CN221205269U - Mounting structure and self-moving robot - Google Patents

Abstract

The application discloses a mounting structure and a self-moving robot, wherein the mounting structure comprises: a protective housing having a protective cavity for receiving the position determining module; the cover plate is arranged at the top of the protective shell in a covering mode, so that an accommodating space for accommodating the voice receiving module is formed between the cover plate and the protective shell; the voice receiving module is arranged in the accommodating space in a suspending mode.

Description

Mounting structure and self-moving robot

Technical Field

The application belongs to the technical field of sweeping robots, and particularly relates to a mounting structure and a self-moving robot.

Background

With the iterative update and development of technology, intelligent cleaning robots have come into ordinary home life and have gradually become popular. The intelligent cleaning robot in the related art is provided with the voice receiving unit so that the intelligent cleaning robot has the functions of voice interaction and voice awakening, and in order to ensure that the receiving angle of the voice receiving unit is good and is not shielded, the voice receiving unit is usually arranged at the most protruding part on the whole machine, namely, the voice receiving unit is arranged at the position where the laser ranging unit is located. However, the voice receiving unit is easily affected by vibration, so that the sound receiving effect of the voice receiving unit is poor, and the voice interaction experience is affected.

It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The application aims to at least solve the technical problems that the voice receiving unit is easy to be affected by vibration, so that the receiving effect of the voice receiving unit is poor and the voice interaction experience is affected to a certain extent. To this end, the present application provides a mounting structure and a self-moving robot.

The embodiment of the application provides a mounting structure, which comprises: a protective housing having a protective cavity for receiving the position determining module; the cover plate is arranged at the top of the protective shell in a covering mode, so that an accommodating space for accommodating the voice receiving module is formed between the cover plate and the protective shell; the voice receiving module is arranged in the accommodating space in a suspending mode.

In some embodiments, the mounting structure further comprises: the gluing connection layer is arranged on one side, adjacent to the accommodating space, of the cover plate, and the gluing connection layer is used for being pasted and connected with the voice receiving module, so that the voice receiving module is suspended in the accommodating space.

In some embodiments, the adhesive connection layer comprises a shock absorption layer, and a first adhesive layer and a second adhesive layer which are positioned on two sides of the shock absorption layer, wherein the first adhesive layer is used for being adhered to the cover plate and connected with the voice receiving module.

In some embodiments, the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

In some embodiments, the shock absorbing layer is foam.

In some embodiments, the protective housing is provided with a bottom opening for avoiding the position determining module.

In some embodiments, the mounting structure further comprises: the support is used for setting up the protective housing and is used for fixing from mobile robot the base.

In some embodiments, the bracket is of unitary construction with the protective shell.

In some embodiments, a wire arranging groove is provided in the bracket, and the wire arranging groove is used for accommodating the connecting wire of the voice receiving module.

In some embodiments, a baffle is disposed in the protective housing, the baffle being located between the voice receiving module and the position determining module; the baffle is provided with a first through hole, and the first through hole is used for allowing a connecting wire of the voice receiving module to pass through.

In some embodiments, the cover plate is provided with a sound pickup hole, and the position of the sound pickup hole corresponds to the position of the voice receiving module.

In some embodiments, the mounting structure further comprises a waterproof and breathable membrane located on a side of the cover plate adjacent to the receiving space, and the waterproof and breathable membrane covers at least the sound pick-up hole.

In some embodiments, the mounting structure is for mounting to a base or upper shell of a self-moving robot.

The embodiment of the application also provides a self-moving robot, which comprises: a base; an upper case; the mounting structure is mounted on the base or the upper shell; the control module is arranged on the base; the voice receiving module is arranged in the accommodating space of the mounting structure, and a connecting wire of the voice receiving module is connected with the control module; and the position determining module is installed on the base and is positioned in the protection cavity of the voice receiving module installation structure.

In some embodiments, the upper case is provided with an avoidance hole, and the avoidance hole is used for avoiding the protective shell of the mounting structure or avoiding a connecting line of the voice receiving module.

