WO2022036791A1 - 扫地机器人 - Google Patents

扫地机器人 Download PDF

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Publication number
WO2022036791A1
WO2022036791A1 PCT/CN2020/115666 CN2020115666W WO2022036791A1 WO 2022036791 A1 WO2022036791 A1 WO 2022036791A1 CN 2020115666 W CN2020115666 W CN 2020115666W WO 2022036791 A1 WO2022036791 A1 WO 2022036791A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
exit port
cleaning robot
laser exit
lidar
Prior art date
Application number
PCT/CN2020/115666
Other languages
English (en)
French (fr)
Inventor
徐连斌
Original Assignee
苏州三六零机器人科技有限公司
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 苏州三六零机器人科技有限公司 filed Critical 苏州三六零机器人科技有限公司
Publication of WO2022036791A1 publication Critical patent/WO2022036791A1/zh

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Classifications

    • 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present application relates to the technical field of household electrical appliances, and in particular, to a sweeping robot.
  • sweeping robots have entered thousands of households, and because of their unique convenience in cleaning the ground, sweeping robots have also begun to be favored by users.
  • the sweeping robot uses the laser radar to send out laser signals to perceive and avoid obstacles.
  • the laser radar of this sweeping robot is usually set on the top of the body, so that the protruding laser radar is easy to be caused by the protruding laser radar during use.
  • the protective design of lidar needs to be solved urgently if it is damaged due to collision or other items falling.
  • the main purpose of the present application is to provide a sweeping robot, which aims to avoid collision and damage of the lidar and enhance the protection of the lidar.
  • the sweeping robot proposed by this application includes:
  • the side wall of the body is provided with a laser exit port
  • a laser radar the laser radar is arranged in the body and can be exposed through the laser exit port, so that the signal emitted by the laser radar can be emitted through the laser exit port.
  • the lidar is located at a position corresponding to the middle of the laser exit port.
  • the outer shape of the body is cylindrical, and the laser exit port extends along the circumferential direction of the body.
  • the laser exit port has a first side and a second side in the circumferential direction of the body, and the connection line between the position center of the lidar and the first side is defined as The first connection line, the connection line between the lidar and the second side is the second connection line, and the angle formed by the first connection line and the second connection line is ⁇ , the range of ⁇ The value is: 180° ⁇ 270°.
  • the distance between the laser exit port and the top wall of the body is smaller than the distance between the laser exit port and the bottom wall of the body.
  • the body includes a lower body and an upper body covering the lower body, the laser exit port is formed between the upper body and the lower body, and the lidar is provided at The lower body is exposed through the laser exit port.
  • a side surface of the lower body facing the upper body is concavely provided with a mounting hole, the lidar is partially located in the mounting hole, partially protrudes out of the mounting hole, and passes through the mounting hole.
  • the laser exit port is exposed.
  • the cleaning robot further includes a first detection module, the first detection module is arranged on the side wall of the body, and is spaced from the laser exit port along the circumference of the body .
  • the cleaning robot further includes a second detection module, the second detection module is arranged on the side wall of the body, the second detection module is arranged corresponding to the lidar, and located below the laser exit port.
  • the cleaning robot further includes a buffer plate, the buffer plate is movably arranged on the side wall of the body, and is located on one side of the laser exit port, the buffer plate corresponds to the laser
  • the exit port is provided with an escape port, and the buffer plate moves relative to the side wall of the body so as to fit or be spaced from the side wall of the body.
  • the lidar in the body, the lidar can be built-in and hidden, and the body can form a protection against the lidar, effectively avoiding the collision and damage of the lidar, and greatly enhancing the protection of lidar.
  • the laser radar is exposed through the laser exit port, so that the signal sent by the laser radar can be directly emitted through the laser exit port, avoiding the need for the laser signal in the related scheme to be emitted through some transparent materials. , so as to avoid the influence of the output of the laser signal due to the fouling of the transparent material, and ensure the smoothness of the laser light path.
  • FIG. 1 is a schematic structural diagram of an embodiment of a cleaning robot according to the present application.
  • FIG. 2 is a schematic structural diagram of another embodiment of a cleaning robot according to the present application.
  • FIG. 3 is a schematic structural diagram of another embodiment of the sweeping robot of the present application.
  • Fig. 4 is the exploded structure schematic diagram in Fig. 2;
  • FIG. 5 is a schematic diagram of the cleaning robot of the present application after a part of the structure is removed.
