WO2019184175A1 - 扫地机器人和扫地机器人系统 - Google Patents

扫地机器人和扫地机器人系统 Download PDF

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Publication number
WO2019184175A1
WO2019184175A1 PCT/CN2018/098035 CN2018098035W WO2019184175A1 WO 2019184175 A1 WO2019184175 A1 WO 2019184175A1 CN 2018098035 W CN2018098035 W CN 2018098035W WO 2019184175 A1 WO2019184175 A1 WO 2019184175A1
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WO
WIPO (PCT)
Prior art keywords
camera
cleaning robot
gear
motor
housing
Prior art date
Application number
PCT/CN2018/098035
Other languages
English (en)
French (fr)
Inventor
朱小刚
Original Assignee
江苏美的清洁电器股份有限公司
美的集团股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 江苏美的清洁电器股份有限公司, 美的集团股份有限公司 filed Critical 江苏美的清洁电器股份有限公司
Priority to US16/121,660 priority Critical patent/US11122950B2/en
Publication of WO2019184175A1 publication Critical patent/WO2019184175A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present application relates to the field of sweeping robot technology, and more particularly to a sweeping robot and a sweeping robot system.
  • the cleaning robot includes a camera, and the camera is used to acquire an image, but the user experience is poor due to the small viewing angle range of the camera.
  • Embodiments of the present application provide a cleaning robot and a cleaning robot system.
  • the power component including a motor and a gear set, the power component being coupled to the camera through the gear set, the motor for driving the camera to rotate around the gear set The axis rotates.
  • the camera since the camera is rotatably connected with respect to the housing, and the motor can drive the camera to rotate around the rotation axis through the gear shaft, the angle of view of the camera can be increased, and the user experience is good.
  • the power component including a motor and a gear set, the power component being coupled to the camera through the gear set, the motor for driving the camera to rotate around the gear set Axis rotation;
  • An electronic device for controlling rotation of the camera is
  • the camera since the camera is rotatably connected with respect to the housing, and the motor can drive the camera to rotate around the rotation axis through the gear shaft, the angle of view of the camera can be increased, and the user experience is good.
  • FIG. 1 is a schematic perspective view of a cleaning robot according to an embodiment of the present application.
  • FIG 2 is another perspective view of the cleaning robot of the embodiment of the present application.
  • FIG 3 is a schematic view showing the internal structure of a cleaning robot according to an embodiment of the present application.
  • FIG. 4 is an enlarged schematic view of a portion IV of the cleaning robot of FIG. 3.
  • Fig. 5 is an exploded perspective view of the cleaning robot according to the embodiment of the present application.
  • FIG. 6 is another schematic diagram of the internal structure of the cleaning robot according to the embodiment of the present application.
  • FIG. 7 is a schematic diagram showing still another internal structure of the cleaning robot according to the embodiment of the present application.
  • FIG. 8 is a perspective view of a cleaning robot system according to an embodiment of the present application.
  • the cleaning robot system 1000, the cleaning robot 100, the housing 10, the through hole 12, the transparent cover 14, the camera 20, the power component 30, the bracket 40, the fixed through hole 42, the rotating through hole 44, the transmission assembly 50, and the transmission shaft 52 a first interference section 522, a first interference section 524, a gear set 53, a first gear 54, a second gear 56, a motor 60, a first fastener 70, a mount 80, a circuit board 90, and a motor mount 110, the fixed column 112, the curved bracket 114, the motor fixing ring 120, the central ring hole 122, the fixed ring through hole 124, the second fastener 130, the host circuit board 140, the communication module 142, the controller 144, the side brush 150 Electronic device 200.
  • the first feature "on” or “below” the second feature may be the direct contact of the first and second features, or the first and second features are indirectly through the intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.
  • the cleaning robot 100 includes a housing 10 , a camera 20 , and a power component 30 .
  • the camera 20 is rotatably coupled to the housing 10.
  • the power component 30 is mounted to the housing 10.
  • the power component 30 includes a motor 60 and a gear set 53.
