WO2023134052A1 - 自动清洁设备 - Google Patents
自动清洁设备 Download PDFInfo
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- WO2023134052A1 WO2023134052A1 PCT/CN2022/088289 CN2022088289W WO2023134052A1 WO 2023134052 A1 WO2023134052 A1 WO 2023134052A1 CN 2022088289 W CN2022088289 W CN 2022088289W WO 2023134052 A1 WO2023134052 A1 WO 2023134052A1
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- rotor
- automatic cleaning
- cleaning device
- motor
- slot
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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
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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
- A47L11/40—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 disclosure relates to the technical field of cleaning robots, in particular, to an automatic cleaning device.
- Cleaning robots include sweeping robots, mopping robots, sweeping and mopping robots, etc. Cleaning robots need to detect the surrounding obstacles during their travel, so as to plan their travel routes and avoid obstacles according to the obstacles.
- the location determination device for the cleaning robot to detect obstacles includes a laser distance measuring device (LDS), a camera, a line laser sensor, an ultrasonic sensor, etc., and each location determination device has its own advantages and disadvantages.
- LDS laser distance measuring device
- the position determination device due to its complex structure and large volume, it needs to occupy a large assembly space of the cleaning robot, which brings obstacles to the installation of other parts of the cleaning robot.
- the assembly space cannot be adjusted according to the different sizes of the position determination device. , which brings inconvenience to the flexible application of the position determination device.
- An embodiment of the present disclosure provides an automatic cleaning device, including a mobile platform, a position determination device, and an assembly structure for assembling the position determination device on the mobile platform;
- the position determining device comprises a position determining element and a cover
- the position determination element includes: a rotor and a motor, the rotor is configured to transmit and/or receive detection signals while continuously rotating; the motor is configured to be connected to the rotor through a power transmission structure to provide driving force for the rotor;
- the cover is arranged on the top of the rotor, and includes a circular top surface, a bottom ring, and a plurality of connecting pieces connecting the circular top surface and the bottom ring, wherein the bottom ring and the bottom ring are A first gap is formed between the outer peripheral surfaces of the rotors;
- the assembly structure includes: a ring-shaped shielding member, which is attached to the inner side of the bottom ring, and forms a second gap between the ring-shaped shielding member and the outer peripheral surface of the rotor, and the second gap is smaller than the first gap.
- FIG. 1 is a perspective view of an automatic cleaning device according to some embodiments of the present disclosure.
- Fig. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to some embodiments of the present disclosure.
- Fig. 3 is an overall structural diagram of a position determining element in some embodiments of the present disclosure.
- FIG. 4 is an enlarged structural diagram of a position determining element of some embodiments of the present disclosure.
- FIG. 5 is a structural diagram of a module bracket of some embodiments of the present disclosure.
- FIG. 6 is a structural diagram of a cover according to some embodiments of the present disclosure.
- FIG. 7 is a partial cross-sectional structure diagram of a cover according to some embodiments of the present disclosure.
- Fig. 8 is a structural diagram of an annular shield in some embodiments of the present disclosure.
- Fig. 9 is a partially enlarged structure diagram of a ring-shaped shield in some embodiments of the present disclosure.
- Mobile platform 100 backward part 110, forward part 111, perception system 120, buffer 122, cliff sensor 123, control system 130, drive system 140, drive wheel assembly 141, steering assembly 142, cleaning module 150, dry Cleaning module 151, side brush 152, assembling part 200, assembling structure 300, assembling bracket 310, rotor 320, motor 330, cover 340, rotor accommodating part 311, motor accommodating part 312, first arc-shaped side wall 3111, second Two arc-shaped side walls 3121, motor rollers 331, conveyor belt 332, first opening 3122, motor housing bottom surface 3124, first support rib 3123, second opening 3112, second support rib 3113, rotor housing bottom surface 3114, circular Top surface 341, bottom ring 342, connecting piece 343, annular shielding piece 350, plug connector 351, first slot 3431, second slot 3432, third slot 3433, convex beam 3511, convex beam 3511, T-shaped protrusion 3512 , limiting groove 3434 , limiting protrusion 3513 .
- first, second, third, etc. may be used for description in the embodiments of the present disclosure, these should not be limited to these terms. These terms are used only to distinguish.
- the first can also be called the second, and similarly, the second can also be called the first.
- FIG. 1 to FIG. 2 are schematic structural diagrams exemplarily showing an automatic cleaning device.
- the automatic cleaning equipment can be a vacuum robot, a mopping/scrubbing robot, or 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 with 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.
- 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.
- the automatic cleaning equipment includes a position determination device, which includes a position determination element and a cover.
- the position determination element configured by the automatic cleaning equipment is of a fixed size, and the size of the position determination element basically matches the assembly space, but
- the application equipment needs to reduce the size of the position determination component, either the mold needs to be redeveloped, or the position of the devices around the assembly space of the position determination component needs to be adjusted, which brings great inconvenience to the flexible application of the position determination component.
- an embodiment of the present disclosure provides an automatic cleaning device capable of assembling miniaturized position determination components in the original assembly space.
- the position determination device described in this embodiment includes but is not limited to a camera and a laser distance measuring device (LDS).
- LDS laser distance measuring device
- the position determining device described in this embodiment is described by taking a laser distance measuring device as an example. This embodiment makes the application of the position determining device It is more flexible, and the same structure has the same technical effect, and some technical effects will not be repeated here. Specifically, as shown in FIG.
