,

wherein the sensing signal passes through the control circuit board and then is output to the main control board.

2. Floor cleaning device according to claim 1,

the lidar module further includes: a laser radar device, a rotary platform and a base,

the laser radar device is arranged on the rotating platform, the base is used for bearing the rotating platform,

the control circuit board is close to or connected with the base.

3. The floor cleaning apparatus of claim 1, wherein the control circuit board comprises:

a first connector to which the lidar module is electrically connected through circuitry in the control circuit board; and

a second connector to which the detector is electrically connected through another circuit in the control circuit board.

4. The floor cleaning apparatus of claim 1, wherein the control circuit board comprises:

and the laser radar module and the detector are electrically connected to the connector through a circuit in the control circuit board.

5. A floor cleaning apparatus according to claim 4 wherein the connector comprises:

a plurality of operation pins for controlling the laser radar module; and

at least one sensing pin for receiving a sensing signal from the detector.

6. Floor cleaning apparatus according to claim 5,

the plurality of operation pins include a first operation pin as a ground line, the plurality of operation pins cooperate with each other to receive the control signal from the lidar module,

the at least one sensing pin comprises a first sensing pin serving as another grounding wire and a second sensing pin; the first sensing pin and the second sensing pin cooperate with each other to receive the sensing signal from the detector.

7. Floor cleaning apparatus according to claim 5,

the plurality of operation pins include a first operation pin as a ground line,

the at least one sensing pin does not include a first sensing pin as another ground line,

the at least one sensing pin includes a second sensing pin, the first operating pin and the second sensing pin cooperating with each other to receive the sensing signal from the detector.

8. Floor cleaning device according to any of the claims 1 to 7,

the detector comprises a micro switch and a micro switch,

the movable member includes a contact portion and an elastic portion, the detector senses a state between the contact portion of the movable member and the detector, and the elastic portion is in a stored force state, and

the movable piece further comprises a substrate, the contact portion is located on a first side of the substrate, the elastic portion is located on a second side of the substrate, and the second side is opposite to the first side.

9. Floor cleaning apparatus according to claim 8,

the moving part is an integrally formed component or an integrally formed sheet metal part,

and a part of the substrate is bent towards the front side and the rear side or towards the upper side and the lower side respectively to form the contact part and the elastic part.

10. A floor cleaning apparatus according to claim 8 wherein in the initial position the contact portion of the movable member is in a contact sensing condition with the detector; and under the collision position, the contact part of the movable piece and the detector are not in the contact induction state.

11. The floor cleaning apparatus of claim 8, further comprising:

a fixing seat disposed on the housing and fixed relative to the housing, wherein the lidar module is disposed on the fixing seat and

the fixed seat comprises a stress part, wherein when the movable piece is positioned at the collision position, the stress part enables the elastic part to generate deformation to be in the force storage state.

12. The floor cleaning apparatus of any one of claims 1-7, wherein the housing includes a plurality of position-limiting apertures, the at least one connecting member is connected to a plurality of positions, and the connecting member of the cover body passes through the plurality of position-limiting apertures to connect to the movable member to limit movement of the cover body and the movable member between the initial position and the impact position.