In some embodiments, the voice receiving module comprises a circuit board and a voice receiving module arranged on one side of the circuit board away from the cover plate; the circuit board is provided with a sound wave through hole corresponding to the position of the voice receiving module; and a pickup hole is formed in the cover plate, and the position of the pickup hole corresponds to the position of the sound wave through hole.

The embodiment of the application has at least the following beneficial effects:

Foretell mounting structure, the unsettled setting of voice receiving module is in accommodation space, makes voice receiving module separate with other structures from mobile robot to a certain extent, reduces from mobile robot's internal shock to voice receiving module transmission, reduces the influence of vibrations to voice receiving module to a certain extent to improve voice receiving module's radio effect, improve the interactive experience of pronunciation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view showing the structure of a self-moving robot (with an upper case removed) in an embodiment of the present application;

FIG. 2 shows an exploded view of the mounting structure in the self-moving robot of FIG. 1;

FIG. 3 shows an exploded view of a mounting structure in another embodiment of the application;

FIG. 4 shows an exploded view of a mounting structure in a further embodiment of the application;

Fig. 5 is a schematic diagram showing the relative positions of the cover plate, the adhesive connection layer and the voice receiving module in fig. 4.

Reference numerals:

100. A protective shell; 110. a second through hole; 120. a partition plate; 130. a first through hole; 140. fixing the column; 200. a cover plate; 210. a sound pick-up hole; 300. a bracket; 310. wire arranging grooves; 400. an adhesive connecting layer; 500. a waterproof breathable film; 1000. a position determining module; 2000. a voice receiving module; 2100. a circuit board; 2200. a microphone; 2300. avoiding the through hole; 2400. a sonic through hole; 3000. a control module; 4000. and (5) a base.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Furthermore, the present application may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the application of other processes and/or the use of other materials.

The application is described below with reference to specific embodiments in conjunction with the accompanying drawings:

In the self-mobile robot, the voice receiving module 2000 and the position determining module 1000 are arranged at the top of the self-mobile robot through the mounting structure, the self-mobile robot can inevitably generate low-frequency noise due to mechanical vibration in the use process, the voice receiving module 2000 is affected by vibration, the noise is easily generated in the received sound, the accuracy of receiving voice information is affected, the radio effect of the voice receiving module 2000 is poor, and the voice interaction experience is affected.

Furthermore, in the related art, the laser ranging unit and the voice receiving unit are generally disposed in the upper case of the complete machine, and the laser ranging unit and the voice receiving unit function are required to be connected to the control unit through the connection line, but the control unit is often disposed in the lower case of the complete machine, and the connection line is required to complete the connection operation before the upper case is fastened to the lower case, which causes inconvenience to the assembly. In the actual assembly process, the accommodating leads to the problems of wire pressing and wire arrangement difficulty of the connecting wire of the voice receiving unit.

In view of the foregoing, an embodiment of the present application provides a mounting structure, as shown in fig. 1 to 5, including: a protective case 100, the protective case 100 having a protective cavity for accommodating the position determining module 1000; a cover plate 200, wherein the cover plate 200 is arranged on the top of the protective housing 100 in a covering manner to form an accommodating space for accommodating the voice receiving module 2000 between the cover plate 200 and the protective housing 100; the voice receiving module 2000 is suspended in the accommodating space.

The installation structure of the above embodiment, as shown in fig. 4 and 5, has the voice receiving module 2000 suspended on the cover plate 200, so that the voice receiving module 2000 is separated from the protective shell 100 and other structures of the self-moving robot to a certain extent, the internal vibration of the self-moving robot is reduced to transfer to the voice receiving module 2000, and the influence of the vibration on the voice receiving module 2000 is reduced to a certain extent, so as to improve the sound receiving effect of the voice receiving module 2000 and improve the voice interaction experience.