- the automatic cleaning device includes an assembly part 200 arranged on the frame, an assembly structure 300 and a position determination element 400, and the position determination element 400 is assembled to the assembly part 200 through the assembly structure 300
- the assembly part 200 is usually a part of the frame, and includes one or more screw holes, and the assembly structure 300 includes one or more corresponding screw holes, and the position determination element 400 is assembled to the assembly part 200 by bolts; automatic cleaning equipment
- the parts used to assemble the assembly structure 300 and the position determination element 400 can be counted as the assembly part 200 .
- its position and size are fixed.
- the space position of the reserved assembly part 200 is also fixed.
- the assembly structure and the position determination element structure of the automatic cleaning device in the embodiment of the present disclosure are improved as follows:
- the assembly structure 300 includes an assembly bracket 310; the position determination device includes a rotor 320, a motor 330, a cover 340, etc., the assembly bracket 310 is fixed to the assembly part 200 through the screw holes around the bracket, and the rotor 320 and the motor 330 is set inside the assembly bracket 310, and the cover 340 is set on the top of the rotor 320, which has the function of shielding and protection.
- the rotor 320 protrudes from the top surface of the self-cleaning equipment, and the rotor 320 rotates and scans continuously within 360 degrees without interruption. The detection of obstacles in the process of self-cleaning equipment. As shown in FIG.
- the assembly bracket 310 includes a rotor accommodating portion 311 and a motor accommodating portion 312, the rotor accommodating portion 311 includes a first arc-shaped side wall 3111, and the first arc-shaped side wall 3111 may be an arc-shaped side wall or Arc-shaped sidewalls with other curvatures, wherein the arc-shaped sidewall is at least a part of a circle, as shown in Figure 5, the first arc-shaped sidewall 3111 can be a large part of the circular structure, for example, it can be 180- A part within a range of 270 degrees, the motor housing part 312 includes a second arc-shaped side wall 3121, and the second arc-shaped side wall 3121 can be a part of a circular structure, or a splicing of arc structures with different radians, or a circle Shaped structure or splicing of arc-shaped structure and straight-line structure, etc., is not limited to this, the first arc-shaped side wall 3111 of the rotor housing part and
- the position determining element 400 includes a rotor 320, the rotating shaft of the rotor 320 is roughly set at the geometric center of the rotor housing portion 311, when the first arc-shaped side wall 3111 is a circular arc-shaped side wall, the geometric center of the rotor housing portion 311 It is equivalent to the center of the circle where the first arc-shaped side wall 3111 is located.
- the geometric center of the rotor housing part 311 is the same as the circle where the arc with the largest arc is located.
- the center of the circle is equivalent, as shown at A in Figure 5, the rotor 320 is configured to continuously rotate while transmitting and/or receiving detection signals, such as visible light and/or invisible light, etc., at this time the rotor 320 is determined relative to the traditional position
- the rotor in the element has a smaller diameter, that is to say, it is farther away from the first arc-shaped side wall 3111 of the rotor receiving part, but it is still assembled in the geometric center of the rotor receiving part 311 to ensure the symmetry of the structure and the rotation.
- the position determination element 400 includes a motor 330, the output shaft of the motor 330 is roughly arranged at the junction of the rotor housing part 311 and the motor housing part 312, that is, it is roughly arranged at the geometric center of the motor housing part and
- the line connecting the geometric center of the rotor housing part is specifically set approximately on the line connecting the geometric center C of the motor housing part and the geometric center A of the rotor housing part Between points A and C, that is, set at the geometric center A of the rotor housing part closer to the geometric center C of the motor housing part, so that the motor and the rotor in the miniaturized position determination element are closer, and the assembly bracket
- Motors and rotors with internal housing structures and position determining elements are better fitted, increasing stability, reducing the size of transmission elements such as belts, reducing energy loss and material costs.
- the communication point is approximately located at the center of the smooth connection between the first arc-shaped side wall 3111 and the second arc-shaped side wall 3121 , that is, approximately on the line MN.
- the geometric center of the motor housing portion 312 is equivalent to the center of the circle where the second arc-shaped side wall 3121 is located; when the second arc-shaped side wall 3121 is a plurality of
- the geometric center of the motor housing portion 312 is equivalent to the center of the circle where the arc with the largest radian is located, as shown at C in FIG. 5 .
- the motor 330 is configured to be connected with the rotor through a transmission structure 332 such as a belt to provide driving force for the rotor.
- the motor 330 drives the rotor 320 through the motor roller 331 and the transmission structure 332.
- the transmission structure 332 can be a belt, a metal belt, an organic material belt, etc., and the rotating shaft of the motor 330 is hard connected to the motor roller 331.
- the motor roller 331 is on the motor shaft. Free rotation under the drive.
- the position determining device is a laser ranging device, wherein the position determining element is a laser ranging element, and the laser ranging element performs distance or position detection by continuously rotating and emitting and receiving laser signals.
- the motor accommodating portion 312 further includes: a first opening 3122 located on the bottom surface 3124 of the motor accommodating portion 312 configured to accommodate the motor 330 ; a first support rib 3123 , extending inwardly along the side wall 3121 of the motor accommodating part to the edge of the first opening 3122; wherein, the geometric center B of the first opening 3122 is closer to the rotor than the geometric center C of the motor accommodating part
- the motor 330 can be assembled close to the rotor. At this time, the rotation gap between the motor 330 and the rotor 320 remains almost unchanged, which can maintain a considerable transmission efficiency and is suitable for more miniaturized position determination components , no additional mold opening is required, the cost is reduced, the distance between the motor and the rotor is closer, the belt and other transmission equipment are saved, the cost is further reduced, the transmission resistance is also reduced, and the transmission efficiency is improved.
- it is necessary to add the first support rib 3123 especially the farther the distance from the motor, the longer the first support rib 3123 .
