WO2023130681A1 - 自动清洁设备及系统 - Google Patents

自动清洁设备及系统 Download PDF

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Publication number
WO2023130681A1
WO2023130681A1 PCT/CN2022/101608 CN2022101608W WO2023130681A1 WO 2023130681 A1 WO2023130681 A1 WO 2023130681A1 CN 2022101608 W CN2022101608 W CN 2022101608W WO 2023130681 A1 WO2023130681 A1 WO 2023130681A1
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WO
WIPO (PCT)
Prior art keywords
keycap
automatic cleaning
cleaning device
bracket
key
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Application number
PCT/CN2022/101608
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English (en)
French (fr)
Inventor
徐洪亮
Original Assignee
北京石头世纪科技股份有限公司
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Publication of WO2023130681A1 publication Critical patent/WO2023130681A1/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 technical field of cleaning robots, in particular, to an automatic cleaning device and system.
  • Cleaning robots In modern life, cleaning robots are becoming more and more popular, bringing convenience to family life. Cleaning robots include sweeping robots, mopping robots, and integrated sweeping and dragging robots. With the popularity of cleaning robots, the functions and structures of cleaning robots are also becoming more and more more complex and more expensive to produce.
  • the application provides an automatic cleaning device, including: a mobile platform configured to automatically move on the operating surface, including a cover; a key assembly assembled on the cover, the key assembly includes A keycap and a bracket, the keycap is assembled on the bracket; wherein, the bracket is integrally formed with the cover plate.
  • the keycap includes a keycap pressing portion and a keycap skirt, and the keycap skirt is disposed around the keycap pressing portion.
  • it also includes a decorative cover arranged on the top surface of the cover plate, including a mounting hole matching the shape of the keycap pressing part, when the keycap is assembled on the bracket, the installation The edge of the hole is pressed against the skirt of the keycap.
  • the cover plate includes a keycap installation portion substantially matching the outline of the keycap skirt, and when the keycap is installed on the bracket, the keycap skirt and the keycap The installation part fits together and the upper surface of the skirt of the keycap is substantially coplanar with the upper surface of the cover plate or slightly higher than the upper surface of the cover plate.
  • the keycap installation portion includes a groove extending circumferentially along the edge
  • the keycap skirt includes a protruding edge extending circumferentially along the edge, and when the keycap is installed on the bracket, the The protruding edge is inserted into the groove.
  • the lip includes at least one protrusion on the inside and/or outside.
  • the keycap installation portion includes two symmetrically arranged keyholes, and the bracket is integrally formed in the keyholes.
  • the keycap further includes a first protrusion and a second protrusion disposed on the lower surface of the keycap pressing part, when the keycap is assembled on the bracket, the first The protrusion and the second protrusion are pressed by the bracket.
  • the first protruding portion and the second protruding portion both include a columnar structure extending downward along the lower surface of the keycap pressing portion and a cone extending downwardly along the columnar structure. shaped structure, and the connection between the columnar structure and the tapered structure forms a flat structure.
  • the support includes at least one elastic arm and a key ring connected by the at least one elastic arm, the key ring is configured to allow the tapered structure to pass through and then abut against the flat structure, the The elastic arm is configured to reset the button ring.
  • the support includes at least one elastic arm and a key board connected by the at least one elastic arm, and the key board is configured to pass through the first protrusion and the second key cap when the key cap is pressed.
  • the two protrusions transmit pressing force, and the elastic arm is configured to reset the keypad.
  • the lower surface of the keypad includes a conical protrusion, and pressing is performed through the conical protrusion.
  • it further includes a switch element configured to be triggered by pressing the tapered structure or the tapered protrusion.
  • the present application provides an automatic cleaning device, wherein the key assembly is assembled on the cover plate of the automatic cleaning device, the key assembly includes a key cap and a bracket, the key cap includes a key cap pressing portion and a key cap skirt, the bracket and the cover plate One-piece molding, the keycap is directly assembled on the one-piece bracket, and the decorative plate is pressed on the keycap skirt to fix it, which simplifies the installation structure of the keycap assembly as a whole, and is convenient for early assembly and later maintenance.
  • Fig. 1 is a perspective view of an automatic cleaning device according to some embodiments of the present application.
  • Fig. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to some embodiments of the present application.
  • Fig. 3 is a schematic diagram of an assembly structure of a key assembly of an automatic cleaning device according to some embodiments of the present application.
  • Fig. 4 is a schematic view from the upper side of the keycap of the automatic cleaning device according to some embodiments of the present application.
  • Fig. 5a is a schematic view from the bottom side of a keycap of an automatic cleaning device according to some embodiments of the present application.
  • Fig. 5b is a schematic view from the bottom side of the keycap of the automatic cleaning device according to some other embodiments of the present application.
  • Fig. 6 is a schematic view from the upper side of the decorative cover of the automatic cleaning device according to some embodiments of the present application.
  • Fig. 7 is a schematic structural diagram of a cover plate of an automatic cleaning device according to some embodiments of the present application.
  • Fig. 8a is a schematic diagram of an enlarged structure on the upper side of the key bracket of the automatic cleaning device according to some embodiments of the present application.
  • Fig. 8b is a schematic diagram of the enlarged structure of the lower side of the button bracket of the automatic cleaning device according to some embodiments of the present application.
  • Fig. 9 is a schematic diagram of the assembly structure of the key assembly of the automatic cleaning device according to some embodiments of the present application.
  • Fig. 10 is a schematic cross-sectional structure diagram of a button assembly of an automatic cleaning device according to some embodiments of the present application.