  • label name label name 10 body 11 Laser exit 111 first side 112 second side 12 upper body 13 lower body 131 Mounting holes 20
  • the second detection module 40 Bumper 41 escape 100 Sweeping robot
  • the terms “connected”, “fixed” and the like should be understood in a broad sense, for example, “fixed” may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined.
  • “fixed” may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined.
  • the present application proposes a cleaning robot 100 .
  • the cleaning robot 100 includes a body 10 and a lidar (not shown).
  • the side wall of the body 10 is provided with a laser outlet 11; the lidar is arranged in the body 10 and can be exposed through the laser outlet 11, so that the signal sent by the lidar can pass through the laser The exit port 11 exits.
  • the body 10 is formed as the main structure of the cleaning robot 100. Usually, the body 10 is also provided with an installation cavity for installing the drive components, the electric control components, the water tank and the dust box components, etc.
  • the bottom of the body 10 is installed with Drive wheels, universal wheels, side brushes, rolling brushes, mopping structures, etc., so that the cleaning robot 100 can mop and clean the ground during the traveling process.
  • the forward direction of the cleaning robot 100 is defined as the front side direction
  • the laser exit port 11 is opened in the front side direction of the side wall of the body 10
  • the laser radar can be located in the body 10 and close to the front side direction.
  • the light path of the lidar in the body 10 is short, which can achieve more accurate obstacle avoidance.
  • the laser exit port 11 on the front side enables the sweeping robot 100 to send laser signals to the front side to sense obstacles directly, so that the map route can be changed and planned in time, and obstacle avoidance can be effectively achieved.
  • the laser radar is exposed through the laser exit port 11 , and it may be fully exposed through the laser exit port 11 , or partially exposed through the laser exit port 11 , and part of it is built-in and hidden in the body 10 .
  • the signal only needs to be output from the laser output port 11 , which is not specifically limited in this application.
  • the lidar in the sweeping robot 100 of the technical solution of the present application, by disposing the lidar in the body 10, the lidar can be built-in and hidden, and the body 10 can form a protection against the lidar, effectively avoiding the collision and damage of the lidar. phenomenon, greatly enhancing the protection of lidar.
  • the laser radar is exposed through the laser exit port 11, so that the signal sent by the laser radar can be directly emitted through the laser exit port 11, avoiding the need for the laser signal in the related scheme to pass through.
  • Some transparent materials are emitted, thereby avoiding the influence of the emission of laser signals due to the accumulation of dust on the transparent materials, and ensuring the smoothness of the laser light path.
  • the lidar is located at a position corresponding to the middle of the laser exit port 11 . In this way, the laser signal emitted by the lidar can be emitted from the laser exit port 11 equally, so that the sweeping robot 100 can more comprehensively perceive obstacles in the forward direction during the traveling process and avoid collision.
  • the outer shape of the body 10 is cylindrical, and the laser exit port 11 extends along the circumferential direction of the body 10 .
  • the body 10 may be a flat cylindrical structure, and the laser exit port 11 extends along the circumferential direction of the side wall of the body 10 , that is, the laser exit port 11 is formed as an arc-shaped opening on the side wall of the body 10 , Therefore, the lidar in the body 10 can emit a fan-shaped laser plane through the arc-shaped opening, so that the sweeping robot 100 can perceive obstacles in a wider range when moving forward, which is more conducive to obstacle avoidance.
  • the laser exit port 11 has a first side 111 and a second side 112 in the circumferential direction of the body 10 , which define the position center of the lidar and the
  • the connection line between the first side edges 111 is a first connection line
  • the connection line between the lidar and the second side edge 112 is a second connection line
  • the first connection line and the The included angle formed by the second connection line is ⁇ , and the range value of ⁇ is: 180° ⁇ 270°.
  • the value of the included angle ⁇ should not be too large or too small. If it is too large, the arc formed by the laser exit port 11 is also larger. At this time, the first side edge 111 and the second side edge 112 are closer to the side and rear than the laser exit port 11 . The laser signals emitted from the edges of one side 111 and the second side 112 cannot help the perception of obstacles on the front side traveling route, but are more likely to pass through the laser exit port 11 with a larger arc to generate more falling. If the value of the included angle ⁇ is too small, the arc formed by the laser exit port 11 is small, and the laser plane emitted by the laser radar from the laser exit port 11 is also narrow.