- the rotor accommodating portion 311 further includes: a second opening 3112 located on the bottom surface 3114 of the rotor accommodating portion 311 and configured to accommodate the rotor 320 ; second supporting ribs 3113 , extending inwardly along the side wall 3111 of the rotor accommodating part to the edge of the second opening 3112, the second support rib 3113 can enhance the stability and rigidity of the assembly bracket 310; wherein, the geometry of the second opening 3112 The center is equivalent to the geometric center of the rotor containing part 311 and is roughly located at the center of the circle where the side wall 3111 of the rotor containing part is located, so as to ensure the symmetry of the structure and the stability of the rotor after rotation.
- the second opening communicates with the first opening, and the area of the second opening is larger than the area of the first opening.
- the second opening communicates with the first opening to reduce the processing technology of the bracket structure, and the communicating structure also facilitates the transmission of the motor to drive the rotor to rotate.
- the position determining device further includes a cover 340, which is arranged on the top of the rotor 320.
- the cover 340 can block stray light entering the position determining device, and can also block the entering position. Dust, impurities, etc. of the determination device can also cover the internal parts of the position determination device, which plays an aesthetic role.
- the cover 340 includes a circular top surface 341, a bottom circular ring 342 and a plurality of connecting pieces 343 connecting the circular top surface 341 and the bottom circular ring 342.
- the bottom circular ring 342 has The bottom plate extending horizontally from its bottom, the bottom ring 342 is fixedly connected or integrally formed with the bottom plate, the bottom plate is used for the pivotal connection between the cover 340 and the top surface of the mobile platform, and the bottom ring 342 is connected to the outer peripheral surface of the rotor 320
- a first gap is formed between the plurality of connecting parts 343, so as to transmit and/or receive detection signals through the rotation of the rotor, such as visible light and/or invisible light, etc.
- the rotor structure in this embodiment is The rotor is miniaturized, and the size of the cover 340 is equivalent to that of the traditional position determination device, so the first gap is larger than the traditional gap.
- the size of the cover in order to solve the technical problems caused by the excessively large first gap, such as the entry of stray light, dust, impurities, etc., and the exposure of internal parts of the position determination device, etc., the size of the cover can be reduced overall.
- the cover 340 includes a circular top surface 341, a bottom ring 342 and a circular top surface 341 connected to the bottom ring 342
- a plurality of connecting parts 343, the bottom ring 342 has a bottom plate extending horizontally from its bottom, the bottom ring 342 and the bottom plate are fixedly connected or integrally formed, and the bottom plate is used for the pivotal connection between the cover 340 and the top surface of the mobile platform
- a second gap is formed between the bottom ring 342 and the outer peripheral surface of the rotor 320, the second gap is smaller than the first gap, and the second gap makes the bottom ring 342 as close as possible to the outer peripheral surface of the rotor 320 without affecting the rotation of the rotor , such as 1-5mm spacing.
- the assembly structure 300 further includes an annular shield 350, which is attached to the bottom ring 342 On the inner side, the annular shield 350 forms a second gap with the outer peripheral surface of the rotor 320, the second gap is smaller than the first gap, the second gap is used to allow the rotor to rotate flexibly, and the second gap does not affect the rotor
- the annular shielding member 350 is as close as possible to the outer peripheral surface of the rotor 320 , for example, at a distance of 1-5 mm.
- the annular shielding member 350 has a width extending in the radial direction and a height extending in the axial direction, and the width of the annular shielding member is greater than the height.
- the width of the annular blocking member 350 extending in the radial direction is wide enough to block the stray light caused by the excessively large size of the first gap.
- the axially extending height of the annular shield 350 can facilitate the assembly of the annular shield 350 inside the bottom ring 342 .
- the annular shielding member 350 includes an inserting member 351 adapted to the connecting member 343 , and the inserting member 351 is inserted into the connecting member 343 so that the The annular shielding part 350 is fitted on the inner side of the bottom ring 342, the plug-in part 351 is arranged in one-to-one correspondence with the connecting part 343, the third slot 3433 is arranged under the connecting part 343, and the T-shaped protrusion 3512 is disposed below the plug connector 351 .
- the thickness of the connecting piece 343 is increased, thereby reducing the distance of the above-mentioned first gap, thus further reducing stray light entering the rotor 320 .
- the inner wall of the connector 343 includes a first slot 3431
- the outer wall of the plug connector 351 includes a convex beam 3511 adapted to the first slot 3431 .
- the annular shield 350 is attached to the inner side of the bottom ring 342, and the convex beam 3511 is inserted into the first slot 3431 to ensure that the annular shield 350 circles towards stability.
- the bottom ring includes a second slot 3432 extending circumferentially along the bottom surface of the bottom ring, and a third slot located on the inner surface of the bottom ring 342 3433, the second slot 3432 communicates with the third slot 3433; as shown in FIG.
- the annular shield 350 is attached to the inner side of the bottom ring 342.
- the T-shaped protrusion 3512 first The bottom of the second slot 3432 is inserted, and then pushed upward to insert the T-shaped protrusion 3512 into the third slot 3433 , which further stabilizes the circumferential and radial stability of the annular shield 350 .
- the bottom ring 343 further includes a limit groove 3434 disposed on the inner surface of the bottom ring 343, and the limit groove 3434 is symmetrically disposed on the bottom ring 343.
- the annular blocking member 350 also includes limit protrusions 3513 arranged on both sides of the T-shaped protrusion 3512, when the annular blocking member 350 is fitted on the bottom circle
- the limiting protrusion 3513 fits into the limiting groove 3434 .
- the cooperation of the limiting protrusion 3513 and the limiting groove 3434 further defines the position of the annular blocking member 350 .
- An embodiment of the present disclosure provides an automatic cleaning device.