The installation structure of the above embodiment, as shown in fig. 1 and 2, may be used for installing the voice receiving module 2000, and may be directly installed on the base 4000 of the self-moving robot through the installation structure, so that the connection line of the voice receiving module 2000 may be connected with the control module 3000 in the base 4000 of the moving robot in advance and the wires may be arranged, and then the upper shell is installed on the self-moving robot, so as to avoid blind installation or wire pressing phenomenon during the process of fastening the upper shell, and avoid affecting the service performance of the voice receiving module 2000.

In the installation structure of the above embodiment, as shown in fig. 1 and 2, before assembling each module, the connection line of the voice receiving module 2000 and the connection line of the position determining module 1000 may be connected with the control module 3000 fixed on the base 4000 of the mobile robot, and then the position determining module 1000 may be directly fixed on the base 4000 of the mobile robot, and simultaneously the voice receiving module 2000, the protective shell 100 and the cover 200 are also fixed on the base 4000 of the mobile robot together, so as to complete the installation of the installation structure. Finally, when the upper shell of the mobile robot is buckled and installed, the wire arrangement and connection operation of the voice receiving module 2000 and the position determining module 1000 in the installation structure are finished, the problems of blind installation, wire pressing and the like cannot occur, and the reliability and stability of connection of the connecting wire of the voice receiving module 2000 and the connecting wire of the position determining module 1000 and the control module 3000 can be ensured.

In the installation structure of the above embodiment, as shown in fig. 1 and 2, the position determining module 1000 may be directly fixed on the base 4000 of the mobile robot, and the voice receiving module 2000, the protective shell 100 and the cover 200 may be also fixed on the base 4000 of the mobile robot, then the connection line of the voice receiving module 2000 and the connection line of the position determining module 1000 may be connected with the control module 3000 fixed on the base 4000 of the mobile robot, so as to complete the installation of the installation structure, and finally, when the upper shell of the mobile robot is fastened and installed, the wire arrangement and connection operation of the installation structure are completed, so that the problems of blind mounting and wire pressing do not occur, and the reliability and stability of the connection between the installation structure and the control module 3000 after the assembly of the mobile robot is completed can be ensured.

In some embodiments, the voice receiving module 2000 is configured to collect voice information of a target person, so as to implement a man-machine voice interaction function. In some embodiments, the target persona includes, but is not limited to, a person who is unable to make a voice call using a smartphone, a child, etc., or who is not convenient to make a call using a smartphone. In some embodiments, the target person may also be an animal such as a pet cat, dog, or the like.

In some embodiments, optionally, the voice receiving module 2000 may further include a voice sending device, where the voice sending device may be a speaker, for displaying the current state of the self-mobile robot to the user, performing man-machine interaction, performing function selection, actively playing prompt information, and so on.

In the above embodiments of the present application, the detection device in the position determining module 1000 may include, but is not limited to, an image acquisition device, a laser ranging device. The image acquisition device can determine the position of the self-moving robot and/or the distance between the self-moving robot and an obstacle through the acquired image information; the laser ranging device may determine the position of the self-moving robot and/or the distance to the obstacle by laser scanning.

In some embodiments, the image acquisition device may be further configured to acquire motion information of the target person, and perform corresponding operations through the motion information of the target person, so that a man-machine interaction manner can be increased, and control of the self-mobile robot can be achieved without touching the self-mobile robot.

In some embodiments, the position determining module 1000 may include both an image acquisition device and a laser ranging device, and by combining the two, the position determining module 1000 may perform more accurate position determination.

In some embodiments, the image acquisition device and the laser ranging device may be located in a stacked manner in the protective case 100.

In other embodiments, the image acquisition device may be integrated with the laser ranging device as a unitary structure. For example, the image acquisition module may include a plurality of cameras, the laser ranging device may include a plurality of lidars, and the cameras and the lidars may be distributed in the position determination module 1000 in a ring shape.