  • the value of the included angle ⁇ is designed to be within a range of not less than 180° and not greater than 270°.
  • the specific value of the included angle ⁇ may be 180°, 190°, 200°, 210°, 215°, 220°, 225°, 230°, 240°, 250° or 270°.
  • the distance between the laser exit port 11 and the top wall of the body 10 is smaller than the distance between the laser exit port 11 and the bottom wall of the body 10 .
  • This setting enables the laser plane emitted by the lidar to be higher from the ground, so that higher obstacles can be sensed, and it is convenient for the sweeping robot 100 to calculate whether it can clean certain specific positions, such as calculating whether it can enter the bottom of the table, the coffee table or not. Clean the bottom, sofa bottom and other positions, and plan the cleaning route in time.
  • the body 10 includes a lower body 13 and an upper body 12 covering the lower body 13 , and the laser exit port is enclosed between the upper body 12 and the lower body 13 .
  • the lidar is installed on the lower body 13 and exposed through the laser exit port 11 .
  • the upper body 12 can be detachably connected and fixed with the lower body 13.
  • a sinking platform (not shown) is formed in the depression on the front side of the top of the lower body 13.
  • the upper body 12 is covered with the lower body 13, the upper The top wall part of the front side of the body 12 is enclosed with the sinking platform to form a laser exit port 11 , and the laser radar can be directly installed on the sinking platform.
  • the installation of the laser radar is more convenient, and it is convenient for disassembly and assembly for daily maintenance, and the coverage of the upper body 12 ensures that the laser radar can be protected from collision and damage.
  • the upper body 12 and the lower body 13 may also be an integral molding structure, so that the upper body 12 and the lower body 13 are formed as a whole.
  • a side surface of the lower body 13 facing the upper body 12 is recessed with a mounting hole 131 , and the lidar is partially located in the mounting hole 131 and partially extends out of the mounting hole 131 and exposed through the laser exit port 11 .
  • the mounting hole 131 is recessed on the surface of the sink in the lower body 13, and the shape, diameter, depth, etc. of the mounting hole 131 should be adapted to the shape and size of the lidar. Moreover, the position of the installation hole 131 corresponds to the middle position of the laser exit port 11 , so that the installed laser radar can be placed in the middle position of the laser exit port 11 .
  • the mounting holes 131 By arranging the mounting holes 131 , the laser radar can be limited and fixed by the mounting holes 131 , and the installation stability is good, and it will not easily shake during the traveling process, so as to ensure the stability of the emitted laser signal.
  • the cleaning robot 100 further includes a first detection module 20 .
  • the first detection module 20 is disposed on the side wall of the body 10 and emits with the laser light.
  • the ports 11 are arranged at intervals along the circumferential direction of the body 10 .
  • the forward direction of the cleaning robot 100 is defined as the front direction
  • the laser exit port 11 is opened in the front direction of the side wall of the body 10
  • the first detection module 20 can be set on the left or right side of the body 10, Or set both left and right sides at the same time.
  • the first detection module 20 can be a point laser module or a line laser module.
  • the sweeping robot 100 can also send out signals through the first detection module 20 when traveling. Laser signal, so that it can also perceive and avoid obstacles on the side of the traveling route and avoid leaning against the wall.
  • the cleaning robot 100 further includes a second detection module 30, the second detection module 30 is disposed on the side wall of the body 10, the second detection module 30 is connected to the laser
  • the radar is correspondingly arranged and located below the laser exit port 11 .
  • the second detection module 30 may be a line laser module as shown in FIG. 3 or a depth camera as shown in FIG. 2 .
  • the second detection module 30 By setting the second detection module 30 , obstacles lower than the laser exit port 11 can be detected. Therefore, it can more comprehensively avoid obstacles, plan the cleaning route in time, and ensure the reliability of the operation of the sweeping robot 100.
  • the cleaning robot 100 further includes a buffer plate 40 , and the buffer plate 40 is movably disposed on the side wall of the body 10 and located on one side of the laser exit port 11 , the buffer plate 40 is provided with an escape port 41 corresponding to the laser exit port 11 , and the buffer plate 40 moves relative to the side wall of the body 10 so as to fit or be spaced from the side wall of the body 10 .
