WO2023134112A1 - 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
WO2023134112A1
WO2023134112A1 PCT/CN2022/098738 CN2022098738W WO2023134112A1 WO 2023134112 A1 WO2023134112 A1 WO 2023134112A1 CN 2022098738 W CN2022098738 W CN 2022098738W WO 2023134112 A1 WO2023134112 A1 WO 2023134112A1
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WO
WIPO (PCT)
Prior art keywords
automatic cleaning
dust box
dust
side wall
cleaning device
Prior art date
Application number
PCT/CN2022/098738
Other languages
English (en)
French (fr)
Inventor
李海宾
张智斌
Original Assignee
北京石头世纪科技股份有限公司
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Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Publication of WO2023134112A1 publication Critical patent/WO2023134112A1/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
    • A47L11/28—Floor-scrubbing 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
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4027—Filtering or separating contaminants or debris
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present disclosure 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. In the prior art, some cleaning robots have added structures or functions such as automatic charging, automatic dust collection, lifting and vibration, etc., to make the cleaning robots more intelligent. But at the same time, for cleaning robots that can automatically collect dust, the dust in the dust box is often not cleaned cleanly due to insufficient wind power of the fan, insufficient or poor supply of dust collection airflow.
  • the present disclosure provides an automatic cleaning device with a dust collection function, including: a mobile platform, including a housing chamber, the mobile platform is configured to automatically move on the operating surface; a cleaning module, including A dust box and a main brush module, the dust box is detachably assembled in the accommodating chamber; the dust box includes a first air inlet door and a second air inlet door, and the first air inlet door and the second air inlet door The air doors are respectively located on the first side wall and the second side wall of the dust box, and the first air inlet door and the second air inlet door are configured to provide intake airflow in different directions during the dust collection process.
  • the first air inlet door and the second air inlet door are respectively located at asymmetric positions of the first side wall and the second side wall.
  • the second air inlet door is disposed near the lower edge of the second side wall, and the lower edge of the second air inlet door is lower than the lower edge of the first air inlet door.
  • the second air inlet door is arranged adjacent to the rear side wall of the dust box, and the first air inlet door is arranged adjacent to the front side wall of the dust box.
  • the first air intake door rotates approximately around a first rotation axis
  • the second air intake door approximately rotates around a second rotation axis
  • the first rotation axis is approximately perpendicular to the second rotation axis.
  • the shapes of the first air inlet door and the second air inlet door are at least one or a combination of the following: rectangle, square, circle, ellipse, and strip.
  • the first air inlet door is of a rectangular structure, and the long sides of the first air inlet door are arranged longitudinally; the second air inlet door is of a rectangular structure, and the long sides of the second air inlet door are arranged transversely.
  • the dust box further includes a first opening and a second opening, the first opening is configured as a dust inlet for dust suction and a dust outlet for dust collection, the first opening and the second opening are The second opening is roughly located on the central axis in the front-back direction of the automatic cleaning device.
  • the accommodating chamber includes a first chamber and a second chamber arranged successively and adjacently in the advancing direction of the automatic cleaning device, and the bottom of the front side wall of the first chamber is arranged There is a dust suction port, the rear side wall of the connection between the first chamber and the second chamber is provided with an air outlet, and the dust suction port, the air outlet, the first opening and the second opening are all It is roughly located on the central axis in the front-back direction of the automatic cleaning device.
  • a fan is provided in the space below the second chamber, and the fan, the main brush module, the suction port, the air outlet, the first opening and the second The openings are all roughly located on the central axis in the front-back direction of the automatic cleaning device.
  • the mobile platform further includes a position determining device and a cover disposed above the position determining device, the position determining device, the cover, the main brush module, the suction
  • the dust opening, the air outlet, the first opening and the second opening are all roughly located on the central axis in the front-back direction of the automatic cleaning device.
  • the intake airflow in different directions comes from at least one of the following: the airflow entering from the top gap of the mobile platform, the airflow entering from the gap of the main brush module, and the airflow from the rear of the mobile platform. Airflow entering the sidewall.
  • the airflow entering from the gap at the top of the mobile platform includes: the gap between the cover and the top surface of the mobile platform, and the gap between the cover and the position determining device The airflow entering the gap.