- a position determination element smaller in size than a traditional position determination element can also be assembled into an assembly part of a size equivalent to the traditional size, for The application of changing the position to determine the size of the component according to the application requirements brings convenience.
- the annular shield has a width extending radially and a height extending axially, the annular shield having a width greater than a height.
- the annular shielding member includes a plug-in fitting adapted to the connecting member, and after the plug-in member is inserted into the connecting member, the annular shielding member fits on the bottom inside the ring.
- the inner wall of the connector includes a first slot
- the outer wall of the connector includes a protruding beam adapted to the first slot, and the protruding beam is inserted into the first slot to make The annular shielding part is attached to the inner side of the bottom ring.
- the bottom ring includes a second slot extending circumferentially along the bottom surface of the bottom ring, and a third slot located on the inner surface of the bottom ring, the second slot and The third slot is connected;
- the annular shielding member includes a T-shaped protrusion protruding outward along the outer wall of the annular shielding member. After the T-shaped protrusion is inserted into the third slot, the annular shielding member is attached to the bottom inside the ring.
- the third slot is disposed under the connecting piece, and the T-shaped protrusion is disposed under the inserting piece.
- the bottom ring further includes limiting grooves arranged on the inner surface of the bottom ring, and the limiting grooves are symmetrically arranged on both sides of the third slot;
- the annular shielding member also includes limiting protrusions arranged on both sides of the T-shaped protrusion. When the annular shielding member fits on the inner side of the bottom ring, the limiting protrusions are adapted to The limiting groove.
- the assembly structure also includes an assembly bracket, and the assembly bracket includes:
- the rotor accommodating portion includes an arc-shaped side wall
- the motor housing portion includes an arc-shaped side wall, the arc-shaped side wall of the rotor housing portion and the arc-shaped side wall of the motor housing portion are smoothly connected, and the arc-shaped side wall forms The opening area is larger than the opening area formed by the arc-shaped side wall;
- the rotation shaft of the rotor is approximately arranged at the geometric center of the rotor accommodation portion, and the output shaft of the motor is approximately arranged on the line connecting the geometric center of the motor accommodation portion and the geometric center of the rotor accommodation portion .
- the motor housing further includes:
- a first opening located on the bottom surface of the motor accommodating portion, configured to accommodate the motor