In some embodiments, as shown in fig. 1 and 2, in order to enable the camera in the position determining module 1000 to perform image acquisition smoothly, the laser radar can perform laser measurement smoothly, and a second through hole 110 is formed on the side wall of the protective case 100 to expose the camera and/or the laser radar through the first through hole 130.

In embodiments of the present application, the mounting structure may be used to mount on a base of the self-moving robot or on an upper shell of the self-moving robot, and one skilled in the art may select a suitable mounting location according to design requirements.

As an alternative embodiment, as shown in fig. 4 and 5, the mounting structure further includes: the gluing connection layer 400, gluing connection layer 400 sets up apron 200 is adjacent one side of accommodation space, gluing connection layer 400 be used for with the connection is pasted to the pronunciation receiving module 2000, so that the unsettled setting of pronunciation receiving module 2000 is in accommodation space.

In some embodiments, as shown in fig. 4 and 5, the voice receiving module 2000 may be disposed on a side of the cover 200 adjacent to the accommodating space through the adhesive connection layer 400, so that the voice receiving module 2000 is suspended in the accommodating space. The mode that makes the unsettled setting of pronunciation receiving module 2000 through gluing tie coat 400 simple structure, material cost is lower to be favorable to simplifying the installation of pronunciation receiving module 2000 in mounting structure, reduction in production cost.

In other embodiments, the voice receiving module 2000 may also be disposed in the accommodating space in a magnetic levitation manner. For example, a superconductor is disposed in the voice receiving module 2000, a magnetic suspension module corresponding to the superconductor is disposed in the protective case 100, and the voice receiving module 2000 is suspended in the accommodating space in the protective case 100 by the repulsive force generated between the magnetic suspension module and the superconductor, so that the vibration influence of the mounting structure on the voice receiving module 2000 can be reduced, the sound receiving effect of the voice receiving module 2000 can be improved, and the accuracy of voice recognition can be adjusted.

As an alternative embodiment, the adhesive connection layer 400 includes a shock absorbing layer, and a first adhesive layer and a second adhesive layer disposed on two sides of the shock absorbing layer, where the first adhesive layer is used to be adhered to and connected with the cover plate 200, and the second adhesive layer is used to be adhered to and connected with the voice receiving module 2000.

In some embodiments, the vibration-absorbing layer is arranged in the adhesive connecting layer 400, and the vibration of the adhesive connecting layer 400 is reduced through the vibration-absorbing layer to be transmitted to the voice receiving module 2000, so that the vibration transmitted to the voice receiving module 2000 through the cover plate 200 is reduced, the voice receiving module 2000 is prevented from being affected by vibration, the influence of vibration noise on the voice receiving module 2000 is reduced, and the sound receiving effect is improved.

As an alternative embodiment, the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

In some embodiments, the first adhesive layer in the adhesive connection layer 400 is used for being adhered to and connected with the cover plate 200, and the second adhesive layer in the adhesive connection layer 400 is used for being adhered to and connected with the voice receiving module 2000, so that the adhesive strength of the first adhesive layer is higher than that of the second adhesive layer, on one hand, the adhesive connection layer 400 can be firmly adhered on the cover plate 200, and the cover plate 200 is prevented from falling off; on the other hand, the voice receiving module 2000 can be conveniently detached from the cover plate 200, thereby facilitating the production line operation.

As an alternative embodiment, the shock absorbing layer is foam.

In some embodiments, the damping layer in the adhesive connection layer 400 may be made of foam, which has the characteristics of good elasticity, light weight, free bending, ultra-thin volume, good damping effect, and the like, and the application of the damping layer in the adhesive connection layer 400 of the present application can better shield the transmission of vibration to the voice receiving module 2000.

As an alternative embodiment, as shown in fig. 1 to 4, the protective case 100 is provided with a bottom opening for avoiding the position determining module 1000.

In some embodiments, the bottom opening is formed on the protective housing 100, through which the position determining module 1000 can be avoided, so that the protective housing 100 can be installed after the position determining module 1000 is installed on the bracket 300 or the base 4000 of the self-moving robot, so that the protective housing 100 is covered on the position determining module 1000, and the position determining module 1000 is located in the protective cavity of the protective housing 100.