  • the present disclosure provides an automatic cleaning system, including: a dust collection station and the automatic cleaning device as described in any one of the above, wherein the dust collection station includes a dust collection port, and the dust collection station The port is docked with the port of the main brush module to collect dust.
  • the disclosure provides automatic cleaning equipment and a system.
  • the automatic cleaning equipment has the function of automatic dust collection.
  • the airflow entering the dust box forms a convection flow, and the airflow in the dust box
  • the vortex cyclone is formed to smoothly suck the garbage in the dust box into the dust collection station; in addition, the main brush module, the dust suction port, the air outlet, the first opening and the second opening are all roughly arranged in the front and rear directions of the automatic cleaning equipment.
  • the speed of the airflow through the dust box can be further increased during dust collection, and the dust collection efficiency can be improved.
  • the garbage in the dust box can be sucked into the dust collection station more easily during dust collection.
  • 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. 3a is an oblique view of the accommodating chamber of the automatic cleaning device according to some embodiments of the present disclosure.
  • Fig. 3b is a schematic structural diagram of the air outlet of the accommodating chamber of the automatic cleaning device according to some embodiments of the present disclosure.
  • FIG. 4 is a perspective view of a dust box of some embodiments of the present disclosure.
  • Fig. 5 is a perspective view of a dust box according to some embodiments of the present disclosure.
  • 6a-6h are schematic diagrams of the top cover structure layout of some embodiments of the present disclosure.
  • Fig. 7 is an enlarged schematic view of the first locking member of some embodiments of the present disclosure.
  • FIG. 8 is an enlarged schematic view of the first locking member of some embodiments of the present disclosure.
  • Fig. 9a is an enlarged schematic view of the second locking member of some embodiments of the present disclosure.
  • Fig. 9b is a schematic diagram of the overall structure of the second locking member of some embodiments of the present disclosure.
  • Fig. 9c is an enlarged schematic view of the second handle portion of some embodiments of the present disclosure.
  • FIG. 10 is an enlarged schematic view of a second locking member of some embodiments of the present disclosure.
  • Fig. 11 is a three-dimensional structure diagram of a filter screen of a dust box according to some embodiments of the present disclosure from an outside perspective.
  • Fig. 12 is a three-dimensional structural view of the filter screen of the dust box according to some embodiments of the present disclosure.
  • Fig. 13a is a frontal structural view of the inside of the filter screen of the dust box according to some embodiments of the present disclosure.
  • Fig. 13b is a three-dimensional structural view of the filter screen of the dust box according to some embodiments of the present disclosure.
  • Fig. 14 is a schematic diagram of an assembly structure of a dust box and a filter screen according to some embodiments of the present disclosure.
  • Fig. 15 is an enlarged schematic diagram of the assembly structure of the dust box and the filter screen according to some embodiments of the present disclosure.
  • Fig. 16 is a schematic diagram of the air intake structure of the cover according to some embodiments of the present disclosure.
  • Fig. 17 is a schematic diagram of the air intake structure of the base according to some embodiments of the present disclosure.
  • Fig. 18a is a schematic diagram of the internal airflow structure of some embodiments of the present disclosure.
  • Fig. 18b is a schematic diagram of the intake structure of the exhaust port according to some embodiments of the present disclosure.
  • Fig. 19 is an enlarged schematic view of the air duct structure of some embodiments of the present disclosure.
  • Fig. 20 is a schematic diagram of the structure of the containing chamber according to some embodiments of the present disclosure.
  • Fig. 21 is a schematic structural diagram of a dust box according to some embodiments of the present disclosure.
  • Fig. 22 is a symmetric structure diagram of the automatic cleaning equipment axis BB in some embodiments of the present disclosure.
  • Fig. 23 is a schematic structural diagram of a dust collection station according to some embodiments of the present disclosure.
  • Fig. 24 is a schematic structural diagram of an automatic cleaning system according to some embodiments of the present disclosure.
  • Fig. 25 is an overall structural diagram of a position determination element in some embodiments of the present disclosure.
  • FIG. 26 is an enlarged structural diagram of a position determination element of some embodiments of the present disclosure.