  • the power unit 30 is connected to the camera 20 via a gear set 53.
  • the motor 60 is used to drive the camera 20 to rotate about the axis of rotation L through the gear set 53.
  • the camera 20 is rotatably coupled to the casing 10. Moreover, the motor 60 can drive the camera 20 to rotate about the rotation axis L through the gear set 53, which can increase the viewing angle range of the camera 20, and the user experience is good.
  • the range in which the camera 20 rotates relative to the housing 10 can be correspondingly set according to the range of viewing angles required by the cleaning robot 100, which is not limited herein.
  • the angle of rotation of the camera 20 ranges from 60 degrees. That is, the maximum range in which the power unit 30 can drive the camera 20 to rotate about the rotational axis L is 60.
  • the camera 20 can be used to capture the surrounding environment. Since the camera 20 can be rotated, the angle of view of the camera 20 to obtain the surrounding environment is increased, so that an image of a larger environmental area can be acquired.
  • the power component 30 can be an AC motor, a DC motor, or other electronic components that can drive the rotation of the camera 20, which is not limited herein.
  • the gear set 53 of the embodiment of the present application slows down the rotation speed of the camera 20, thereby protecting the camera 20 and facilitating the image acquisition by the camera 20.
  • the housing 10 can be formed as a circular or generally square shape, and the housing 10 can be a plastic housing.
  • the front side of the housing 10 may be provided with a bumper (not shown), and a spring may be disposed between the bumper and the housing 10, so that the spring can buffer the obstacle to the cleaning robot 100 after the housing 10 hits the obstacle. The collision force further protects the cleaning robot 100.
  • the camera 20 is at least partially housed within the housing 10 and the camera 20 is exposed through the housing 10.
  • the housing 10 can function to protect the camera 20.
  • the housing 10 can be provided with a through hole 12 through which the camera 20 is exposed to collect an image.
  • the housing 10 can be a closed structure and the housing 10 is a transparent material such that the camera 20 can pass through a transparent outer casing to capture images.
  • the housing 10 is provided with a through hole 12 through which the camera 20 is exposed.
  • the camera 20 can collect images through the through holes 12, and has a simple structure.
  • the shape of the through hole 12 may be a circle, a square or an ellipse, which is not limited herein.
  • the height of the camera 20 may be flush with the through hole 12 or lower than the through hole 12, which is not limited herein.
  • the cleaning robot 100 includes a light transmissive cover 14 that seals the through holes 12 .
  • the camera 20 can capture images through the transparent cover 14 and the transparent cover 14 of the through-hole 12 can prevent dust from entering the camera 20.
  • the area of the transparent cover 14 may coincide with the area of the through hole 12. In another embodiment, the area of the transparent cover 14 may be larger than the area of the through hole 12, and the transparent cover 14 may be adhered to the outer edge of the through hole 12 by adhesive.
  • the cleaning robot 100 includes a bracket 40 that is rotatably coupled to the housing 10.
  • the camera 20 is fixed to the bracket 40, and the gear set 53 is coupled to the bracket 40.
  • the rotation of the bracket 40 is caused by the transmission assembly 50 to rotate the camera 20, so that the structure of the cleaning robot 100 is simple, and the cleaning robot 100 can be made light and thin.
  • the bracket 40 is provided with a fixed through hole 42 , and the camera 20 can be screwed into the fixed through hole 42 through the first fastener 70 to be fixed on the bracket 40 .
  • the piece 70 can be a screw.
  • the camera 20 can also be fixed to the bracket 40 by an adhesive, which is not limited herein.
  • the transmission assembly 50 connected to the motor 60 can reduce the speed, so that when the motor 60 rotates, the rotation of the bracket 40 is driven by the transmission assembly 50 to lower the speed of the rotation of the camera 20, It is advantageous for the camera 20 to capture images.
  • the transmission assembly 50 can be driven by a transmission method including gears, belts, and connecting rods.
  • the cleaning robot 100 includes a mount 80 and a circuit board 90 stacked under the mount 80 .