  • Mobile platform 100 backward part 110, forward part 111, perception system 120, position determination device 121, buffer 122, cliff sensor 123, control system 130, drive system 140, drive wheel assembly 141, steering assembly 142, cleaning module Group 150, dry cleaning module 151, side brush 152, main brush module 153, dust box 300, filter 500, energy system 160, human-computer interaction system 170, cover plate 200, key assembly 400, key cap 410, Hard bracket 420, key cap pressing portion 411, key cap skirt 412, decorative cover 300, mounting hole 310, groove 211, protruding edge 413, protrusion 414, key hole 212, elastic arm 421, key ring 422, the second A raised portion 417 , a second raised portion 418 , a columnar structure 4181 , a tapered structure 4182 , a flat structure 4183 , a key plate 423 , a pressing portion 4231 , and a tapered protrusion 4232 .
  • first, second, third, etc. may be used for description in the embodiments of the present application, these terms should not be limited to these terms. These terms are used only to distinguish.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • Figure 1- Figure 2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment.
  • the automatic cleaning device can be a vacuum robot or a mopping/scrubbing robot , can also be a window climbing robot, etc.
  • the automatic cleaning equipment can include a mobile platform 100, a perception system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160 and a human-computer interaction system 170. in:
  • the mobile platform 100 may be configured to automatically move in a target direction on the operating surface.
  • the operation surface may be the surface to be cleaned by the automatic cleaning equipment.
  • the automatic cleaning equipment can be a mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface;
  • the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the ground Working on the outer surface of the glass, the glass is the operating surface;
  • the automatic cleaning equipment can also be a pipeline cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface.
  • the following description in this application takes a mopping robot as an example.
  • the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
  • the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but it can execute established procedures or operate according to certain logic.
  • the target direction can be determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually.
  • the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
  • the perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, an ultrasonic sensor (not shown), an infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
  • the device provides various position information and motion state information of the machine to the control system 130.
  • the autonomous cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the transverse axis Y, Front and rear axis X and central vertical axis Z.
  • the forward driving direction along the front-rear axis X is designated “forward” and the rearward driving direction along the front-rear axis X is designated “rearward”.
  • the transverse axis Y extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning device. Wherein, the automatic cleaning device can rotate around the Y axis.
  • a self-cleaning device is "pitched" when the forward part is sloped upwards and the rearward part is sloped downwards, and “pitched” is when the forward part of the automatic cleaning device is sloped downwards and the rearward part is sloped upwards.
  • the automatic cleaning device can rotate around the Z axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device tilts to the right of the X-axis, it is a "right turn", and when the automatic cleaning device tilts to the left of the X-axis, it is a "left turn".
  • a cliff sensor 123 is provided on the bottom of the mobile platform 100 and at the front and rear of the drive wheel assembly 141, and the cliff sensor is used to prevent the automatic cleaning device from falling when it retreats, thereby preventing the automatic cleaning device from being damaged. damage.
  • the aforementioned "front” refers to the side in the same direction of travel relative to the automatic cleaning device, and the aforementioned “rear” refers to the side opposite to the direction of travel of the automatic cleaning device.
  • the location determination device 121 includes but are not limited to cameras and laser distance measuring devices (LDS).
  • LDS laser distance measuring devices
  • Each component in the perception system 120 can operate independently or jointly to achieve the purpose function more accurately.
  • the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser distance measuring devices, etc. to make more accurate judgments.
  • the ultrasonic sensor can be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is made of carpet, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
  • the forward part 111 of the mobile platform 100 is provided with a buffer 122.
  • the buffer 122 detects that the automatic cleaning device is in the driving path through a sensor system, such as an infrared sensor.
  • a sensor system such as an infrared sensor.
  • the automatic cleaning device can pass through the events (or objects) detected by the buffer 122, such as obstacles, walls, and control the driving wheel assembly 141 so that the automatic cleaning device can respond to the event (or an object) to respond, such as moving away from an obstacle.
  • the control system 130 is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • the device is configured to receive the environmental information sensed by the multiple sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving route according to the environmental information and the environmental map, and then control the drive system 140 to perform forward, backward, and/or steering operations according to the autonomously determined driving route. Further, the control system 130 may also decide whether to activate the cleaning module 150 to perform cleaning operations according to the environmental information and the environmental map.
  • the control system 130 can combine the distance information and speed information fed back by the buffer 122, the cliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively judge that the sweeper is currently in What kind of working status, such as over the threshold, on the carpet, on the cliff, stuck above or below, full of dust box, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the requirements of the owner and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.
  • Drive system 140 may execute drive commands to steer the autonomous cleaning device across the ground based on specific distance and angular information, such as x, y, and theta components.
  • the drive system 140 includes a drive wheel assembly 141, the drive system 140 can control the left wheel and the right wheel at the same time, in order to control the movement of the machine more accurately, preferably the drive system 140 includes a left drive wheel assembly and a right drive wheel components.
  • the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
  • the automatic cleaning equipment can include one or more steering assemblies 142, and the steering assembly 142 can be a driven wheel or a driving wheel, and its structural form Including but not limited to universal wheels, the steering assembly 142 may be located in front of the driving wheel assembly 141 .
  • Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected to the single-chip microcomputer control circuit.
  • the main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage. If there is dust on the exposed charging electrodes, due to the cumulative effect of charges during the charging process, the plastic body around the electrodes will be melted and deformed, and even the electrodes themselves will be deformed, making it impossible to continue charging normally.