  • Fig. 27 is a structural diagram of a module bracket of some embodiments of the present disclosure.
  • FIG. 28 is a structural diagram of a cover according to some embodiments of the present disclosure.
  • FIG. 29 is a partial cross-sectional structural view of a cover according to some embodiments of the present disclosure.
  • Fig. 30 is a structural diagram of an annular shield in some embodiments of the present disclosure.
  • Fig. 31 is a partially enlarged structural diagram of a ring-shaped shield in some embodiments of the present disclosure.
  • Fig. 32 is a schematic top view of the mobile platform body in the automatic cleaning device shown in Fig. 1 .
  • Fig. 33 is a schematic bottom view of the platform cover assembled on the upper part of the mobile platform body in the automatic cleaning device shown in Fig. 1 .
  • Fig. 34 is a schematic top view of the platform bottom plate assembled on the mobile platform body in the automatic cleaning device shown in Fig. 1 .
  • Fig. 35 is a schematic structural diagram of a water retaining bracket according to some embodiments of the present disclosure.
  • Fig. 36 is a schematic structural diagram of a location determination device in some embodiments of the present disclosure.
  • Fig. 37 is a schematic diagram of the assembly structure of the position determining device and the mobile platform shown in Fig. 36 .
  • FIG. 38 is a schematic structural view of the cover in the position determining device shown in FIG. 36 .
  • FIG. 39 is a schematic diagram of the bottom structure of the cover shown in FIG. 38 .
  • Fig. 40 is a schematic diagram of an assembly structure of a mobile platform, a position determination device and a trigger assembly in some embodiments of the present disclosure.
  • FIG. 41 is an enlarged schematic view of the trigger assembly in the assembled structure shown in FIG. 40 .
  • Fig. 42 is a schematic diagram of the exploded structure of the trigger assembly shown in Fig. 41 .
  • Fig. 43 is a schematic diagram of the assembly structure of the key assembly of the automatic cleaning device according to some embodiments of the present disclosure.
  • Fig. 44 is a schematic view from the upper side of the key bracket of the automatic cleaning device according to some embodiments of the present disclosure.
  • Fig. 45 is a schematic view from the bottom side of the button bracket of the automatic cleaning device according to some embodiments of the present disclosure.
  • Fig. 46 is a schematic view from the upper side of the key cap of the automatic cleaning device according to some embodiments of the present disclosure.
  • Fig. 47 is a schematic view from the bottom side of the key cap of the automatic cleaning device according to some embodiments of the present disclosure.
  • Fig. 48 is a schematic cross-sectional structural diagram of the assembly structure of the key assembly of the automatic cleaning device according to some embodiments of the present disclosure.
  • Fig. 49 is a schematic structural view of a cover plate of an automatic cleaning device according to some embodiments of the present disclosure.
  • FIG. 50 is an enlarged view of the bottom view at cover D of FIG. 49 according to some embodiments of the present disclosure.
  • 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 screen 500, energy system 160, human-computer interaction system 170, accommodation chamber 200, first chamber 201, second Second chamber 202, dust suction port 203, exhaust port 204, air outlet 208, accommodating part 301, top cover 302, first opening 3011, second opening 3012, first part 3021, edge part 30211, step part 205, second The second part 3022, the support structure 3023, the groove 2021, the first depression 206, the second depression 207, the first locking member 601, the second locking member 602, the first handle depression 603, the first elastic arm 6011, the second A handle part 6012, a first buckle part 6013, a first locking member 701, a second handle recess 605, a second elastic arm 6021
  • 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 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 floor 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 the present disclosure takes a floor mopping robot as an example for illustration.
  • 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 draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the position determining device. , and autonomously determine a driving route according to the environmental information and the environmental map, and then control the drive system 140 to perform operations such as forward, backward and/or steering 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.
  • 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 existing automatic cleaning equipment shell layout and frame structure is complicated, the number of parts is large, the assembly time is long, the process is complicated, and the cost is high.
  • the upper shell decoration and the upper flap can cover the ugliness and protect the internal components, the structure of the whole machine is complicated, the cost is high, and the design space of the dust box and other components under the top flip is affected.