As an alternative embodiment, as shown in fig. 1 to 3, the mounting structure further includes a bracket 300, and the bracket 300 is used to provide the protective case 100 and is used to be fixed on the base 4000 of the self-moving robot.

In some embodiments, as shown in fig. 1 to 3, a bracket 300 may be provided at the bottom of the protective case 100, so that the protective case 100 may be fixed to the mobile robot by the bracket 300, thereby facilitating the installation and fixation of the protective case 100 to the mobile robot. For example, after the position determining module 1000 is fixed to the base 4000 of the mobile robot, the voice receiving module 2000, the protective case 100, the cover 200, and the bracket 300 may be assembled and then integrally mounted to the base 4000 of the mobile robot, and the protective case 100 may be covered by the position determining module 1000.

In some embodiments, as shown in fig. 1 to 3, the stand 300 may optionally be used to provide a position determining module 1000, so that the position determining module 1000 may be fixed to the base 4000 of the mobile robot together with other modules of the mounting structure. For example, the position determining module 1000 may be fixed to the bracket 300 while the protective case 100, the voice receiving module 2000, and the cover plate 200 are assembled to the bracket 300, thereby forming a complete mounting structure, and then the mounting structure is integrally mounted to the base 4000 of the mobile robot.

In some embodiments, as shown in fig. 1 to 3, the protective housing 100 may be mounted and fixed on the bracket 300 through a connection member such as a screw, the protective housing 100 may be mounted and fixed on the bracket 300 through a fastening device, and the protective housing 100 may be mounted and fixed on the bracket 300 through an interference fit manner or a screw connection manner. In some embodiments, as shown in fig. 1 to 3, the bracket 300 is used for being fixed in the base 4000 of the self-moving robot, and the bracket 300 suspends the protective housing 100 relative to the base 4000 of the self-moving robot, so that the connecting wire of the voice receiving module 2000 can be penetrated out through the bottom opening of the protective housing 100, and the protective housing 100 is prevented from being directly fixed on the base 4000 of the self-moving robot and being pressed on the connecting wire of the voice receiving module 2000, thereby affecting the safety and stability of the use of the connecting wire of the voice receiving module 2000.

In the above embodiment, the connection lines of the position determining module 1000 and the connection lines of the voice receiving module 2000 may protrude from the bottom opening of the protective case 100, so that the connection lines of the position determining module 1000 and the connection lines of the voice receiving module 2000 are respectively connected with the terminals of the control module 3000 disposed on the self-moving robot base 4000.

As an alternative embodiment, as shown in fig. 1 to 3, the stand 300 is integrally formed with the protective case 100.

In some embodiments, as shown in fig. 1 to 3, the bracket 300 and the protective case 100 are integrally formed to reduce assembling steps of the mounting structure and improve assembling efficiency of the mounting structure.

As an alternative embodiment, as shown in fig. 1 to 3, a wire arranging groove 310 is provided in the bracket 300, and the wire arranging groove 310 is used to accommodate the connection wire of the voice receiving module 2000.

In some embodiments, as shown in fig. 1 to 3, the wire arrangement groove 310 in the bracket 300 is used for accommodating the connection wire of the voice receiving module 2000, so that the position of the connection wire of the voice receiving module 2000 is relatively fixed, so as to connect the connection wire of the voice receiving module 2000 with the control module 3000, and also avoid the connection wire of the voice receiving module 2000 from interfering with the assembly process of each module of the installation structure, and avoid extruding the connection wire of the voice receiving module 2000 during the assembly process.

As an alternative embodiment, the cover plate 200 may be snap-coupled with the protective case 100.

As another alternative embodiment, as shown in fig. 1 to 3, a fixing post 140 is provided in the protective case 100, and the cover plate 200 is fixed on the fixing post 140 to achieve connection of the cover plate 200 with the protective case 100.