  • the human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.
  • the cleaning module 150 may include a dry cleaning module 151 .
  • the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
  • the dust removal ability of the sweeper can be characterized by the cleaning efficiency DPU (Dust pickup efficiency) of the garbage.
  • the cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the suction port, dust box, fan, air outlet and the connecting parts between the four.
  • the wind power utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design issue.
  • the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also be reduced. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion of whether the sweeping/wiping is clean.
  • the dry cleaning module may also include a side brush 152 having an axis of rotation that is angled relative to the ground for moving debris into the area of the roller brush of the cleaning module 150 .
  • the automatic cleaning device may also include a wet cleaning module configured to clean at least a part of the operating surface in a wet cleaning manner; wherein the wet cleaning module includes a water tank, a cleaning head , a driving unit, etc., wherein the water in the water tank flows along the waterway to the cleaning head, and the cleaning head cleans at least a part of the operation surface driven by the driving unit.
  • a wet cleaning module configured to clean at least a part of the operating surface in a wet cleaning manner
  • the wet cleaning module includes a water tank, a cleaning head , a driving unit, etc., wherein the water in the water tank flows along the waterway to the cleaning head, and the cleaning head cleans at least a part of the operation surface driven by the driving unit.
  • the pressing structure on the cover plate of the existing automatic cleaning equipment is complicated.
  • the button structure of the existing cleaning equipment is mostly provided with a soft rubber bracket on the hard rubber bracket, and the hard rubber keycap and the soft rubber bracket are glued together, and then double-sided The glue sticks the soft rubber bracket and the decorative cover of the upper shell of the machine together, and the lower side fixes the hardware bracket on the upper shell through the hook.
  • This button assembly has a complex structure, a large number of parts, long assembly man-hours, complicated procedures, and high cost.
  • This multi-layer structure makes it easy to use the soft glue to position the soft glue bracket when pasting the soft glue bracket on the decorative cover of the machine’s upper shell, and the buttons are not easy to disassemble.
  • the surface glue and soft glue are torn, so the keys cannot be reused.
  • the embodiment of the present application provides an automatic cleaning device, which simplifies the unnecessary components of the key assembly of the automatic cleaning device.
  • the key assembly uses one part to realize the functions of key sealing, waterproof, light guide and shading, and at the same time, the key can be assembled and disassembled. , maintenance is more convenient.
  • FIG. 1 the specific embodiment of the application, as shown in FIG. 1
  • the application provides an automatic cleaning device, including: a mobile platform 100, the mobile platform 100 is configured to automatically move on the operating surface, and the mobile platform 100 includes a cover plate 200, the cover plate 200 constitutes at least a part of the mobile platform 100, the cover plate 200 can be the upper shell of the mobile platform 100 shell, usually the mobile platform 100 includes a front half and a back half, the front half is used to carry the touch screen Buttons, etc., the second half is used to carry the dust box, etc.
  • the automatic cleaning device also includes a button assembly 400, which is assembled on the cover plate 200. The button assembly 400 is configured to be touched by a user to form a control on the automatic cleaning device.
  • the button assembly 400 includes a flexible keycap 410 and a hard bracket 420 , the keycap 410 is assembled on the bracket 420 to perform pressing. As shown in FIG. The periphery of part 411 is formed, and the keycap pressing part 411 and the keycap skirt 412 are stacked up and down.
  • the outer contour can be circular, square, rectangular, elliptical, D-shaped or other shapes, which are not limited.
  • the bracket 420 is integrally formed with the cover plate 200 , and the integral forming process is, for example, mold injection molding or later mold pressing molding.
  • the integrally formed bracket 420 omits the step of assembling the bracket and the cover plate 200 during the assembly process of the button assembly, and also avoids the problems of light leakage and water leakage that may be caused by the assembly steps of too many components, and improves the assembly efficiency of the button assembly .
  • FIG. 3 and FIG. 3 show that as shown in FIG. 3 and FIG.
  • the automatic cleaning device further includes a decorative cover 300 disposed on the top surface of the cover plate 200 , the decorative cover 300 is generally configured to cover irregular devices on the top of the mobile platform 100 , Play the role of beauty and protection, as shown in Figure 6, the decorative cover 300 includes a mounting hole 310 matching the shape of the keycap pressing part 411, when the keycap 410 is assembled on the bracket 420, the keycap The pressing portion 411 passes through the installation hole 310 , and at the same time, the edge of the installation hole 310 is pressed against the keycap skirt 412 . In this way, a tight connection is achieved between the mounting hole 310 and the keycap pressing part 411, avoiding the problems of light leakage and water leakage. Leakage problem.
  • the cover plate 200 includes a keycap mounting portion 210 that roughly matches the contour of the keycap skirt, and the keycap mounting portion 210 is roughly a concave structure, and its concave contour It can also be circular, square, rectangular, oval or D-shaped, which is not limited.
  • the keycap 400 is installed on the bracket 420, the keycap skirt 412 and the keycap installation part 210 Fit and the upper surface of the keycap skirt 412 is roughly coplanar with the upper surface of the cover plate 200 or slightly higher than the upper surface of the cover plate 200.
  • the decorative cover 300 is pressed on the keycap skirt 412.
  • the keycap skirt 412 Since the upper surface of the keycap skirt 412 is roughly coplanar with the upper surface of the cover plate 200 or slightly higher than the upper surface of the cover plate 200, the key is pressed by the decorative cover 300. The upper surface of the cap skirt 412 is sealed. Optionally, after the decorative cover 300 presses the upper surface of the keycap skirt 412, the upper surface of the skirt is still slightly higher than the upper surface of the cover plate 200, which can ensure the sealing of the decorative cover 300.