- a first support rib extending inwardly along the inner side of the side wall of the motor accommodating part to the edge of the first opening
- the geometric center of the first opening is closer to the geometric center of the rotor accommodating portion than the geometric center of the motor accommodating portion.
- the rotor housing portion further includes:
- a second opening located on the bottom surface of the rotor accommodating portion, configured to accommodate the rotor
- the geometric center of the second opening is equivalent to the geometric center of the rotor accommodating portion.
- the second opening communicates with the first opening, and the area of the second opening is larger than the area of the first opening.
- the bottom ring has a floor extending horizontally from its bottom for pivotal connection of the cover to the top surface of the mobile platform.
- the position determining device is a laser ranging device
- the position determining element is a laser ranging element
- the detection signal is a laser signal
- An embodiment of the present disclosure provides an automatic cleaning device.
- the position determination element smaller than the traditional position determination device can also be assembled to the traditional position determination device.
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种自动清洁设备,包括移动平台(100)、位置确定装置(121)以及用于将位置确定装置(121)装配于移动平台(100)的装配结构(300)。位置确定装置(121)包括位置确定元件和罩盖(340),位置确定元件包括转子(320)和马达(330);罩盖(340)罩设于转子(320)顶部,包括圆形顶面(341)、底部圆环(342)以及连接圆形顶面(341)与底部圆环(342)的多个连接件(343),其中,底部圆环(342)与转子(320)外周面间形成第一间隙。装配结构(300)包括:环形遮挡件(350),贴合设置于底部圆环(342)内侧,形遮挡件(350)与转子(320)外周面形成第二间隙,第二间隙小于第一间隙。装配结构(300)能够适配小型化的位置确定装置(121)。
Description
相关申请的交叉引用
本申请要求于2022年1月11日递交的中国专利申请202220065971.4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。
本公开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。
清洁机器人包括扫地机器人、拖地机器人、扫拖机器人等,清洁机器人在行进过程中需要探知周围的障碍物状况,以便于根据障碍物状况规划行进路线、躲避障碍物等。
现有技术中,清洁机器人探测障碍物的位置确定装置包括激光测距装置(LDS),摄像头、线激光传感器、超声波传感器等,对于每一种位置确定装置都各有优劣点。对于位置确定装置,由于结构复杂且体积较大,需要占据清洁机器人较大的装配空间,给清洁机器人其他部件的设置带来了障碍,此外,装配空间也无法根据位置确定装置的不同尺寸进行调节,给位置确定装置的灵活应用带来不便。
发明内容
本公开实施例提供一种自动清洁设备,包括移动平台、位置确定装置以及用于将所述位置确定装置装配于所述移动平台的装配结构;
所述位置确定装置包括位置确定元件和罩盖;
所述位置确定元件包括:转子和马达,所述转子配置为连续转动的同时发射和/或接收探测信号;所述马达配置为通过动力传输结构与所述转子连接以为所述转子提供驱动力;
所述罩盖罩设于所述转子顶部,包括圆形顶面、底部圆环以及连接所述圆形顶面与所述底部圆环的多个连接件,其中,所述底部圆环与所述转子外周面间形成第一间隙;
所述装配结构包括:环形遮挡件,贴合设置于所述底部圆环内侧,所述环形遮挡件与所述转子外周面形成第二间隙,所述第二间隙小于所述第一间隙。
此处的附图被并入说明书中并构成本说明书的一部分,示出了符合本公开的实施例,并与说明书一起用于解释本公开的原理。显而易见地,下面描述中的附图仅仅是本公开的一些实施例,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为本公开的一些实施例的自动清洁设备的斜视图。
图2为本公开的一些实施例的自动清洁设备底部结构的示意图。
图3为本公开的一些实施例的位置确定元件的整体结构图。
图4为本公开的一些实施例的位置确定元件的放大结构图。
图5为本公开的一些实施例的模组支架的结构图。
图6为本公开的一些实施例的罩盖的结构图。
图7为本公开的一些实施例的罩盖的局部剖视结构图。
图8为本公开的一些实施例的环形遮挡件的结构图。
图9为本公开的一些实施例的环形遮挡件的局部放大结构图。