In some embodiments, as shown in fig. 1 to 3, the fixing posts 140 may be provided on the inner sidewall of the protective case 100, and the cover plate 200 may be fixed to the fixing posts 140 by a connection member such as a screw so as to form a receiving space for receiving the voice receiving module 2000 between the cover plate 200 and the protective case 100.

In some embodiments, in order to fix the cover plate 200 to the fixing post 140 through the connection member, as shown in fig. 1 to 3, a avoidance through hole 2300 corresponding to the fixing post 140 may be provided in the voice receiving module 2000, so that the voice receiving module 2000 may avoid the connection member for fixing the cover plate 200 and the fixing post 140.

As an alternative embodiment, as shown in fig. 1 to 5, a partition board 120 is disposed in the protective housing 100, the partition board 120 is located between the voice receiving module 2000 and the position determining module 1000, and the partition board 120 is provided with a first through hole 130, where the first through hole 130 is used for passing through a connecting wire of the voice receiving module 2000.

In some embodiments, as shown in fig. 1 to 3, a partition 120 is provided in the protective case 100, and the partition 120 is located between the voice receiving module 2000 and the position determining module 1000, so that the protective chamber and the receiving space can be isolated by the partition 120.

In some embodiments, a buffer structure may be optionally disposed on the partition 120 to prevent the sound receiving module 2000 from affecting the sound receiving effect due to vibration.

In some embodiments, optionally, a sound insulation material layer may be further disposed on the partition 120, so as to reduce noise generated by the moving or cleaning of the self-moving robot, and prevent the noise generated by the moving or cleaning of the self-moving robot from affecting the sound receiving effect of the voice receiving module 2000.

In some embodiments, as shown in fig. 2, by forming the first through hole 130 on the partition 120, the connection line of the voice receiving module 2000 may pass through the first through hole 130 into the protective case 100, and further pass through the bottom opening of the protective case 100 to connect with the control module 3000 on the self-moving robot base 4000.

As an alternative embodiment, as shown in fig. 2 and 3, the cover 200 is provided with a sound pick-up hole 210, and the position of the sound pick-up hole 210 corresponds to the position of the voice receiving element of the voice receiving module 2000.

In some embodiments, as shown in fig. 2 and 3, the voice receiving module 2000 receives sound through the voice receiving element, and the pick-up hole 210 is formed on the cover 200, so that the position of the pick-up hole 210 corresponds to the position of the voice receiving element of the voice receiving module 2000, thereby facilitating the transmission of sound waves to the voice receiving element and improving the sound receiving effect of the voice receiving element.

In some embodiments, since the sound information of the target person is generally located above or laterally above the self-mobile robot, the collection of the sound information by the microphone 2200 can be more facilitated by disposing the sound pick-up hole 210 and the microphone 2200 at the top position of the mounting structure, and the collection effect of the sound information can be improved.

As an alternative embodiment, as shown in fig. 3, the mounting structure further includes a waterproof and breathable film 500, the waterproof and breathable film 500 is located at a side of the cover plate 200 adjacent to the receiving space, and the waterproof and breathable film 500 covers at least the sound pickup hole 210.

In some embodiments, by providing the waterproof and breathable film 500 on the side of the cover plate 200 adjacent to the accommodating space, and the waterproof and breathable film 500 at least covers the sound pickup hole 210, water vapor, dust and the like can be prevented from entering the accommodating space through the sound pickup hole 210 to a certain extent, and the function of protecting the structure of the voice receiving module 2000 and the like can be played to ensure the sound receiving effect of the voice receiving module 2000.

As an alternative embodiment, as shown in fig. 2, the voice receiving module 2000 includes a circuit board 2100 and a plurality of voice receiving elements disposed on the circuit board 2100.