  • the keycap mounting portion 210 includes a groove 211 extending circumferentially along the edge
  • the keycap skirt 412 includes a protruding edge 413 extending circumferentially along the edge.
  • the protruding edge 413 is inserted into the groove 211 to realize a complete seal between the soft rubber keycap 400 and the cover plate 200.
  • the protruding edge 413 is inserted with interference
  • the groove 211 is used to completely seal the soft rubber keycap 400 and the cover plate 200 .
  • at least one protrusion 414 is included on at least one of the inner and outer surfaces of the protruding edge 413.
  • the structure of the protrusion 414 is not limited, for example, it may be in the shape of a strip, a bump shape, etc. , the protrusion 414 can further seal the soft rubber keycap 400 and the cover plate 200 to enhance waterproofing and light leakage prevention, and at the same time can strengthen the strength of the keycap, increase the friction force of the contact surface, and prevent installation misalignment.
  • the keycap installation portion 210 includes two symmetrically arranged keyholes 212 , and the bracket 420 is integrally formed in the keyholes.
  • the bracket 420 includes a button ring 422 connected by at least one elastic arm 421, the button ring 422 is arranged at the approximate center of the button hole, and the button ring is connected by one or two elastic arms 421 422 and the inner wall of the button hole, the elastic arm 421 can be arranged around the button ring 422 to increase the total length of the elastic arm, increase the elasticity, and increase the support strength by winding around.
  • the button ring 422 is configured to be pressed by the keycap 400 to realize the button Function
  • the elastic arm 421 is configured to reset the button ring 422
  • the button ring and the elastic arm are made of hard but elastic material, such as hard rubber or hard plastic or metal.
  • the keycap 400 further includes a first protruding portion 417 and a second protruding portion 418 disposed on the lower surface of the keycap pressing portion 410, the keycap
  • the lower surface of 400 includes a recessed portion 416 for accommodating a first raised portion 417 and a second raised portion 418, both of which include A columnar structure 4181 extending downward from the surface and a conical structure 4182 extending downward along the columnar structure.
  • the columnar structure 4181 can be cylindrical or prism-shaped, and the conical structure 4182 can be a circular frustum or a pyramidal structure.
  • the top surface is a flat pressing surface
  • the connection between the columnar structure 4181 and the tapered structure 4182 forms a flat structure 4183
  • the flat structure 4183 surrounds the connection between the columnar structure 4181 and the tapered structure 4182 .
  • the mobile platform 100 further includes a circuit board 700, which is arranged under the button assembly 400.
  • the circuit board 700 is provided with switching elements, such as micro switches, the first protrusion 417 and the second
  • the tapered structure 4182 of the protruding portion 418 abuts against the switch element, and the switch element receives a downward pressing force to be triggered.
  • the bracket 420 includes a key board 423 connected by at least one elastic arm 421, as shown in FIG.
  • the elastic arm 421 is configured to reset the button ring.
  • the keypad 423 includes a flat pressing portion 4231 and a conical protrusion 4232.
  • the keypad 423 is integrally formed on the inner edge of the bracket 420 through one or more slender elastic arms 421, and one or more slender elastic arms 421 is arranged around the keypad 423 to provide sufficient pressing and reset elastic force for the keypad 423 .
  • the keycap 400 further includes a first protruding part 417 and a second protruding part 418 disposed on the lower surface of the keycap pressing part 410, when the keycap When assembled on the bracket 420 , the first protruding portion 417 and the second protruding portion 418 are attached to the upper surface of the key plate 423 respectively to perform a pressing function.
  • the mobile platform 100 further includes a circuit board 700, which is disposed under the button assembly 400.
  • the circuit board 700 is provided with switching elements, such as micro switches, the first protrusion 417 and the After the second protrusions 418 are attached to the upper surface of the keypad 423 and pressed, the conical protrusions 4232 abut against the switch element, and the switch element receives the downward pressing force to be triggered.
  • the present application provides an automatic cleaning device, wherein the key assembly is assembled on the cover plate of the automatic cleaning device, the key assembly includes a key cap and a bracket, the key cap includes a key cap pressing portion and a key cap skirt, the bracket and the cover plate One-piece molding, the keycap is directly assembled on the one-piece bracket, and the decorative plate is pressed on the keycap skirt to fix it, which simplifies the installation structure of the keycap assembly as a whole, and is convenient for early assembly and later maintenance.