  • the camera 20 is secured to the bracket 40 by a mount 80 .
  • the mount 80 can function to prevent the camera 20 from falling off.
  • the circuit board 90 can receive images captured by the camera 20 and can perform corresponding processing.
  • the first fastener 70 can pass through the through hole of the mounting seat 80 and the fixing through hole 42 of the bracket 40 to fix the mounting seat 80 on the bracket 40.
  • the first fastener 70 can be a screw.
  • the circuit board 90 is laminated between the mount 80 and the bracket 40, and the circuit board 90 is electrically connected to the camera 20.
  • the cleaning robot 100 includes a motor mount 110 that is fixed to the housing 10, and the motor 60 is fixed to the motor mount 110. As such, the motor mount 110 prevents the motor 60 from slipping while rotating.
  • the motor mount 110 includes a fixed post 112 and an arcuate bracket 114 that cooperates with the arc of the motor 60 such that the motor 60 can be stably snapped onto the arcuate bracket 114.
  • the transmission assembly 50 includes a drive shaft 52 , a first gear 54 , and a second gear 56 .
  • the drive shaft 52 is inserted into the bracket 40.
  • the axis R of the drive shaft 52 coincides with the axis of rotation L.
  • the gear set 53 includes a first gear 54 and a second gear 56.
  • the first gear 54 is coupled to one end of the drive shaft 52.
  • the second gear 56 is meshingly coupled to the first gear 54.
  • the second gear 56 is coupled to the motor 60, and the gear ratio of the first gear 54 and the second gear 56 is greater than one.
  • the bracket 40 is provided with a rotating through hole 44.
  • the transmission shaft 52 can be inserted into the rotating through hole 44, and one end of the transmission shaft 52 adjacent to the first gear 54 is connected to the central rotating shaft hole of the first gear 54.
  • the cleaning robot 100 further includes a motor fixing ring 120 and a second fastener 130.
  • the motor 60 is connected to the second ring gear 56 through the central ring hole 122 of the motor fixing ring 120.
  • the motor fixing ring 120 can be To stabilize the function of the motor 60.
  • a fixing ring through hole 124 is defined in the two sides of the motor fixing ring 120.
  • the second fastener 130 can extend into the fixing post 112 through the fixing ring through hole 124. It can be understood that the second fastener 130 can be a screw.
  • the fixing post 112 is provided with a groove that cooperates with the thread of the screw.
  • the drive shaft 52 includes a first interference section 522 and a second interference section 524 .
  • the first interference section 522 has an interference fit with the fixed through hole 42 adjacent to the first gear 54
  • the second interference section 524 An interference fit is formed with the center hole of the first gear 54.
  • the interference fit refers to the interference value between the shaft and the hole, and the elastic pressure is generated between the drive shaft 52 and the surface of the fixed through hole 42 after assembly, thereby obtaining a fastening connection.
  • the transmission shaft 52 and the fixed through hole 42 and the central hole of the first gear 54 can also be cooperatively connected by other means.
  • a bump can be disposed on the transmission shaft 52 and close to the first gear 54.
  • the inner wall of the fixed through hole 42 may be provided with a groove, and the protrusion and the groove may be coupled to each other.
  • gear ratio of the first gear 54 and the second gear 56 can be set according to actual needs, which is not limited herein. In one example, the gear ratio of the first gear 54 and the second gear 56 may be 20.
  • the cleaning robot 100 includes a host circuit board 140 that includes a communication module 142 and a controller 144 .
  • the communication module 142 is configured to receive a control signal sent by the electronic device 200.
  • the controller 144 is for controlling the rotation of the camera 20 in accordance with the control signal.
  • connection between the electronic device 200 and the cleaning robot 100 can be realized, and the user can interact with the cleaning robot 100 through the electronic device 200.
  • the electronic device 200 can be a mobile phone, and an APP that cooperates with the control program of the cleaning robot 100 is installed on the mobile phone.