  • the buffer plate 40 may be an arc-shaped plate adapted to the curvature of the side wall of the body 10 . It is understood that the buffer plate 40 is also provided with a space corresponding to the first detection module 20 and the second detection module 30 . A port (not marked) is provided so that the first detection module 20 and the second detection module 30 can be exposed.
  • the side wall of the body 10 is provided with an elastic sheet (not shown), the elastic sheet is located on both sides of the second detection module 30 , and the buffer plate 40 abuts against the side wall of the body 10 through the elastic sheet .
  • the buffer plate 40 when the buffer plate 40 is collided, it can press the shrapnel to buffer the energy of the collision, so as to use the lidar, the first detection module 20 and the second detection module 30 to avoid obstacles together, effectively avoiding the appearance of the cleaning robot 100 The phenomenon of collision damage.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种扫地机器人（100），包括机体（10）和激光雷达，机体（10）的侧壁开设激光出射口（11）；激光雷达设于机体（10）内，并可经由激光出射口（11）而显露，以使激光雷达发出的信号通过激光出射口（11）出射。

Description

扫地机器人
本申请要求于2020年8月21日申请的、申请号为202010835669.8、名称为“扫地机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及生活电器技术领域，特别涉及一种扫地机器人。
 背景技术
随着科学技术的发展，扫地机器人进入了千家万户，而由于其清洁地面时具有独特的便利性，因此，扫地机器人也开始备受用户的青睐。相关技术中，扫地机器人都是通过设置激光雷达发出激光信号进行感知避障，然而，这种扫地机器人的激光雷达通常是设置在机体的顶部，这样在使用过程中，凸出的激光雷达容易因碰撞或者其它物品掉落而损坏，对于激光雷达的保护性设计亟需解决。
 技术解决方案
本申请的主要目的是提供一种扫地机器人，旨在能够避免激光雷达碰撞受损，增强对激光雷达的保护。
为实现上述目的，本申请提出的扫地机器人，包括：
机体，所述机体的侧壁开设激光出射口；和
激光雷达，所述激光雷达设于所述机体内，并可经由所述激光出射口而显露，以使所述激光雷达发出的信号通过所述激光出射口出射。
在一实施例中，所述激光雷达位于所述激光出射口的中间所对应的位置。
在一实施例中，所述机体的外形为圆柱形，所述激光出射口沿所述机体的周向延伸。
在一实施例中，所述激光出射口在所述机体的周向上具有第一侧边和第二侧边，定义所述激光雷达的位置中心与所述第一侧边之间的连线为第一连线，所述激光雷达与所述第二侧边之间的连线为第二连线，所述第一连线与所述第二连线形成的夹角为α，α的范围值为：180°≤α≤270°。
在一实施例中，所述激光出射口与所述机体的顶壁之间的距离小于所述激光出射口与所述机体的底壁之间的距离。
在一实施例中，所述机体包括下机体和覆盖于所述下机体的上机体，所述上机体与所述下机体之间围合形成有所述激光出射口，所述激光雷达设于所述下机体，并经由所述激光出射口而显露。
在一实施例中，所述下机体的朝向所述上机体的一侧表面凹设有安装孔，所述激光雷达部分位于所述安装孔内，部分伸出所述安装孔外，并经所述激光出射口显露。
在一实施例中，所述扫地机器人还包括第一检测模组，所述第一检测模组设于所述机体的侧壁，并与所述激光出射口沿所述机体的周向间隔设置。