Abstract

一种自动清洁设备，包括：移动平台（100），配置为在操作面上自动移动，包括盖板（200）；按键组件（400），装配于盖板（200），按键组件（400）包括键帽（410）和支架（420），键帽（410）装配于支架（420）；其中，支架（420）与盖板（200）一体成型。键帽（410）包括键帽按压部（411）和键帽裙边（412）；键帽（410）直接装配于一体成型的支架（420）上，设置于盖板（200）顶面的装饰盖（300）压置键帽裙边（412）固定，整体简化了键帽组件（400）的安装结构，便于前期的装配和后期的维修。

Description

自动清洁设备及系统
相关申请的交叉引用
本申请要求于2022年1月5日递交的中国专利申请第202220023511.5号的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本申请涉及清洁机器人技术领域，具体而言，涉及一种自动清洁设备及系统。
背景技术
现代生活中，清洁机器人越来越普及，为家庭生活带来了便利，清洁机器人包括扫地机器人、拖地机器人以及扫拖一体机器人等，随着清洁机器人的普及，清洁机器人的功能及结构也越来越复杂，生产成本也越来越高。
现有技术中，一些清洁机器人增加了自动充电、自动除尘、升降震动等结构或功能，使清洁机器人更加智能化的同时，增加了各零部件的复杂程度，为后续的维修保养带来了诸多不便。
发明内容
根据本申请的具体实施方式，本申请提供一种自动清洁设备，包括：移动平台，配置为在操作面上自动移动，包括盖板；按键组件，装配于所述盖板，所述按键组件包括键帽和支架，所述键帽装配于所述支架；其中，所述支架与所述盖板一体成型。
在一些实施例中，所述键帽包括键帽按压部和键帽裙边,所述键帽裙边环绕所述键帽按压部设置。
在一些实施例中，还包括设置于所述盖板顶面的装饰盖，包括一与所述键帽按压部形状匹配的安装孔，当所述键帽装配于所述支架时，所述安装孔边缘压置于所述键帽裙边。
在一些实施例中，所述盖板包括一与所述键帽裙边轮廓大致匹配的键帽安装部，所述键帽安装于所述支架时，所述键帽裙边与所述键帽安装部贴合且所述键帽裙边上表面与所述盖板上表面大致共面或略高于所述盖板上表面。
在一些实施例中，所述键帽安装部包括沿边缘周向延伸的凹槽，所述键帽裙边包括沿边缘周向延伸的突沿，所述键帽安装于所述支架时，所述突沿插入所述凹槽。
在一些实施例中，所述突沿内侧和/或外侧包括至少一个凸起。
在一些实施例中，所述键帽安装部包括两个对称设置的按键孔，所述支架一体形成于所述按键孔中。
在一些实施例中，所述键帽还包括设置于所述键帽按压部下表面的第一凸起部和第二凸起部，当所述键帽装配于所述支架时，所述第一凸起部和所述第二凸起部通过所述支架 实施按压。
在一些实施例中，所述第一凸起部和所述第二凸起部均包括沿所述键帽按压部下表面向下延伸的柱型结构和沿所述柱型结构向下延伸的锥形结构，所述柱型结构和所述锥形结构连接处形成平坦结构。
在一些实施例中，所述支架包括至少一个弹性臂以及通过所述至少一个弹性臂连接的按键环，所述按键环配置为供所述锥形结构穿过后抵顶所述平坦结构，所述弹性臂配置为使所述按键环复位。
在一些实施例中，所述支架包括至少一个弹性臂以及通过所述至少一个弹性臂连接的按键板，所述按键板配置为在键帽按压时通过所述第一凸起部和所述第二凸起部传递按压力，所述弹性臂配置为使所述按键板复位。
在一些实施例中，所述按键板下表面包括锥形凸起，通过所述锥形凸起实施按压。
在一些实施例中，还包括开关元件，配置为通过所述锥形结构或所述锥形凸起按压进行触发。
与现有技术相比，本申请实施例具有如下的技术效果：
本申请提供一种自动清洁设备，其中，按键组件装配于自动清洁设备盖板，按键组件包括键帽和支架，键帽包括键帽按压部和键帽裙边，所述支架与所述盖板一体成型，键帽直接装配于一体成型的支架上，装饰板压置键帽裙边固定，整体简化了键帽组件的安装结构，便于前期的装配和后期的维修。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。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获得其他的附图。在附图中：
图1为本申请的一些实施例的自动清洁设备的斜视图。
图2为本申请的一些实施例的自动清洁设备底部结构的示意图。
图3为本申请的一些实施例的自动清洁设备按键组件装配结构示意图。
图4为本申请的一些实施例的自动清洁设备键帽上侧视角示意图。
图5a为本申请的一些实施例的自动清洁设备键帽下侧视角示意图。
图5b为本申请的另外一些实施例的自动清洁设备键帽下侧视角示意图。
图6为本申请的一些实施例的自动清洁设备装饰盖上侧视角示意图。
图7为本申请的一些实施例的自动清洁设备盖板结构示意图。
图8a为本申请的一些实施例的自动清洁设备按键支架上侧放大结构示意图。
图8b为本申请的一些实施例的自动清洁设备按键支架下侧放大结构示意图。
图9为本申请的一些实施例的自动清洁设备按键组件装配结构示意图。
图10为本申请的一些实施例的自动清洁设备按键组件剖面结构示意图。
附图标记说明：
移动平台100、后向部分110、前向部分111、感知系统120、位置确定装置121、缓冲器122、悬崖传感器123、控制系统130、驱动系统140、驱动轮组件141、转向组件142、清洁模组150、干式清洁模组151、边刷152、主刷模组153、尘盒300、滤网500、能源系统160、人机交互系统170、盖板200、按键组件400、键帽410、硬质支架420、键帽按压部411、键帽裙边412、装饰盖300、安装孔310、凹槽211、突沿413、凸起414、按键孔212、弹性臂421、按键环422、第一凸起部417、第二凸起部418、柱型结构4181、锥形结构4182、平坦结构4183、按键板423、按压部4231、锥形凸起4232。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请作进一步地详细描述，显然，所描述的实施例仅仅是本申请一部分实施例，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做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应当理解，尽管在本申请实施例中可能采用术语第一、第二、第三等来描述，但这些不应限于这些术语。这些术语仅用来将区分开。例如，在不脱离本申请实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。