  • the cleaning robot 100 can be paired with the mobile phone through the communication module 142. After the pairing is successful, the user can control the rotation of the motor 60 through the program of the mobile phone APP, and then the camera 20 is rotated after the gear assembly is decelerated.
  • the communication module 132 is, for example, a WiFi communication module.
  • the present application also provides a cleaning robot system 1000.
  • the cleaning robot system 1000 includes an electronic device 200 and the cleaning robot 100 of any of the above embodiments.
  • the electronic device 200 is used to control the rotation of the camera 20.
  • the angle of view of the camera 20 can be increased, and the user can Experience is good.
  • the electronic device 200 includes, but is not limited to, an electronic device such as a mobile phone, a tablet computer, and a wristband.
  • the electronic device 200 can communicate with the cleaning robot 100 by way of wireless WIFI.
  • the electronic device 200 can communicate with the cleaning robot 100 by means of Bluetooth.
  • the communication manner between the electronic device 200 and the cleaning robot 100 is not limited herein.
  • a dust collecting cup (not shown) may be disposed in the casing 10.
  • the dust collecting cup may have at least one filtering structure, and the bottom surface of the casing 10 is provided with dust suction.
  • the mouth (not shown), the dust suction port can be connected to the dust cup, and on the rear side of the dust cup, a vacuum motor for generating a negative pressure can be arranged, and under the action of the vacuum motor, the dust can be sucked from the dust
  • the user can take out the dust collecting cup from the casing 10 of the cleaning robot 100 and dump the dust after using the cleaning robot 100 for a certain period of time, and the user can also periodically collect the dust collecting cup and the filtering structure. Wash it.