  • the embodiment of the present disclosure provides an automatic cleaning device without flip cover, which simplifies unnecessary components of the automatic cleaning device and increases the design space of the dust box and its containing chamber.
  • the same structure has the same technology effects, some technical effects will not be repeated here.
  • the present disclosure provides an automatic cleaning device, as shown in FIG.
  • a mobile platform 100 configured to automatically move on an operating surface
  • the mobile platform 100 includes a housing chamber 200
  • the The accommodating chamber 200 is arranged on the rear side in the forward direction of the automatic cleaning equipment, and the accommodating chamber 200 includes a first chamber 201 and a second chamber 202
  • the dry cleaning module 151 includes a dust box 300
  • the The dust box 300 is detachably assembled in the accommodating chamber 200; wherein, the first chamber 201 and the second chamber 202 are arranged adjacent to each other sequentially in the forward direction of the automatic cleaning equipment, and The first chamber 201 is deeper than the second chamber 202 .
  • the first chamber 201 and the second chamber 202 are arranged adjacent to each other in sequence in the forward direction of the automatic cleaning equipment, and the part with larger volume and weight in the entire dust box can be arranged closer to the automatic cleaning equipment
  • the position in the middle makes the dust box more stable to be arranged in the accommodation chamber 200, and also makes the center of gravity of the entire cleaning equipment more stable, and it is more stable in the process of traveling, turning, and overcoming obstacles, and is not easy to overturn; at the same time, it is convenient for dust
  • the box receiving part and the top cover of the dust box are made into an integrated structure, so that the top cover of the dust box can be used as a part of the top surface of the mobile platform, flush with other parts of the top surface of the mobile platform, omitting the clamshell structure of traditional cleaning equipment, and convenient Directly align the dust suction port located in the center of the bottom of the cleaning equipment with the dust box, so that the dust enters the dust box directly from the dust suction port, reducing the distance of dust entering the machine and
  • the depth of the first chamber 201 is greater than that of the second chamber 202, and can accommodate the dust box and the top cover of the dust box in separate structures, which facilitates the integrated design of the top cover of the dust box.
  • the bottom of the front side wall of the first chamber 201 is provided with a dust suction port 203, and the rear side wall of the connection between the first chamber 201 and the second chamber 202 is provided with an air outlet 208, and the air outlet 208 has a grid structure.
  • the space below the chamber 202 accommodates a fan, and the fan can be carried by a fan bracket.
  • the air outlet 208 constitutes a part of the fan bracket;
  • the dust suction port 203 enters the dust box 300 , and the air is discharged from the exhaust port 204 after being filtered by the filter screen of the dust box.
  • the dust box 300 includes a receiving part 301 and a top cover 302 located above the receiving part 301 , and the top cover is fixedly connected with the receiving part.
  • Fixed connection methods include but are not limited to bonding, welding, integral molding, bolt connection, snap connection, etc.
  • the accommodating portion is used for accommodating the garbage sucked in from the suction port 203 , and the shape of the accommodating portion roughly matches the first chamber 201 .
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and is brought to the front of the dust suction port 203 between the roller brush and the dust box 300 under the negative pressure airflow generated by the fan, and then is generated by the fan and passes through the dust collector.
  • the suction airflow of the box 300 is sucked into the dust box 300, the garbage is isolated inside the dust box 300 by the filter screen 500, and the filtered air enters the fan.
  • the accommodating portion 301 of the dust box 300 has a first opening 3011 on the front side of the dust box, the first opening 3011 is aligned with the dust suction port 203, and the accommodating portion 301 has a second opening 3012 on the rear side of the dust box.
  • the filter screen 500 is disposed on the second opening 3012 , and the second opening 3012 is in contact with the air outlet 208 .
  • the filter screen 500 is detachably connected to the box body of the dust box 300, which is convenient for the filter screen to be disassembled and cleaned.
  • the front side refers to the X direction, after the dust box 300 is assembled in the accommodation chamber 200, the side along the forward direction of the automatic cleaning equipment, and the rear side refers to the X direction, the side opposite to the forward direction of the automatic cleaning equipment.