下面结合附图详细说明本申请的可选实施例。
图1-图2是根据一示例性实施例示出的一种自动清洁设备的结构示意图，如图1-图2 所示，自动清洁设备可以真空吸地机器人、也可以是拖地/刷地机器人、也可以是爬窗机器人等等，该自动清洁设备可以包含移动平台100、感知系统120、控制系统130、驱动系统140、清洁模组150、能源系统160和人机交互系统170。其中：
移动平台100可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为自动清洁设备待清洁的表面。在一些实施例中，自动清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；自动清洁设备也可以是擦窗机器人，则自动清洁设备在建筑的玻璃外表面工作，所述玻璃为所述操作面；自动清洁设备也可以是管道清洁机器人，则自动清洁设备在管道的内表面工作，所述管道内表面为所述操作面。纯粹是为了展示的需要，本申请中下面的描述以拖地机器人为例进行说明。
在一些实施例中，移动平台100可以是自主移动平台，也可以是非自主移动平台。所述自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地做出操作决策；所述非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，所述目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，所述目标方向可以是系统或人工设置的。当所述移动平台100是自主移动平台时，所述移动平台100包括前向部分111和后向部分110。
感知系统120包括位于移动平台100上方的位置确定装置121、位于移动平台100的前向部分111的缓冲器122、位于移动平台底部的悬崖传感器123和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制系统130提供机器的各种位置信息和运动状态信息。
为了更加清楚地描述自动清洁设备的行为，进行如下方向定义：自动清洁设备可通过相对于由移动平台100界定的如下三个相互垂直轴的移动的各种组合在地面上行进：横向轴Y、前后轴X及中心垂直轴Z。沿着前后轴X的前向驱动方向标示为“前向”，且沿着前后轴X的后向驱动方向标示为“后向”。横向轴Y实质上是沿着由驱动轮组件141的中心点界定的轴心在自动清洁设备的右轮与左轮之间延伸。其中，自动清洁设备可以绕Y轴转动。当自动清洁设备的前向部分向上倾斜，后向部分向下倾斜时为“上仰”，且当自动清洁设备的前向部分向下倾斜，后向部分向上倾斜时为“下俯”。另外，自动清洁设备可以绕Z轴转动。在自动清洁设备的前向方向上，当自动清洁设备向X轴的右侧倾斜为“右转”，当自动清洁设备向X轴的左侧倾斜为“左转”。
如图2所示，在移动平台100底部上并且在驱动轮组件141的前方和后方设置有悬崖传感器123，该悬崖传感器用于防止在自动清洁设备后退时发生跌落，从而能够避免自动清洁设备受到损坏。前述的“前方”是指相对于自动清洁设备行进方向相同的一侧，前述的“后方”是指相对于自动清洁设备行进方向相反的一侧。
位置确定装置121的具体类型包括但不限于摄像头、激光测距装置(LDS)。
感知系统120中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过悬崖传感器123和超声波传感器对待清洁表面进行识别，以确定待清洁表面的物理特性，包括表面材质、清洁程度等等，并可以结合摄像头、激光测距装置等进行更准确的判定。
例如，可以通过超声波传感器对待清洁表面是否为地毯进行判断，若超声波传感器判断待清洁表面为地毯材质，则控制系统130控制自动清洁设备进行地毯模式清洁。
移动平台100的前向部分111设置有缓冲器122，在清洁过程中驱动轮组件141推进自动清洁设备在地面行走时，缓冲器122经由传感器系统，例如红外传感器，检测自动清洁设备的行驶路径中的一或多个事件(或对象)，自动清洁设备可通过由缓冲器122检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件141使自动清洁设备来对所述事件(或对象)做出响应，例如远离障碍物。
控制系统130设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知系统120传来的所述多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据所述环境信息和环境地图自主决定行驶路径，然后根据所述自主决定的行驶路径控制驱动系统140进行前进、后退和/或转向等操作。进一步地，控制系统130还可以根据所述环境信息和环境地图决定是否启动清洁模组150进行清洁操作。
具体地，控制系统130可以结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备的工作更加符合主人的要求，有更好的用户体验。进一步地，控制系统能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备的清扫效率。
驱动系统140可基于具体的距离和角度信息，例如x、y及θ分量，执行驱动命令而操纵自动清洁设备跨越地面行驶。如图2所示，驱动系统140包含驱动轮组件141，驱动系统140可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动系统140分别包括左驱动轮组件和右驱动轮组件。左、右驱动轮组件沿着由移动平台100界定的横轴对称设置。