  • a walking wheel may be disposed on each side of the dust cup, and each of the traveling wheels may be driven by a separate driving motor (not shown), at the front side of the middle position of the two traveling wheels,
  • a universal wheel (not shown) with support and steering functions is provided, but is not limited thereto.
  • the side brush 150 may be disposed at the bottom of the casing 10 and on the front side of the two traveling wheels, and the side brush 150 may be driven to rotate by a separate motor, and the side brush 150 can collect dust from the bottom of the casing and both sides of the casing to the dust suction. At the mouth, so that dust can be sucked into the dust cup more efficiently.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, for example two, three, unless specifically defined otherwise.

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Abstract

公开了一种扫地机器人(100)和一种扫地机器人系统(1000)。扫地机器人(100)包括壳体(10)、摄像头(20)和动力部件(30)。摄像头(20)转动连接壳体(10)。动力部件(30)安装在壳体(10)上。动力部件(30)包括电机(60)和齿轮组(53)，动力部件(30)通过齿轮组(53)连接摄像头(20)，电机用于通过齿轮组(53)驱动摄像头(20)绕转动轴线转动。

Description

扫地机器人和扫地机器人系统
优先权信息
本申请请求2018年03月30日向中国国家知识产权局提交的、专利申请号为201820459461.9的专利申请的优先权和权益，并且通过参照将其全文并入此处。
技术领域
本申请涉及扫地机器人技术领域，更具体而言，涉及一种扫地机器人和扫地机器人系统。
背景技术
在相关技术中，扫地机器人包括有摄像头，摄像头用于采集图像，但是由于摄像头的视角范围较小，用户体验性差。
发明内容
本申请实施方式提供一种扫地机器人和扫地机器人系统。
本申请实施方式的扫地机器人包括：
壳体；
转动连接所述壳体的摄像头；和
安装在所述壳体的动力部件，所述动力部件包括电机和齿轮组，所述动力部件通过所述齿轮组连接所述摄像头，所述电机用于通过所述齿轮组驱动所述摄像头绕转动轴线转动。
本申请实施方式的扫地机器人中，由于摄像头相对于壳体转动连接，并且电机可通过齿轮轴驱动摄像头绕转动轴线转动，这样可以增大摄像头的视角范围，用户体验性好。
本申请实施方式的扫地机器人系统包括：
壳体；
转动连接所述壳体的摄像头；
安装在所述壳体的动力部件，所述动力部件包括电机和齿轮组，所述动力部件通过所述齿轮组连接所述摄像头，所述电机用于通过所述齿轮组驱动所述摄像头绕转动轴线转动；和
电子装置，所述电子装置用于控制所述摄像头转动。
本申请实施方式的扫地机器人系统中，由于摄像头相对于壳体转动连接，并且电机可通过齿轮轴驱动摄像头绕转动轴线转动，这样可以增大摄像头的视角范围，用户体验性好。
本申请的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实施方式的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的扫地机器人的立体示意图。
图2是本申请实施方式的扫地机器人的另一立体示意图。
图3是本申请实施方式的扫地机器人的内部结构示意图。
图4是图3的扫地机器人IV部分的放大示意图。
图5是本申请实施方式的扫地机器人的元件分解图。
图6是本申请实施方式的扫地机器人的另一内部结构示意图。
图7是本申请实施方式的扫地机器人的又一内部结构示意图。
图8是本申请实施方式的扫地机器人系统的立体示意图。