在一实施例中，所述扫地机器人还包括第二检测模组，所述第二检测模组设于所述机体的侧壁，所述第二检测模组与所述激光雷达对应设置，并位于所述激光出射口的下方。
在一实施例中，所述扫地机器人还包括缓冲板，所述缓冲板可活动地设于所述机体的侧壁，并位于所述激光出射口的一侧，所述缓冲板对应所述激光出射口开设有避让口，所述缓冲板相对所述机体的侧壁活动，以与所述机体的侧壁相贴合或者相间隔。
本申请技术方案的扫地机器人，通过将激光雷达设置于机体内，从而使得激光雷达可以内置隐藏起来，机体能够形成对激光雷达的防护，有效的避免了激光雷达出现碰撞受损的现象，大大增强了对激光雷达的保护。而进一步通过在机体的侧壁开设激光出射口，激光雷达经由该激光出射口显露，使得激光雷达发出的信号可以直接通过该激光出射口出射，避免相关方案中激光信号需要透过一些透明材料出射，从而避免了由于透明材料的积灰而影响激光信号的出射，确保了激光光路的畅通。
 附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请扫地机器人一实施例的结构示意图；
图2为本申请扫地机器人另一实施例的结构示意图；
图3为本申请扫地机器人又一实施例的结构示意图；
图4为图2中的爆炸结构示意图；
图5为本申请扫地机器人移除部分结构后的示意图。
附图标号说明：
标号 名称 标号 名称
10 机体 11 激光出射口
111 第一侧边 112 第二侧边
12 上机体 13 下机体
131 安装孔 20 第一检测模组
30 第二检测模组 40 缓冲板
41 避让口 100 扫地机器人
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
 本发明的实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，本申请实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
在本申请中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
另外，在本申请中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其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该特征。另外，全文中出现的“且/或”的含义为，包括三个并列的方案，以“A且/或B为例”，包括A方案，或B方案，或A和B同时满足的方案。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提出一种扫地机器人100。
请结合参照图1至图5，在本申请实施例中，该扫地机器人100包括机体10和激光雷达（未图示）。所述机体10的侧壁开设激光出射口11；所述激光雷达设于所述机体10内，并可经由所述激光出射口11而显露，以使所述激光雷达发出的信号通过所述激光出射口11出射。
其中，机体10形成为扫地机器人100的主体结构，通常情况下，机体10还开设有安装腔，以用于安装驱动组件、电控组件、水箱以及尘盒组件等，机体10的底部则安装有驱动轮、万向轮、边刷、滚刷以及拖地结构等，以使扫地机器人100在行进过程中，能够拖地和对地面进行清扫。
本申请中，定义扫地机器人100前进的方向为前侧方向，激光出射口11开设于机体10侧壁的前侧方向，激光雷达则可位于机体10内并靠近前侧方向设置，如此设置，使得激光雷达在机体10内的光路较短，能够实现更加精准的避障。而前侧方向的激光出射口11，使得扫地机器人100在行进过程中，激光雷达发出激光信号能够直接朝前侧感知障碍物，从而能及时更换和规划地图路线，有效实现避障。
可以理解地，本申请中激光雷达经由激光出射口11显露，其既可以是全部经激光出射口11显露，也可以是部分经激光出射口11显露，部分则内置隐藏在机体10，应确保激光信号能够激光出射口11出射即可，本申请对此不作具体限定。
因此，本申请技术方案的扫地机器人100，通过将激光雷达设置于机体10内，从而使得激光雷达可以内置隐藏起来，机体10能够形成对激光雷达的防护，有效的避免了激光雷达出现碰撞受损的现象，大大增强了对激光雷达的保护。而进一步通过在机体10的侧壁开设激光出射口11，激光雷达经由该激光出射口11显露，使得激光雷达发出的信号可以直接通过该激光出射口11出射，避免相关方案中激光信号需要透过一些透明材料出射，从而避免了由于透明材料的积灰而影响激光信号的出射，确保了激光光路的畅通。
为了使扫地机器人100在行进过程中，能够精准和全面的感知障碍物，本申请的一实施例中，所述激光雷达位于所述激光出射口11的中间所对应的位置。如此设置，使得激光雷达发出的激光信号能够从激光出射口11均分的出射，从而使扫地机器人100在行进过程中可以更加全面的感知前进方向上的障碍物，避免碰撞。