In some embodiments, as shown in fig. 2, the voice receiving module 2000 may include a circuit board 2100, where a voice receiving element is disposed on the circuit board 2100, and the voice receiving element may be a microphone 2200, and the microphone 2200 is used to collect voice information. For example, in the embodiment shown in fig. 2, the circuit board 2100 has a circular structure, and three microphones 2200 are disposed on the circuit board 2100, and the three microphones 2200 are distributed on the circuit board 2100 in a ring shape, so that the voice receiving module 2000 can collect voice information in all directions. In other embodiments, the voice receiving module 2000 may also be provided with a greater or lesser number of microphones 2200 according to design requirements, alternatively, the voice receiving module 2000 may include 1 to 5 microphones 2200.

Based on the same inventive concept, the embodiment of the application also provides a self-moving robot, which comprises a base 4000, an upper shell, the above-mentioned mounting structure, a voice receiving module 2000 and a position determining module 1000. Wherein the mounting structure is mounted on the base 4000 or on the upper case; the control module 3000 is disposed on the base 4000; the voice receiving module 2000 is installed in the accommodating space of the installation structure, and a connecting wire of the voice receiving module 2000 is connected with the control module 3000; the position determining module 1000 is mounted on the base 4000 and is located in a protection cavity of the installation structure of the voice receiving module 2000.

The self-moving robot provided by the utility model comprises the mounting structure of the technical scheme, so that the self-moving robot provided by the utility model has all the beneficial effects of the mounting structure and is not repeated herein.

In some embodiments of the present application, the self-moving robot may be a cleaning robot that has a sweeping and/or mopping function. In other embodiments, the self-moving robot may be a meal delivery robot, a cruise robot, or the like, with different usage scenarios.

In some embodiments, a motherboard is disposed on the base 4000, the control module 3000 may be disposed on the motherboard, and the connection line of the voice receiving module 2000 may be connected with the control module 3000 through the motherboard.

As an alternative embodiment, the upper case is provided with an avoidance hole for avoiding the protective case 100 of the mounting structure or avoiding the connection line of the voice receiving module 3000.

In some embodiments, after the upper shell is fastened on the base 4000, the structure in the base 4000 may be covered to protect the structure in the base 4000 from dust entering the base 4000; meanwhile, the upper shell can avoid the protective shell 100 of the mounting structure through the avoidance hole, so that the mounting structure is mounted on the base, and the position determining module 1000 and the voice receiving module 2000 in the mounting structure are positioned at the top of the self-moving robot, so that position determination and voice acquisition can be conveniently performed.

In some embodiments, after the upper shell is fastened on the base 4000, the structure in the base 4000 may be covered to protect the structure in the base 4000 from dust entering the base 4000; meanwhile, the installation structure is installed on the upper shell, and cables such as connecting wires of the Kong Birang voice receiving module 2000 are avoided in the upper shell, so that the position determining module 1000 and the voice receiving module 2000 in the installation structure are located at the top of the self-moving robot, and position determination and voice collection can be conveniently carried out.

In some embodiments, a display module may be disposed on the upper case, and the display module is connected with the control module 3000 through a wire, and may be used to display the working state and the setting parameters of the self-mobile robot.

In some embodiments, a function key may be further disposed on the upper case, where the function key is used to perform function selection of the self-mobile robot.

As an alternative embodiment, as shown in fig. 3, the voice receiving module 2000 includes a circuit board 2100 and a voice receiving element disposed on a side of the circuit board 2100 away from the cover 200; wherein, the circuit board 2100 is provided with a sound wave through hole 2400 corresponding to the position of the voice receiving element; the cover plate 200 is provided with a sound pickup hole 210, and the position of the sound pickup hole 210 corresponds to the position of the sound wave through hole 2400.

In some embodiments, as shown in fig. 3, the voice receiving element is disposed on a side of the circuit board 2100 away from the cover board 200, so that collision caused by contact between the voice receiving element and the cover board 200 can be avoided to a certain extent, on one hand, the voice receiving element can be protected, and on the other hand, noise effects such as vibration and collision on the voice receiving element can be avoided. In this case, in order to enable the voice receiving element to normally receive sound, a sound wave through hole 2400 is opened at a position corresponding to the voice receiving element on the circuit board 2100 so that sound waves can be transmitted to the voice receiving element through the sound wave through hole 2400.