  • the top cover 302 includes a first portion 3021 covering the accommodating portion 301 and a second portion 3022 extending outward beyond the accommodating portion 301 , when the dust box 300 is assembled in the accommodating cavity
  • the accommodating part 301 and the first part 3021 of the top cover 302 are accommodated in the first chamber 201, and the second part 3022 of the top cover 302 is accommodated in the second chamber 202 in.
  • the top cover 302 is roughly matched with the top part of the first chamber and the structure of the second chamber, so that the dust box 300 can be stably installed in the containing chamber 200, avoiding the dust box caused by the bumps in the process of automatic cleaning equipment.
  • the top cover of the dust box can properly cover the location of the accommodation part and the fan, so that the upper surface of the top cover of the dust box is roughly level with the upper surface of the mobile platform, which ensures the smoothness of the outer surface of the automatic cleaning equipment and the overall coordination of the appearance.
  • it also provides more space options for the design of the various components under the top cover, including the storage part, so that it is convenient to arrange the positions of different components.
  • the volume of the dust box can be selectively increased, and the specific size can be arranged according to the needs without affecting the storage.
  • the overall opening size of the cavity reduces the mold opening cost.
  • the first portion 3021 of the top cover 302 includes an edge portion 30211 protruding from the contour of the receiving portion and extending outward.
  • the accommodating chamber 200 includes a stepped portion 205 extending around the top edge of the accommodating chamber, the stepped portion 205 is configured to accommodate at least a part of the edge portion 30211 and at least a part of the outer edge of the second portion,
  • the upper surface of the top cover is substantially coplanar with the upper surface of the mobile platform.
  • the accommodating chamber 200 extends around the step portion 205 along the top edge of the accommodating chamber, which can completely receive the edge of the top cover 302, so that the top cover 302 can be accommodated in the accommodating chamber 200 basically tightly, and can prevent foreign objects from falling directly. Into the edge gap of the dust box to further prevent the dust box from being stuck, and at the same time ensure the beauty of the top cover as the upper surface of the automatic cleaning equipment.
  • a supporting structure 3023 is disposed under the second portion 3022 of the top cover 302 and is configured to support the second portion 3022 of the top cover.
  • the supporting structure 3023 is integrally formed with at least a part of the receiving portion 301, so as to enhance the supporting force of the supporting structure 3023 on the second portion 3022 of the top cover 302, and effectively prevent it from being damaged.
  • the support structure 3023 may include, but not limited to, arc-shaped structures and linear structures.
  • the support structure 3023 is two arc-shaped structures symmetrically arranged approximately matching the outline of the outer edge of the second portion 3022 of the top cover 302 .
  • the lower surface of the second chamber 202 includes a groove 2021, the groove 2021 substantially matches the contour of the support structure 3023, and is configured to accommodate the second portion of the top cover.
  • the supporting structure 3023 is accommodated in the groove 2021 so that the upper surface of the top cover 302 is substantially horizontal.
  • the top cover is arranged symmetrically along the central axis in the forward direction of the automatic cleaning device.
  • the shape of the top cover is at least one or a combination of: D-shaped, rectangular, square, circular, oval, triangular, quadrangular, pentagonal, hexagonal, heptagonal or octagonal shape, as shown in Figure 6a-6h.
  • the symmetrical setting can make the appearance of the machine more beautiful without the outer cover, and it is more convenient for the installation and removal of the dust box.
  • the first chamber 201 includes a first locking member 701
  • the second chamber 202 includes a second locking member 72
  • the first portion 3021 of the top cover includes a first locking member 601
  • the second part 3022 of the top cover includes a second locking member 602
  • the first locking member 601 cooperates with the first locking member 701 to lock
  • the second locking member 602 cooperates with the second locking member 72 cooperates to lock.
  • the above embodiments relate to the dust box of the automatic cleaning equipment and its installation structure, by setting the accommodating chamber on the rear side of the forward direction of the automatic cleaning equipment, the accommodating chamber includes a first chamber and a second chamber, and the The depth of the first chamber is greater than the depth of the second chamber.
  • the upper surface of the top cover of the dust box is roughly coplanar with the upper surface of the mobile platform, which simplifies the structure of the top surface of the automatic cleaning device.
  • the production cost is reduced, and the design space of the containing chamber is increased at the same time.