在本申请的一实施例中，所述机体10的外形为圆柱形，所述激光出射口11沿所述机体10的周向延伸。
该实施例中，机体10可以为扁平状的圆柱形结构，激光出射口11沿机体10侧壁的周向延伸，即，激光出射口11在机体10的侧壁上形成为一道弧形口，由此，机体10内的激光雷达能够通过该弧形口发射出扇形状的激光平面，从而使得扫地机器人100在前进时可以感知更加宽广范围内的障碍物，更加有利于避障。
参照图5，本申请扫地机器人100的实施例中，所述激光出射口11在所述机体10的周向上具有第一侧边111和第二侧边112，定义所述激光雷达的位置中心与所述第一侧边111之间的连线为第一连线，所述激光雷达与所述第二侧边112之间的连线为第二连线，所述第一连线与所述第二连线形成的夹角为α，α的范围值为：180°≤α≤270°。
夹角α的值不宜过大，也不宜过小。若过大，则激光出射口11形成的弧度也较大，此时第一侧边111和第二侧边112相对激光出射口11而言越靠向侧后方，如此从激光出射口11靠近第一侧边111、第二侧边112的边缘出射的激光信号，并不能对前侧行进路线上障碍物的感知起到帮助，反而容易通过该弧度较大的激光出射口11产生更多的落灰，给用户的清洁工作和日常保养增加难度；而夹角α的值若过小，则激光出射口11形成的弧度较小，此时激光雷达从激光出射口11出射的激光平面也较窄，如此难以对行进路线上的障碍物进行充分感应，从而使扫地机器人100容易出现碰撞和跌落的风险。因此，本申请实施例中，将夹角α的值设计在不小于180°、且不大于270°的范围内。
可以理解地，实际应用中，夹角α的具体取值可以是180°、190°、200°、210°、215°、220°、225°、230°、240°、250°或者270°。
进一步地，本申请的一实施例中，所述激光出射口11与所述机体10的顶壁之间的距离小于所述激光出射口11与所述机体10的底壁之间的距离。如此设置，使得在激光雷达发射出的激光平面距离地面较高，从而能够感知较高的障碍物，便于扫地机器人100计算能否对某些特定位置的清扫，例如计算是否可进入桌底、茶几底、沙发底等位置清扫，以及时规划清扫路线。
本申请的实施例中，所述机体10包括下机体13和覆盖于所述下机体13的上机体12，所述上机体12与所述下机体13之间围合形成有所述激光出射口11，所述激光雷达设于所述下机体13，并经由所述激光出射口11而显露。
具体地，上机体12可以与下机体13可拆卸连接固定，实际应用中，下机体13顶部的前侧位置凹陷形成有一沉台（未标示），上机体12盖合于下机体13后，上机体12前侧的顶壁部分与该沉台围合形成为激光出射口11，激光雷达则可直接安装于该沉台。如此，使得对激光雷达的安装较为方便，便于拆装进行日常维护保养，而上机体12的覆盖确保了激光雷达能够得以保护，防止碰撞受损。当然，在另外的实施例中，上机体12和下机体13也可以是一体成型结构，如此使得上机体12和下机体13形成为整体。
进一步地，在本申请的一实施例中，所述下机体13的朝向所述上机体12的一侧表面凹设有安装孔131，所述激光雷达部分位于所述安装孔131内，部分伸出所述安装孔131外，并经所述激光出射口11显露。
上述的实施例中，安装孔131凹陷形成于下机体13中沉台的表面，安装孔131的形状、直径尺寸、深度尺寸等则应当与激光雷达的形状尺寸进行适应性设计。而且安装孔131的位置与激光出射口11的中间位置对应，以使安装后的激光雷达能够落于激光出射口11的中间位置。通过设置安装孔131，使得激光雷达可以被安装孔131进行限位和固定，安装的稳定性好，在行进过程中不会轻易晃动，确保发出的激光信号稳定。
参照图1，本申请的一实施例中，所述扫地机器人100还包括第一检测模组20，所述第一检测模组20设于所述机体10的侧壁，并与所述激光出射口11沿所述机体10的周向间隔设置。该实施例中，定义扫地机器人100前进的方向为前侧方向，激光出射口11开设于机体10侧壁的前侧方向，则第一检测模组20可以设置机体10的左侧或者右侧，或者左右两侧同时设置。具体而言，第一检测模组20可以是点激光模组或者是线激光模组，通过设置第一检测模组20，使得扫地机器人100在行进时，还可以通过第一检测模组20发出激光信号，从而在行进路线的侧方也可以进行感知避障，避免靠墙。
由于激光雷达发出的激光信号从激光出射口11出射后，其只能对高于该激光出射口11激光平面的障碍物进行感知。为了能够更加全面感知障碍物，避免扫地机器人100碰撞和跌落。本申请的一实施例中，扫地机器人100还包括第二检测模组30，所述第二检测模组30设于所述机体10的侧壁，所述第二检测模组30与所述激光雷达对应设置，并位于所述激光出射口11的下方。