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、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、装配部200、装配结构300、装配支架310、转子320、马达330、罩盖340、转子容纳部311、马达容纳部312、第一弧形侧壁3111、第二弧形侧壁3121、马达滚轮331、传送带332、第一开口3122、马达容纳部底面3124、第一支撑筋3123、第二开口3112、第二支撑筋3113、转子容纳部底面3114、圆形顶面341、底部圆环342、连接件343、、环形遮挡件350、插接件351、第一插槽3431、第二插槽3432、第三插槽3433、凸梁3511、凸梁3511、T型凸起3512、限位凹槽3434、限位凸起3513。
为了使本公开的目的、技术方案和优点更加清楚,下面将结合附图对本公开作进一步地详细描述,显然,所描述的实施例仅仅是本公开一部分实施例,而不是全部的实施例。基于本公开中的实施例,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,都属于本公开保护的范围。
在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的,而非旨在限制本公开。在本公开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,尽管在本公开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,在不脱离本公开实施例范围的情况 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公开的可选实施例。
本公开实施例提供的一种自动清洁设备,作为一种举例,如图1-图2是示例性示出一种自动清洁设备的结构示意图。
如图1-图2所示,自动清洁设备可以是真空吸地机器人、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。
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。相关技术中,自动清洁设备包括位置确定装置,位置确定装置包括位置确定元件及罩盖,通常情况下,自动清洁设备配置的位置确定元件为固定大小,位置确定元件尺寸与装配空间基本匹配,但当应用设备需要将位置确定元件体积减小时,要么需 要重新开发模具,要么需要调整位置确定元件装配空间周边的器件的位置,给位置确定元件灵活应用带来了极大的不便。
为此,本公开实施例提供一种能够在原有装配空间装配小型化位置确定元件的自动清洁设备,本实施例所述的位置确定装置包括但不限于摄像头、激光测距装置(LDS)。为了方便理解,本实施例所述的位置确定装置以激光测距装置为例进行描述,本实施例通过合理设置装配支架、转子、马达、罩盖等结构及位置关系,使得位置确定装置的应用更加灵活,相同的结构具有相同的技术效果,部分技术效果在此不做赘述。具体的,如图3所示,自动清洁设备包括设置在机架上的装配部200、装配结构300及位置确定元件400,所述位置确定元件400通过装配结构300装配于所述装配部200,装配部200通常为机架的一部分,并包括一个或多个螺孔,装配结构300包括一个或多个对应的螺孔,通过螺栓将位置确定元件400装配于所述装配部200;自动清洁设备内用于装配所述装配结构300及位置确定元件400的部位均可算作装配部200。通常情况下,自动清洁设备各元器件设计完毕后,其位置、尺寸都是固定的,相应的,预留的装配部200的空间位置也是固定的,这样,当自动清洁设备需要更换尺寸更小的位置确定元件时,就无法适配预留的装配部200,为此,本公开实施例自动清洁设备的装配结构及位置确定元件结构改进如下:
如图4所示,所述装配结构300包括装配支架310;位置确定装置包括转子320、马达330、罩盖340等,装配支架310通过支架周边的螺孔固定于装配部200,转子320和马达330设置于装配支架310内部,罩盖340罩设于转子320顶部,起到遮蔽和保护功能,转子320突出于自清洁设备顶面,转子320通过连续的在360度范围内旋转扫描,不间断的探测自清洁设备行进过程中的障碍物。如图5所示,装配支架310包括转子容纳部311和马达容纳部312,所述转子容纳部311包括第一弧形侧壁3111,第一弧形侧壁3111可以为圆弧形侧壁或其它曲率的弧形侧壁,其中,圆弧形侧壁为圆形的至少一部分,如图5所示,第一弧形侧壁3111可以是圆形结构的一大部分,例如可以为180-270度范围内的一部分,所述马达容纳部312包括第二弧形侧壁3121,第二弧形侧壁3121可以是圆形结构的一部分,或者是不同弧度的弧形结构拼接,或者是圆形结构或弧度结构与直线结构的拼接等,对此不做限定,所述转子容纳部的第一弧形侧壁3111和所述马达容纳部的第二弧形侧壁3121平滑连接,如图5所示,大致在MN处分割为转子容纳部311和马达容纳部312,其中,所述第一弧形侧壁3111形成的开口面积大于所述第二弧形侧壁3121形成的开口面积。所述位置确定元件400包括转子320,转子320的转轴大致设置于所述转子容纳部311的几何中心,当第一弧形侧壁3111为圆弧形侧壁时,转子容纳部311的几何中心与所述第一弧形侧壁3111所在圆的圆心相当,当第一弧形侧壁3111为多个不同曲率弧形组合结构时,转子容纳部311的几何中心与具有最大弧度圆弧所在圆的圆心相当,如图5中所示的A处,转子320配置为连续转动的同时发射和/或接收探测信号,例如可见光和/或不可见光等,此时的转子320相对于传统的位置确定元件中的转子,直径更小,也就是说距离转子容纳部的第一弧形侧壁3111的距离更远,但仍然装配于转子容纳部311 的几何中心,以保证结构的对称性和转动后的稳定性;所述位置确定元件400包括马达330,马达330的输出轴大致设置于所述转子容纳部311和马达容纳部312的连通处,即大致设置于所述马达容纳部的几何中心与所述转子容纳部的几何中心的连线上,如图5中所示的B处,具体为大致设置于所述马达容纳部的几何中心C与所述转子容纳部的几何中心A的连线之间,不包括A点和C点,也就是设置在比马达容纳部几何中心C更靠近转子容纳部的几何中心A,以使得小型化位置确定元件中马达和转子更贴近,使装配支架的内部容纳结构和位置确定元件的马达和转子更加适配,增强稳定性,缩短传动元件例如皮带的尺寸,减少能量损失和原料成本。在一些实施例中,所述连通处大致位于所述第一弧形侧壁3111和所述第二弧形侧壁3121平滑连接处的中心,即大致位于MN连线上。当第二弧形侧壁3121为圆弧形侧壁时,马达容纳部312的几何中心与所述第二弧形侧壁3121所在圆的圆心相当,当第二弧形侧壁3121为多个不同曲率弧形组合结构时,马达容纳部312的几何中心与具有最大弧度圆弧所在圆的圆心相当,如图5中所示的C处。马达330配置为通过传输结构332例如皮带与所述转子连接以为转子提供驱动力。其中,马达330通过马达滚轮331及传输结构332对转子320进行驱动,传输结构332可以为皮带、金属带、有机材料带等,马达330的转轴与马达滚轮331硬连接,马达滚轮331在马达转轴的带动下自由旋转。