为了自动清洁设备能够在地面上更为稳定地运动或者更强的运动能力，自动清洁设备可以包括一个或者多个转向组件142，转向组件142可为从动轮，也可为驱动轮，其结构形式包括但不限于万向轮，转向组件142可以位于驱动轮组件141的前方。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控 制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
如图2所示，清洁模组150可包括干式清洁模组151。
干式清洁模组151包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率DPU(Dust pickup efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个复杂的系统设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁自动清洁设备来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫180平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会减少。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁模组还可包含具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组150的滚刷区域中。
作为一种可选的清洁模组，自动清洁设备还可以包括湿式清洁模组，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组包括水箱、清洁头、驱动单元等，其中，水箱的水沿水路流动到清洁头，清洁头在驱动单元的驱动下清洁操作面的至少一部分。
现有的自动清洁设备盖板上的按压结构复杂，例如现有清洁设备按键结构大多是在硬胶支架上设置软胶支架，将硬胶键帽和软胶支架粘在一起，再用双面胶把软胶支架和机器上壳装饰盖粘在一起，下侧通过卡钩将硬件支架固定在上壳上。这种按键组件结构复杂，零件数量多、组装工时长、工序繁杂、成本高。这种多层结构使得在往机器上壳装饰盖上粘贴软胶支架时，用软胶定位易装偏，而且按键不易拆卸，拆卸的时候由于双面胶和软胶粘贴牢固，易造成双面胶和软胶撕坏，导致按键不能重复使用。
为此，本申请实施例提供一种自动清洁设备，简化了自动清洁设备按键组件不必要 的元件，该按键组件使用一个零件即实现了按键密封防水、导光遮光的功能，同时使得按键装拆，维修更方便。具体的，根据本申请的具体实施方式，如图3所示，本申请提供一种自动清洁设备，包括：移动平台100，移动平台100配置为在操作面上自动移动，移动平台100包括盖板200，所述盖板200构成所述移动平台100的至少一部分，盖板200可以为移动平台100外壳的上壳体，通常移动平台100包括前半部分和后半部分，前半部分用于承载触控按键等，后半部分用于承载尘盒等。自动清洁设备还包括按键组件400，装配于所述盖板200，按键组件400配置为供用户触控后形成对自动清洁设备的控制，所述按键组件400包括柔性键帽410和硬质支架420，所述键帽410装配于所述支架420实施按压，如图4所示，所述键帽410包括键帽按压部411和键帽裙边412，键帽裙边412环绕所述键帽按压部411周边形成，键帽按压部411和键帽裙边412为上下叠置结构，键帽按压部411位于键帽裙边412上层，便于实施按压，键帽按压部411和键帽裙边412外轮廓可以为圆形、方形、矩形、椭圆形、D形或其他形状，对此不做限定。其中，如图8a所示，所述支架420与所述盖板200一体成型，一体成型工艺例如通过模具注塑成型或后期的模具压制成型。一体成型的支架420，省略了在按键组件装配过程中需要组装支架与盖板200的步骤，也避免了过多元件组装步骤可能带来的漏光、漏水的问题，同时提高了按键组件的组装效率。在一些实施例中，如图3和图6所示，自动清洁设备还包括设置于所述盖板200顶面的装饰盖300，装饰盖300通常配置为掩盖移动平台100顶部不规则的器件，起到美观和保护的作用，如图6所示，装饰盖300包括一与所述键帽按压部411形状匹配的安装孔310，当所述键帽410装配于所述支架420时，键帽按压部411穿过安装孔310，同时，所述安装孔310边缘压置于所述键帽裙边412。这样，在安装孔310和键帽按压部411之间实现了紧密连接，避免了漏光、漏水的问题，可选的，键帽按压部411过盈的穿过安装孔310，更加避免了漏光、漏水的问题。
在一些实施例中，如图7所示，所述盖板200包括一与所述键帽裙边轮廓大致匹配的键帽安装部210，键帽安装部210大致为一凹陷结构，其凹陷轮廓也可以为圆形、方形、矩形、椭圆形或D形，对此不做限定，所述键帽400安装于所述支架420时，所述键帽裙边412与所述键帽安装部210贴合且所述键帽裙边412上表面与所述盖板200上表面大致共面或略高于盖板200上表面，在实施安装时，先将键帽置于键帽安装部210，再将装饰盖300压置于键帽裙边412，由于键帽裙边412上表面与所述盖板200上表面大致共面或略高于盖板200上表面，通过装饰盖300压住键帽裙边412上表面实现密封，可选的，装饰盖300压住键帽裙边412上表面后，裙边上表面仍略高于盖板200上表面，可以保证装饰盖300的密封性。
在一些实施例中，如图8a所示，所述键帽安装部210包括沿边缘周向延伸的凹槽211，所述键帽裙边412包括沿边缘周向延伸的突沿413，所述键帽400安装于所述支架420时，所述突沿413插入所述凹槽211，以实现软胶键帽400与盖板200的完全密封，可选的，所述突沿413过盈插入所述凹槽211，以实现软胶键帽400与盖板200的完全密 封。在一些实施例中，如图4所示，突沿413的内外表面的至少一个表面上包括至少一个凸起414，凸起414的结构不做限定，例如可以为长条形，凸点形等，凸起414可以进一步密封软胶键帽400与盖板200，加强防水、防漏光，同时还可以加强键帽强度，增加接触面的摩擦力，防止安装错位。