其中，第二检测模组30可以是如图3所示的线激光模组或者是如图2所示的深度相机，通过设置第二检测模组30，可以对低于激光出射口11的障碍物进行感知，从而能更加全面的避障，及时规划清扫路线，确保扫地机器人100运行的可靠性。
在本申请扫地机器人100的一实施例中，扫地机器人100还包括缓冲板40，所述缓冲板40可活动地设于所述机体10的侧壁，并位于所述激光出射口11的一侧，所述缓冲板40对应所述激光出射口11开设有避让口41，所述缓冲板40相对所述机体10的侧壁活动，以与所述机体10的侧壁相贴合或者相间隔。
该实施例中，缓冲板40可以为与机体10侧壁弧度相适配的弧形板，可以理解地，缓冲板40对应第一检测模组20和第二检测模组30还开设有让位口（未标示），以使第一检测模组20和第二检测模组30能够显露。为了使缓冲板40能够相对机体10活动，机体10侧壁上设置有弹片（未标示），该弹片位于第二检测模组30的两侧，缓冲板40通过弹片与机体10的侧壁抵持。如此，当缓冲板40受到碰撞时，能够压合弹片缓冲碰撞的能量，以结合利用激光雷达、第一检测模组20和第二检测模组30共同避障，有效的避免了扫地机器人100出现碰撞受损的现象。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的发明构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (10)

  1. 一种扫地机器人，其中，所述扫地机器人包括：
    机体，所述机体的侧壁开设激光出射口；和
    激光雷达，所述激光雷达设于所述机体内，并可经由所述激光出射口而显露，以使所述激光雷达发出的信号通过所述激光出射口出射。
  2. 如权利要求1所述的扫地机器人，其中，所述激光雷达位于所述激光出射口的中间所对应的位置。
  3. 如权利要求1所述的扫地机器人，其中，所述机体的外形为圆柱形，所述激光出射口沿所述机体的周向延伸。
  4. 如权利要求3所述的扫地机器人，其中，所述激光出射口在所述机体的周向上具有第一侧边和第二侧边，定义所述激光雷达的位置中心与所述第一侧边之间的连线为第一连线，所述激光雷达与所述第二侧边之间的连线为第二连线，所述第一连线与所述第二连线形成的夹角为α，α的范围值为：180°≤α≤270°。
  5. 如权利要求3所述的扫地机器人，其中，所述激光出射口与所述机体的顶壁之间的距离小于所述激光出射口与所述机体的底壁之间的距离。
  6. 如权利要求1所述的扫地机器人，其中，所述机体包括下机体和覆盖于所述下机体的上机体，所述上机体与所述下机体之间围合形成有所述激光出射口，所述激光雷达设于所述下机体，并经由所述激光出射口而显露。
  7. 如权利要求6所述的扫地机器人，其中，所述下机体的朝向所述上机体的一侧表面凹设有安装孔，所述激光雷达部分位于所述安装孔内，部分伸出所述安装孔外，并经所述激光出射口显露。
  8. 如权利要求1至7任意一项所述的扫地机器人，其中，所述扫地机器人还包括第一检测模组，所述第一检测模组设于所述机体的侧壁，并与所述激光出射口沿所述机体的周向间隔设置。
  9. 如权利要求8所述的扫地机器人，其中，所述扫地机器人还包括第二检测模组，所述第二检测模组设于所述机体的侧壁，所述第二检测模组与所述激光雷达对应设置，并位于所述激光出射口的下方。
  10. 如权利要求1至7任意一项所述的扫地机器人，其中，所述扫地机器人还包括缓冲板，所述缓冲板可活动地设于所述机体的侧壁，并位于所述激光出射口的一侧，所述缓冲板对应所述激光出射口开设有避让口，所述缓冲板相对所述机体的侧壁活动，以与所述机体的侧壁相贴合或者相间隔。
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CN111466835A (zh) * 2020-03-31 2020-07-31 深圳市银星智能科技股份有限公司 清洁机器人
CN212574786U (zh) * 2020-08-21 2021-02-23 苏州三六零机器人科技有限公司 扫地机器人
CN212574790U (zh) * 2020-08-21 2021-02-23 苏州三六零机器人科技有限公司 扫地机器人
CN212574787U (zh) * 2020-08-21 2021-02-23 苏州三六零机器人科技有限公司 扫地机器人
CN212574788U (zh) * 2020-08-21 2021-02-23 苏州三六零机器人科技有限公司 扫地机器人和自动清洁系统
CN212574807U (zh) * 2020-08-21 2021-02-23 苏州三六零机器人科技有限公司 扫地机器人
CN212574797U (zh) * 2020-08-27 2021-02-23 苏州三六零机器人科技有限公司 扫地机器人

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