In some embodiments, as shown in fig. 3, in order to enable sound outside the installation structure to be smoothly transmitted to the voice receiving module 2000, the positions of the sound pickup hole 210, the sound wave through hole 2400 and the voice receiving element may be corresponding, so that the sound wave may be collected by the voice receiving element after sequentially passing through the sound pickup hole 210 and the sound wave through hole 2400, so as to ensure the sound receiving capability of the voice receiving element.

In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the present application, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

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

Claims (16)

1. A mounting structure, the mounting structure comprising:

a protective housing having a protective cavity for receiving the position determining module; and, a step of, in the first embodiment,

The cover plate is arranged at the top of the protective shell in a covering manner, so that an accommodating space for accommodating the voice receiving module is formed between the cover plate and the protective shell;

the voice receiving module is arranged in the accommodating space in a suspending mode.

2. The mounting structure of claim 1, wherein the mounting structure further comprises:

The gluing connection layer is arranged on one side, adjacent to the accommodating space, of the cover plate, and the gluing connection layer is used for being pasted and connected with the voice receiving module, so that the voice receiving module is suspended in the accommodating space.

3. The mounting structure of claim 2, wherein the adhesive connection layer comprises a shock absorption layer, and a first adhesive layer and a second adhesive layer positioned on two sides of the shock absorption layer, wherein the first adhesive layer is used for being adhered and connected with the cover plate, and the second adhesive layer is used for being adhered and connected with the voice receiving module.

4. The mounting structure of claim 3, wherein the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

5. A mounting structure according to claim 3, wherein the shock absorbing layer is foam.

6. The mounting structure of claim 1, wherein the protective housing defines a bottom opening for receiving the position determining module.

7. The mounting structure of claim 1, wherein the mounting structure further comprises:

And the bracket is used for setting the protective shell and is used for being fixed on the self-moving robot.

8. The mounting structure of claim 7, wherein the bracket is of unitary construction with the protective shell.

9. The mounting structure of claim 7, wherein a wire management slot is provided in the bracket, the wire management slot for receiving a connection wire of the voice receiving module.

10. The mounting structure according to claim 1, wherein a partition is provided in the protective case, the partition being located between the voice receiving module and the position determining module; the baffle is provided with a first through hole, and the first through hole is used for allowing a connecting wire of the voice receiving module to pass through.

11. The mounting structure of claim 1, wherein the cover plate is provided with a sound pick-up hole, and the sound pick-up hole corresponds to the voice receiving module of the voice receiving module.

12. The mounting structure of claim 11, further comprising a waterproof and breathable film located on a side of the cover plate adjacent to the receiving space, and the waterproof and breathable film covers at least the sound pick-up hole.

13. The mounting structure according to any one of claims 1 to 12, wherein the mounting structure is for mounting to a base or an upper shell of a self-moving robot.

14. A self-moving robot, characterized in that it comprises:

A base;

An upper case;

A mounting structure as claimed in any one of claims 1 to 13 mounted on the base or the upper shell;

the control module is arranged on the base;

The voice receiving module is arranged in the accommodating space of the mounting structure, and a connecting wire of the voice receiving module is connected with the control module; and

And the position determining module is arranged on the base and is positioned in the protection cavity of the voice receiving module installation structure.

15. The self-moving robot of claim 14, wherein the upper case is provided with an avoidance hole for avoiding the protective case of the mounting structure or a connection line of the voice receiving module.

16. The self-moving robot of claim 14, wherein the voice receiving module comprises a circuit board and a voice receiving module disposed at a side of the circuit board away from the cover plate; the circuit board is provided with a sound wave through hole corresponding to the position of the voice receiving module; and a pickup hole is formed in the cover plate, and the position of the pickup hole corresponds to the position of the sound wave through hole.