在一些实施例中，如图9-图10所示，所述键帽安装部210包括两个对称设置的按键孔212，所述支架420一体形成于所述按键孔中。在一些实施例中，例如，所述支架420包括通过至少一个弹性臂421连接的按键环422，所述按键环422设置于按键孔大致中心的位置，通过一个或两个弹性臂421连接按键环422和按键孔内壁，弹性臂421可以环绕按键环422设置，以增加弹性臂的总长度，增加弹性，通过迂回环绕增加了支撑强度，所述按键环422配置为供键帽400按压以实现按键功能，所述弹性臂421配置为使所述按键环422复位，按键环和弹性臂由硬质但具有弹性的材料形成，例如硬质橡胶或硬质塑料或金属等。
在一些实施例中，如图5a、图10所示，所述键帽400还包括设置于所述键帽按压部410下表面的第一凸起部417和第二凸起部418，键帽400下表面包括一个容纳第一凸起部417和第二凸起部418的凹陷部416，所述第一凸起部417和所述第二凸起部418均包括沿所述键帽按压部下表面向下延伸的柱型结构4181和沿所述柱型结构向下延伸的锥形结构4182，柱型结构4181可以为圆柱型或棱柱型，锥形结构4182可以为圆台或棱台结构，其顶面为平坦的按压面，所述柱型结构4181和所述锥形结构4182连接处形成平坦结构4183，平坦结构4183环绕柱型结构4181和锥形结构4182连接处。当所述键帽装配于所述支架420时，所述第一凸起部417和所述第二凸起部418分别穿过所述按键环422，按键环422边缘抵顶所述平坦结构。第一凸起部417和所述第二凸起部418的锥形结构4182，便于伸入所述按键环422并突出按键环422后与电路板中的被按压器件接触实施按压。
在一些实施例中，移动平台100还包括电路板700，设置于所述按键组件400下方，电路板700上设置有包括开关元件，例如微动开关，第一凸起部417和所述第二凸起部418的锥形结构4182与所述开关元件抵接，开关元件接受向下的按压作用力而触发。
在一些实施例中，所述支架420包括通过至少一个弹性臂421连接的按键板423，如图8a-图8b所示，所述按键板423配置为供键帽按压以实现按键功能，所述弹性臂421配置为使所述按键环复位。通常，按键板423包括平板式的按压部4231和锥形凸起4232，按键板423通过一个或多个细长的弹性臂421一体成型于支架420内部边缘，一个或多个细长的弹性臂421环绕所述按键板423设置，给按键板423提供足够的按压及复位弹力。在一些实施例中，如图5b所示，所述键帽400还包括设置于所述键帽按压部410下表面的第一凸起部417和第二凸起部418，当所述键帽装配于所述支架420时，所述第一凸起部417和所述第二凸起部418分别贴合于所述按键板423上表面以实施按压功能。
在一些实施例中，移动平台100还包括电路板700，设置于所述按键组件400下方， 电路板700上设置有包括开关元件，例如微动开关，所述第一凸起部417和所述第二凸起部418分别贴合于所述按键板423上表面实施按压后，锥形凸起4232与所述开关元件抵接，开关元件接受向下的按压作用力而触发。
本申请提供一种自动清洁设备，其中，按键组件装配于自动清洁设备盖板，按键组件包括键帽和支架，键帽包括键帽按压部和键帽裙边，所述支架与所述盖板一体成型，键帽直接装配于一体成型的支架上，装饰板压置键帽裙边固定，整体简化了键帽组件的安装结构，便于前期的装配和后期的维修。
最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (13)

  1. 一种自动清洁设备，其特征在于，包括：
    移动平台，配置为在操作面上自动移动，包括盖板；
    按键组件，装配于所述盖板，所述按键组件包括键帽和支架，所述键帽装配于所述支架；
    其中，所述支架与所述盖板一体成型。
  2. 根据权利要求1所述的自动清洁设备，其特征在于，所述键帽包括键帽按压部和键帽裙边,所述键帽裙边环绕所述键帽按压部设置。
  3. 根据权利要求2所述的自动清洁设备，其特征在于，还包括设置于所述盖板顶面的装饰盖，包括一与所述键帽按压部形状匹配的安装孔，当所述键帽装配于所述支架时，所述安装孔边缘压置于所述键帽裙边。
  4. 根据权利要求3所述的自动清洁设备，其特征在于，所述盖板包括一与所述键帽裙边轮廓大致匹配的键帽安装部，所述键帽安装于所述支架时，所述键帽裙边与所述键帽安装部贴合且所述键帽裙边上表面与所述盖板上表面大致共面或略高于所述盖板上表面。
  5. 根据权利要求4所述的自动清洁设备，其特征在于，所述键帽安装部包括沿边缘周向延伸的凹槽，所述键帽裙边包括沿边缘周向延伸的突沿，所述键帽安装于所述支架时，所述突沿插入所述凹槽。
  6. 根据权利要求5所述的自动清洁设备，其特征在于，所述突沿内侧和/或外侧包括至少一个凸起。
  7. 根据权利要求4所述的自动清洁设备，其特征在于，所述键帽安装部包括两个对称设置的按键孔，所述支架一体形成于所述按键孔中。
  8. 根据权利要求7所述的自动清洁设备，其特征在于，所述键帽还包括设置于所述键帽按压部下表面的第一凸起部和第二凸起部，当所述键帽装配于所述支架时，所述第一凸起部和所述第二凸起部通过所述支架实施按压。
  9. 根据权利要求8所述的自动清洁设备，其特征在于，所述第一凸起部和所述第二凸起部均包括沿所述键帽按压部下表面向下延伸的柱型结构和沿所述柱型结构向下延伸的锥形结构，所述柱型结构和所述锥形结构连接处形成平坦结构。
  10. 根据权利要求9所述的自动清洁设备，其特征在于，所述支架包括至少一个弹性臂以及通过所述至少一个弹性臂连接的按键环，所述按键环配置为供所述锥形结构穿过后抵顶所述平坦结构，所述弹性臂配置为使所述按键环复位。
  11. 根据权利要求8所述的自动清洁设备，其特征在于，所述支架包括至少一个弹性臂以及通过所述至少一个弹性臂连接的按键板，所述按键板配置为在键帽按压时通过所述第一凸起部和所述第二凸起部传递按压力，所述弹性臂配置为使所述按键板复位。
  12. 根据权利要求11所述的自动清洁设备，其特征在于，所述按键板下表面包括锥形凸起，通过所述锥形凸起实施按压。
  13. 根据权利要求9或12所述的自动清洁设备，其特征在于，还包括开关元件，配置为通过所述锥形结构或所述锥形凸起按压进行触发。
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