主要元件符号说明：
扫地机器人系统1000、扫地机器人100、壳体10、通孔12、透光盖板14、摄像头20、动力部件30、支架40、固定通孔42、转动通孔44、传动组件50、传动轴52、第一过盈段522、第一过盈段524、齿轮组53、第一齿轮54、第二齿轮56、电机60、第一紧固件70、安装座80、电路板90、电机固定架110、固定柱112、弧形支架114、电机固定环120、中心环孔122、固定环通孔124、第二紧固件130、主机电路板140、通信模块142、控制器144、边刷150、电子装置200。
具体实施方式
以下结合附图对本申请的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本申请的实施方式是示例性的，仅用于解释本申请的 实施方式，而不能理解为对本申请的限制。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1至图4，在本申请实施方式中，扫地机器人100包括壳体10、摄像头20和动力部件30。摄像头20转动连接壳体10。动力部件30安装在壳体10。动力部件30包括电机60和齿轮组53。动力部件30通过齿轮组53连接摄像头20。电机60用于通过齿轮组53驱动摄像头20绕转动轴线L转动。
上述实施方式的扫地机器人100中，由于摄像头20转动连接壳体10。并且电机60可通过齿轮组53驱动摄像头20绕转动轴线L转动，这样可以增大摄像头20的视角范围，用户体验性好。
可以理解，摄像头20相对于壳体10转动的范围可根据扫地机器人100所需要的视角范围而进行相应的设置，在此不作限制。在一个实施例中，摄像头20的转动角度范围为60度。也就是说，动力部件30可驱动摄像头20绕转动轴线L转动的最大范围为60。
扫地机器人100在清洁的过程中，摄像头20可用于拍摄周围的环境，由于摄像头20可以转动，这样使得摄像头20获取周围的环境的视角增大，从而可以获取更大环境面积的图像。
具体的，动力部件30可为交流电机、直流电机或者其他可以驱动摄像头20转动的电子组件，在此不作限制。
由于电机60启动时的转速较快，本申请实施方式的齿轮组53使得摄像头20的转动速度减缓，从而起到保护摄像头20的作用，并且有利于摄像头20采集图像
壳体10可以形成为圆形或大体方形，壳体10可以是塑料壳体。壳体10的前侧可以设置有保险杠(图未示)，保险杠与壳体10之间可以设置弹簧，从而在壳体10碰撞到障碍物后该弹簧能够缓冲障碍物施加给扫地机器人100的碰撞力，进而保护扫地机器人100。
请参阅图2，在某些实施方式中，摄像头20至少部分地收容在壳体10内，摄像头20通过壳体10露出。如此，壳体10可以起到保护摄像头20的作用。
可以理解，摄像头20通过壳体10露出，在一个例子中，壳体10可开设有通孔12，摄像头20通过通孔12露出以采集图像。在另一个例子中，壳体10可为封闭的结构，并且壳体10为透明的材料，这样摄像头20可通过透明的外壳以采集图像。
请参阅图2，在某些实施方式中，壳体10开设有通孔12，摄像头20通过通孔12露出。如此，摄像头20可通过通孔12采集图像，结构简单。
具体的，通孔12的形状可为圆形、方形或者椭圆形，在此不作限制。摄像头20的高度可以与通孔12平齐，或者低于通孔12，在此不作限制。
请参阅图1，在某些实施方式中，扫地机器人100包括密封通孔12的透光盖板14。如此，摄像头20可以透过透光盖板14采集图像，并且密封通孔12的透光盖板14可防止灰尘进入摄像头20。
具体的，在一个例子中，透光盖板14的面积可以与通孔12的面积一致。在另一个实施方式中，透光盖板14的面积可大于通孔12的面积，透光盖板14可通过粘胶贴合在通孔12的外边缘。
请参阅图3至图5，在某些实施方式中，扫地机器人100包括与壳体10转动连接的支架40。摄像头20固定在支架40上，齿轮组53连接支架40。
如此，这样通过传动组件50带动支架40转动以使摄像头20转动，使得扫地机器人100的结构简单，并且可以使扫地机器人100轻薄化。
具体的，请参阅图5，在一个实施方式中，支架40开设有固定通孔42，摄像头20可以通过第一紧固件70旋入固定通孔42以固定在支架40上，第一紧固件70可以为螺钉。在另外一个实施方式中，摄像头20也可以通过粘胶固定在支架40上，在此不作限制。
由于电机60的转速较快，而连接电机60的传动组件50可以起到降速的效果，从而使得电机60转动时，通过传动组件50带动支架40转动以使摄像头20转动的速度相应降低，有利于摄像头20采集图像。
需要说明的是，传动组件50可利用包括齿轮、皮带、连杆等传动方式进行传动。
请参阅图3至图5，在某些实施方式中，扫地机器人100包括安装座80和层叠在安装座80下的电路板90，摄像头20通过安装座80固定在支架40上。