在一些实施例中,所述位置确定装置为激光测距装置,其中,所述位置确定元件为激光测距元件,激光测距元件通过连续旋转并发射和接收激光信号进行距离或位置探测。
在一些实施例中,如图5所示,所述马达容纳部312还包括:第一开口3122,位于所述马达容纳部312的底面3124,配置为容纳所述马达330;第一支撑筋3123,沿所述马达容纳部侧壁3121内侧向内延伸至所述第一开口3122的边缘;其中,所述第一开口3122的几何中心B比所述马达容纳部的几何中心C靠近所述转子容纳部的几何中心A,其中,第一开口3122的几何中心B大致位于第一开口3122圆弧所在圆的圆心处,马达容纳部的几何中心C大致位于马达容纳部侧壁3121所在圆的圆心处。对于传统大小的马达,其安装位置通常位于马达容纳部的几何中心C,但当位置确定元件结构整体缩小,转子320仍然位于转子容纳部的几何中心A时,为了减少传动损耗,提升传动效率,提高皮带传动时的稳定性,可以将马达330靠近转子进行装配,此时马达330和转子320之间的转动间隙几乎保持不变,可以维持相当的传动效率,适用于更加小型化的位置确定元件,无需额外开模,降低成本,马达和转子距离更近,节约皮带等传输设备,进一步降低成本,同时也降低了传输阻力,提高传输效率。此时,为了增强装配支架310的稳定性和刚性,需要增设第一支撑筋3123,特别是距离马达越远的距离,第一支撑筋3123越长。
在一些实施例中,如图5所示,所述转子容纳部311还包括:第二开口3112,位于所述转子容纳部311的底面3114,配置为容纳所述转子320;第二支撑筋3113,沿所述转子容纳部侧壁3111内侧向内延伸至所述第二开口3112的边缘,第二支撑筋3113可以增强装配支架310的稳定性和刚性;其中,所述第二开口3112的几何中心与所述转子容纳部 311的几何中心相当,大致位于转子容纳部侧壁3111所在圆的圆心处,以保证结构的对称性和转子转动后的稳定性。
在一些实施例中,如图5所示,所述第二开口与所述第一开口连通,且所述第二开口面积大于所述第一开口面积。第二开口与所述第一开口连通以减少支架结构的加工工艺,连通结构也便于马达通过传送到驱动转子转动。
在一些实施例中,如图6所示,所述位置确定装置还包括罩盖340,罩设于所述转子320顶部,罩盖340可以遮挡进入位置确定装置的杂散光,也可以遮挡进入位置确定装置的灰尘、杂质等,还可以遮挡位置确定装置的内部零件,起到美观作用,罩盖340配置枢转结构后还可以对悬垂障碍物进行避障。罩盖340包括圆形顶面341、底部圆环342以及连接所述圆形顶面341与所述底部圆环342的多个连接件343,在一些实施例中,所述底部圆环342具有自其底部水平延申的底板,底部圆环342和底板固定连接或一体成型,底板用于罩盖340与移动平台顶面的枢转连接,所述底部圆环342与所述转子320外周面间形成第一间隙,多个连接件343之间形成空隙,以便于通过转子的旋转发射和/或接收探测信号,例如可见光和/或不可见光等,另外,由于本实施例所述转子结构为小型化转子,而罩盖340与传统位置确定装置中的罩盖尺寸相当,故第一间隙较传统间隙要大。
在一些实施例中,为了解决由于过大的第一间隙引起的技术问题,例如,杂散光、灰尘、杂质等的进入,以及位置确定装置的内部零件的暴露等,可以将罩盖尺寸整体缩小,以减小所述第一间隙的距离,例如,在一些实施例中,罩盖340包括圆形顶面341、底部圆环342以及连接所述圆形顶面341与所述底部圆环342的多个连接件343,所述底部圆环342具有自其底部水平延申的底板,底部圆环342和底板固定连接或一体成型,底板用于罩盖340与移动平台顶面的枢转连接,所述底部圆环342与所述转子320外周面间形成第二间隙,第二间隙小于第一间隙,第二间隙使得不影响转子转动的情况下,底部圆环342尽量靠近转子320外周面,例如1-5mm间距。
如图7-9所示,在一些实施例中,为了解决由于过大的第一间隙引起的技术问题,所述装配结构300还包括环形遮挡件350,贴合设置于所述底部圆环342内侧,所述环形遮挡件350与所述转子320外周面形成第二间隙,所述第二间隙小于所述第一间隙,第二间隙用于使得转子能够灵活转动,第二间隙使得不影响转子转动的情况下,环形遮挡件350尽量靠近转子320外周面,例如1-5mm间距。
在一些实施例中,如图8所示,所述环形遮挡件350具有沿径向延伸的宽度和沿轴向延伸的高度,所述环形遮挡件的宽度大于高度。环形遮挡件350沿径向延伸的宽度足够宽可以遮挡由于第一间隙尺寸过大而引起的杂散光射的射入。环形遮挡件350沿轴向延伸的高度可以便于将环形遮挡件350装配于底部圆环342内侧。
在一些实施例中,如图8所示,所述环形遮挡件350包括与所述连接件343适配的插接件351,所述插接件351插接于所述连接件343后使所述环形遮挡件350贴合设置于所述底部圆环342内侧,插接件351与连接件343一一对应设置,所述第三插槽3433设置 于所述连接件343下方,T型凸起3512设置于所述插接件351下方。所述插接件351插入所述连接件343内侧壁后,增加了连接件343的厚度,从而减小了上述第一间隙的距离,因此,可以进一步减少杂散光进入转子320内。
在一些实施例中,如图7所示,所述连接件343内壁包括第一插槽3431,所述插接件351外壁包括与所述第一插槽3431适配的凸梁3511,所述凸梁3511插入所述第一插槽3431后使所述环形遮挡件350贴合设置于所述底部圆环342内侧,凸梁3511插入所述第一插槽3431后保证了环形遮挡件350周向的稳定性。在一些实施例中,如图7所示,所述底部圆环包括沿所述底部圆环底面周向延伸的第二插槽3432,以及位于所述底部圆环342内表面的第三插槽3433,所述第二插槽3432与所述第三插槽3433连通;如图9所示,所述环形遮挡件350包括沿所述环形遮挡件350外壁向外凸出的T型凸起3512,所述T型凸起3512插入所述第三插槽3433后使所述环形遮挡件350贴合设置于所述底部圆环342内侧,装配环形遮挡件350时使T型凸起3512先沿第二插槽3432底部插入,再向上推抵使T型凸起3512插入第三插槽3433,进一步稳定了环形遮挡件350沿周向和径向的稳定性。
在一些实施例中,如图7所示,所述底部圆环343还包括设置于所述底部圆环343内表面的的限位凹槽3434,所述限位凹槽3434对称的设置于所述第三插槽3433两侧;所述环形遮挡件350还包括设置于所述T型凸起3512两侧的限位凸起3513,当所述环形遮挡件350贴合设置于所述底部圆环342内侧时,所述限位凸起3513适配于所述限位凹槽3434。限位凸起3513与限位凹槽3434的配合进一步限定了环形遮挡件350的位置。
本公开实施例提供自动清洁设备,在位置确定装置中,通过具有相应结构的装配支架,使得比传统位置确定元件尺寸小的位置确定元件也能装配到与传统尺寸大小相当的装配部中,为根据应用需求更换位置确定元件尺寸的应用带来了便利。