如此，安装座80可以起到防止摄像头20脱落的作用，另外，电路板90可以接收通过摄像头20所采集的图像，并且可以进行相应的处理。
具体的，第一紧固件70可穿设安装座80的通孔和支架40的固定通孔42以使安装座80固定在支架40上。例如，第一紧固件70可为螺钉。另外，电路板90层叠在 安装座80和支架40之间，电路板90与摄像头20进行电性连接。
请参阅图6，在某些实施方式中，扫地机器人100包括固定在壳体10上的电机固定架110，电机60固定在电机固定架110上。如此，电机固定架110可防止电机60在转动时发生滑动。
具体的，在一个例子中，电机固定架110包括固定柱112和弧形支架114，弧形支架114的弧度与电机60的弧度相配合，从而使得电机60可稳定卡设在弧形支架114。
请参阅图3至图5，在某些实施方式中，传动组件50包括传动轴52、第一齿轮54和第二齿轮56。传动轴52插设在支架40上。传动轴52的轴线R与转动轴线L重合。齿轮组53包括第一齿轮54和第二齿轮56。第一齿轮54与传动轴52的一端连接。第二齿轮56与第一齿轮54啮合连接。第二齿轮56与电机60连接，第一齿轮54和第二齿轮56的传动比大于1。
如此，这样使得电机60通过第一齿轮54和第二齿轮56带动支架40转动时的转动速度降低，起到保护摄像头20的效果，并且有利于摄像头20拍摄。
具体的，支架40上开设有转动通孔44，传动轴52可插设在转动通孔44中，并且传动轴52靠近第一齿轮54的一端连接第一齿轮54的中心转轴孔。扫地机器人100还包括电机固定环120和第二紧固件130，电机60穿设电机固定环120的中心环孔122与第二齿轮56连接，电机60在转动过程中，电机固定环120可以起到稳定电机60的作用。电机固定环120延伸的两侧边缘开设有固定环通孔124，第二紧固件130可穿设固定环通孔124伸入固定柱112内，可以理解，第二紧固件130可为螺钉，而固定柱112内设置有与螺钉的螺纹配合的凹槽。
请参阅图5，传动轴52包括第一过盈段522和第二过盈段524，第一过盈段522与靠近第一齿轮54的固定通孔42过盈配合，第二过盈段524与第一齿轮54的中心孔过盈配合。过盈配合是指依靠轴与孔的过盈值，装配后使传动轴52与固定通孔42的表面间产生弹性压力，从而获得紧固的联接。
需要说明的说，传动轴52与固定通孔42、第一齿轮54的中心孔之间也可以通过其他方式进行配合连接，例如，可以在传动轴52上设置凸块，而靠近第一齿轮54的固定通孔42的内壁可设置有凹槽，凸块与凹槽可相互配合连接。
需要说明的是，第一齿轮54和第二齿轮56的传动比可以根据实际需求进行设置，在此不作限定。在一个例子中，第一齿轮54和第二齿轮56的传动比可以为20。
请参阅图7，在某些实施方式中，扫地机器人100包括主机电路板140，主机电路板140包括通信模块142和控制器144。通信模块142用于接收电子装置200发送的控 制信号。控制器144用于根据控制信号控制摄像头20转动。
如此，这样可实现电子装置200与扫地机器人100之间进行连接，而用户可通过电子装置200与扫地机器人100进行互动。
具体的，电子装置200可为手机，并且手机上安装了与扫地机器人100控制程序配合的APP。扫地机器人100可通过通信模块142与手机进行配对，配对成功后，用户可通过手机APP的程序控制电机60转动，经过齿轮组件降速后，再带动摄像头20转动。通信模块132例如为WiFi通信模块。
请参阅图8，本申请还提供一种扫地机器人系1000。扫地机器人系统1000包括电子装置200和上述任一实施方式的扫地机器人100。电子装置200用于控制摄像头20转动。
上述实施方式的扫地机器人系统1000中，由于摄像头20相对于壳体10转动连接，并且电机60可通过齿轮轴53驱动摄像头20绕转动轴线L转动，这样可以增大摄像头20的的视角范围，用户体验性好。
需要说明的是，电子装置200包括但不限于手机、平板电脑及手环等电子设备。在一个实施方式中，电子装置200可以通过无线WIFI的方式与扫地机器人100进行通信。在另一实施方式中，电子装置200可以通过蓝牙的方式与扫地机器人100进行通信，电子装置200与扫地机器人100的通信方式在此不作限制。
请参阅图1及图2，在一个例子中，壳体10内可以设置有集尘杯(图未示)，集尘杯可以具有至少一层过滤结构，壳体10的底面上设置有灰尘吸入口(图未示)，灰尘吸入口可以连通集尘杯，在集尘杯的后侧，可以布置用于产生负压的吸尘电机，在吸尘电机的作用下，灰尘能够从灰尘吸入口被吸入到集尘杯内，用户在使用扫地机器人100一定时间后，可以将集尘杯从扫地机器人100的壳体10内取出并倒掉灰尘，同时用户还可以定期对集尘杯以及过滤结构进行清洗。
集尘杯的两侧可以各设置一个行走轮(图未示)，每个行走轮可以分别由一个单独的驱动电机(图未示)驱动，在两个行走轮中间位置的前侧，还可以设置一个具有支撑以及转向功能的万向轮(图未示)，但不限于此。
边刷150可以设置在壳体10的底部且位于两个行走轮的前侧，边刷150可由单独的电机驱动旋转，边刷150能够将壳体底部以及壳体两侧的灰尘汇聚到灰尘吸入口处，从而使得灰尘能够更高效地被吸入到集尘杯内。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”的描 述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (18)

  1. 一种扫地机器人，其特征在于，包括：
    壳体；
    转动连接所述壳体的摄像头；和
    安装在所述壳体的动力部件，所述动力部件包括电机和齿轮组，所述动力部件通过所述齿轮组连接所述摄像头，所述电机用于通过所述齿轮组驱动所述摄像头绕转动轴线转动。
  2. 如权利要求1所述的扫地机器人，其特征在于，所述摄像头至少部分地收容在所述壳体内，所述摄像头通过所述壳体露出。
  3. 如权利要求2所述的扫地机器人，其特征在于，所述壳体开设有通孔，所述摄像头通过所述通孔露出。
  4. 如权利要求3所述的扫地机器人，其特征在于，所述扫地机器人包括密封所述通孔的透光盖板。
  5. 如权利要求1所述的扫地机器人，其特征在于，所述扫地机器人包括与所述壳体转动连接的支架，所述摄像头固定在所述支架上，所述齿轮组连接所述支架。
  6. 如权利要求5所述的扫地机器人，其特征在于，所述扫地机器人包括安装座和层叠在所述安装座下的电路板，所述摄像头通过所述安装座固定在所述支架上。
  7. 如权利要求1所述的扫地机器人，其特征在于，所述扫地机器人包括固定在所述壳体上的电机固定架，所述电机固定在所述电机固定架上。
  8. 如权利要求5所述的扫地机器人，其特征在于，所述动力部件包括传动轴，所述传动轴插设在所述支架上，所述传动轴的轴线与所述转动轴线重合；
    所述齿轮组包括第一齿轮和第二齿轮，所述第一齿轮连接所述传动轴的一端，所述第二齿轮与所述第一齿轮啮合连接，所述第二齿轮与所述电机连接，所述第一齿轮和所述第二齿轮的传动比大于1。
  9. 如权利要求1所述的扫地机器人，其特征在于，所述扫地机器人包括主机电路板，所述主机电路板包括通信模块和控制器，所述通信模块用于接收电子装置发送的控制信号，所述控制器用于根据所述控制信号控制所述摄像头转动。
  10. 一种扫地机器人系统，其特征在于，包括：
    壳体；
    转动连接所述壳体的摄像头；
    安装在所述壳体的动力部件，所述动力部件包括电机和齿轮组，所述动力部件通过所述齿轮组连接所述摄像头，所述电机用于通过所述齿轮组驱动所述摄像头绕转动轴线转动；和
    电子装置，所述电子装置用于控制所述摄像头转动。
  11. 如权利要求10所述的扫地机器人系统，其特征在于，所述摄像头至少部分地收容在所述壳体内，所述摄像头通过所述壳体露出。
  12. 如权利要求11所述的扫地机器人系统，其特征在于，所述壳体开设有通孔，所述摄像头通过所述通孔露出。
  13. 如权利要求12所述的扫地机器人系统，其特征在于，所述扫地机器人包括密封所述通孔的透光盖板。
  14. 如权利要求10所述的扫地机器人系统，其特征在于，所述扫地机器人包括与所述壳体转动连接的支架，所述摄像头固定在所述支架上，所述齿轮组连接所述支架。
  15. 如权利要求14所述的扫地机器人系统，其特征在于，所述扫地机器人包括安装座和层叠在所述安装座下的电路板，所述摄像头通过所述安装座固定在所述支架上。
  16. 如权利要求10所述的扫地机器人系统，其特征在于，所述扫地机器人包括固定在所述壳体上的电机固定架，所述电机固定在所述电机固定架上。
  17. 如权利要求14所述的扫地机器人系统，其特征在于，所述动力部件包括传动 轴，所述传动轴插设在所述支架上，所述传动轴的轴线与所述转动轴线重合；
    所述齿轮组包括第一齿轮和第二齿轮，所述第一齿轮连接所述传动轴的一端，所述第二齿轮与所述第一齿轮啮合连接，所述第二齿轮与所述电机连接，所述第一齿轮和所述第二齿轮的传动比大于1。
  18. 如权利要求10所述的扫地机器人系统，其特征在于，所述扫地机器人包括主机电路板，所述主机电路板包括通信模块和控制器，所述通信模块用于接收电子装置发送的控制信号，所述控制器用于根据所述控制信号控制所述摄像头转动。
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