在一些实施例中,所述环形遮挡件具有沿径向延伸的宽度和沿轴向延伸的高度,所述环形遮挡件的宽度大于高度。
在一些实施例中,所述环形遮挡件包括与所述连接件适配的插接件,所述插接件插接于所述连接件后使所述环形遮挡件贴合设置于所述底部圆环内侧。
在一些实施例中,所述连接件内壁包括第一插槽,所述插接件外壁包括与所述第一插槽适配的凸梁,所述凸梁插入所述第一插槽后使所述环形遮挡件贴合设置于所述底部圆环内侧。
在一些实施例中,所述底部圆环包括沿所述底部圆环底面周向延伸的第二插槽,以及位于所述底部圆环内表面的第三插槽,所述第二插槽与所述第三插槽连通;
所述环形遮挡件包括沿所述环形遮挡件外壁向外凸出的T型凸起,所述T型凸起插入所述第三插槽后使所述环形遮挡件贴合设置于所述底部圆环内侧。
在一些实施例中,所述第三插槽设置于所述连接件下方,所述T型凸起设置于所述插接件下方。
在一些实施例中,所述底部圆环还包括设置于所述底部圆环内表面的的限位凹槽,所述限位凹槽对称的设置于所述第三插槽两侧;
所述环形遮挡件还包括设置于所述T型凸起两侧的限位凸起,当所述环形遮挡件贴合设置于所述底部圆环内侧时,所述限位凸起适配于所述限位凹槽。
在一些实施例中,所述装配结构还包括装配支架,所述装配支架包括:
转子容纳部,所述转子容纳部包括圆弧形侧壁;
马达容纳部,所述马达容纳部包括弧形侧壁,所述转子容纳部的圆弧形侧壁和所述马达容纳部的弧形侧壁平滑连接,且所述圆弧形侧壁形成的开口面积大于所述弧形侧壁形成的开口面积;
其中,所述转子的转动轴大致设置于所述转子容纳部的几何中心,所述马达的输出轴大致设置于所述马达容纳部的几何中心与所述转子容纳部的几何中心的连线上。
在一些实施例中,所述马达容纳部还包括:
第一开口,位于所述马达容纳部的底面,配置为容纳所述马达;
第一支撑筋,沿所述马达容纳部侧壁内侧向内延伸至所述第一开口的边缘;
其中,所述第一开口的几何中心比所述马达容纳部的几何中心靠近所述转子容纳部的几何中心。
在一些实施例中,所述转子容纳部还包括:
第二开口,位于所述转子容纳部的底面,配置为容纳所述转子;
第二支撑筋,沿所述转子容纳部侧壁内侧向内延伸至所述第二开口的边缘;
其中,所述第二开口的几何中心与所述转子容纳部的几何中心相当。
在一些实施例中,所述第二开口与所述第一开口连通,且所述第二开口面积大于所述第一开口面积。
在一些实施例中,所述底部圆环具有自其底部水平延申的底板,所述底板用于使得所述罩盖与移动平台顶面的枢转连接。
在一些实施例中,所述位置确定装置为激光测距装置,所述位置确定元件为激光测距元件,所述探测信号为激光信号。
与现有技术相比,本公开实施例具有如下的技术效果:
本公开实施例提供自动清洁设备,在位置确定装置的装配过程中,通过具有相应结构的装配支架和/或环形遮挡件,使得比传统位置确定装置尺寸小的位置确定元件也能装配到与传统尺寸大小相当的装配部中,为根据应用需求更位置确定元件尺寸的应用带来了便利。
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)
- 一种自动清洁设备,包括移动平台、位置确定装置以及用于将所述位置确定装置装配于所述移动平台的装配结构;所述位置确定装置包括位置确定元件和罩盖;所述位置确定元件包括:转子和马达,所述转子配置为连续转动的同时发射和/或接收探测信号;所述马达配置为通过动力传输结构与所述转子连接以为所述转子提供驱动力;所述罩盖罩设于所述转子顶部,包括圆形顶面、底部圆环以及连接所述圆形顶面与所述底部圆环的多个连接件,其中,所述底部圆环与所述转子外周面间形成第一间隙;所述装配结构包括:环形遮挡件,贴合设置于所述底部圆环内侧,所述环形遮挡件与所述转子外周面形成第二间隙,所述第二间隙小于所述第一间隙。
- 根据权利要求1所述的自动清洁设备,其中,所述环形遮挡件具有沿径向延伸的宽度和沿轴向延伸的高度,所述环形遮挡件的宽度大于高度。
- 根据权利要求2所述的自动清洁设备,其中,所述环形遮挡件包括与所述连接件适配的插接件,所述插接件插接于所述连接件后使所述环形遮挡件贴合设置于所述底部圆环内侧。
- 根据权利要求3所述的自动清洁设备,其中,所述连接件内壁包括第一插槽,所述插接件外壁包括与所述第一插槽适配的凸梁,所述凸梁插入所述第一插槽后使所述环形遮挡件贴合设置于所述底部圆环内侧。
- 根据权利要求4所述的自动清洁设备,其中,所述底部圆环包括沿所述底部圆环底面周向延伸的第二插槽,以及位于所述底部圆环内表面的第三插槽,所述第二插槽与所述第三插槽连通;所述环形遮挡件包括沿所述环形遮挡件外壁向外凸出的T型凸起,所述T型凸起插入所述第三插槽后使所述环形遮挡件贴合设置于所述底部圆环内侧。
- 根据权利要求5所述的自动清洁设备,其中,所述第三插槽设置于所述连接件下方,所述T型凸起设置于所述插接件下方。
- 根据权利要求6所述的自动清洁设备,其中,所述底部圆环还包括设置于所述底部圆环内表面的的限位凹槽,所述限位凹槽对称的设置于所述第三插槽两侧;所述环形遮挡件还包括设置于所述T型凸起两侧的限位凸起,当所述环形遮挡件贴合设置于所述底部圆环内侧时,所述限位凸起适配于所述限位凹槽。
- 根据权利要求1至7中任一项所述的自动清洁设备,其中,所述装配结构还包括装配支架,所述装配支架包括:转子容纳部,所述转子容纳部包括圆弧形侧壁;马达容纳部,所述马达容纳部包括弧形侧壁,所述转子容纳部的圆弧形侧壁和所述马达容纳部的弧形侧壁平滑连接,且所述圆弧形侧壁形成的开口面积大于所述弧形侧壁形成的开口面积;其中,所述转子的转动轴大致设置于所述转子容纳部的几何中心,所述马达的输出轴大致设置于所述马达容纳部的几何中心与所述转子容纳部的几何中心的连线上。
- 根据权利要求8所述的自动清洁设备,其中,所述马达容纳部还包括:第一开口,位于所述马达容纳部的底面,配置为容纳所述马达;第一支撑筋,沿所述马达容纳部侧壁内侧向内延伸至所述第一开口的边缘;其中,所述第一开口的几何中心比所述马达容纳部的几何中心靠近所述转子容纳部的几何中心。
- 根据权利要求9所述的自动清洁设备,其中,所述转子容纳部还包括:第二开口,位于所述转子容纳部的底面,配置为容纳所述转子;第二支撑筋,沿所述转子容纳部侧壁内侧向内延伸至所述第二开口的边缘;其中,所述第二开口的几何中心与所述转子容纳部的几何中心相当。
- 根据权利要求10所述的自动清洁设备,其中,所述第二开口与所述第一开口连通,且所述第二开口面积大于所述第一开口面积。
- 根据权利要求1至11中任一项所述的自动清洁设备,其中,所述底部圆环具有自其底部水平延伸的底板,所述底板用于使得所述罩盖与移动平台顶面的枢转连接。
- 根据权利要求1-12任意一项所述的自动清洁设备,其中,所述位置确定装置为激光测距装置,所述位置确定元件为激光测距元件,所述探测信号为激光信号。
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