  • the existing automatic cleaning equipment is equipped with a pop-up dust box and a non-pop-up dust box.
  • the top surface of the pop-up dust box is flipped and a flip mechanism is used.
  • This embodiment needs to set up a complex dust box ejection mechanism.
  • the dust box ejection mechanism includes multiple parts such as springs. Due to the repeated use of the spring, the elasticity decreases, so that the dust box cannot be ejected smoothly. In addition, many other parts It is also easy to cause the dust box to fail to eject normally, affecting use.
  • the non-pop-up dust box mostly adopts a complex locking structure, and the spring components in it are easily damaged due to aging, and the pressing parts are not comfortable enough to match with fingers during operation, and the overall use experience is poor.
  • an automatic cleaning device includes: a mobile platform 100 configured to automatically move on the operating surface, including an accommodating chamber 200 arranged on the rear side in the forward direction; a cleaning mold
  • the set includes a dust box 300 that is detachably assembled in the accommodating chamber 200, and the dust box includes an accommodating portion 301, a top cover 302 located above the accommodating portion and a locking mechanism.
  • the locking mechanism includes a first locking mechanism 610 roughly located on the central axis of the top cover; wherein, the first locking mechanism 610 includes at least a first handle recess 603 and a first locking member 601, and the first lock
  • the stopper 601 is located in the first handle recess 603 , and the first lock member 601 can elastically move relative to the first handle recess 603 under the action of an external force.
  • the first handle recess 603 forms a recess downward along the edge of the first part of the top cover.
  • the first handle recess 603 provides sufficient depth in the Z direction so that the height of the first locking member 601 is lower than the surface of the top cover.
  • the first handle recess 603 provides enough elastic space in the X direction so that there is enough room for movement when the first locking member 601 elastically moves inward.
  • the first locking member 601 includes a first elastic arm 6011, a first handle portion 6012 and a first buckle portion 6013, wherein the first elastic arm 6011 is released from the first buckle
  • the bottom of the hand recess 603 extends upwards
  • the first gripping portion 6012 is located at the upwardly extending end of the first elastic arm 6011
  • the first locking portion 6013 extends laterally along the first elastic arm 6011 .
  • the first elastic arm 6011 is generally in the shape of " ⁇ " to reduce material and increase elasticity, and the shape and structure are not limited.
  • the first handle portion 6012 is horizontally arranged above the first elastic arm 6011.
  • the first handle portion 6012 includes a bottom surface protruding generally outward and a handle surface extending upward along the bottom surface.
  • the handle surface extends to be approximately flush with the top cover.
  • the surface of the clasp can be in an arc-shaped structure, that is, its projection on the horizontal plane is arc-shaped; the clasp surface is convenient for receiving manual operations, and the shape of the finger is more in line with the ergonomic force relationship.
  • the first locking portion 6013 is a pair of sheet-like structures arranged symmetrically along both sides of the first elastic arm 6011, and the width of the sheet-like structures from the root to the free end varies from large to large. Small, so as to be inserted into the first locking member 701 smoothly.
  • the whole first elastic arm 6011 can be made of common elastic material, such as plastic or organic elastic material.
  • FIG. 8 is an enlarged schematic view of the first locking member at A in FIG.
  • the first locking member 701 is a pair of through holes, and the free end of the sheet-like structure is inserted into the through holes to achieve locking.
  • a first recess 206 is disposed on the inner wall of the accommodating chamber approximately corresponding to the first handle recess 603 , and the pair of through holes are disposed on both sides of the first recess 206 . Locking is realized when the first locking member 601 extends into the through hole, and unlocking is realized when the first locking member 601 is pulled out from the through hole through the first recess 206 and a finger is applied to exert force.
  • the cooperation between the first recess 206 and the first handle recess 603 makes it easier and more convenient for fingers to insert.
  • the locking mechanism further includes a second locking mechanism 620
  • the second locking mechanism 620 includes a second handle recess 605 and a second locking member 602
  • the second handle The recess 605 forms a notch inward along the approximate midline of the second part 3022 of the top cover, such as an arc or a square notch, which is convenient for fingers to insert into for the buckling operation
  • the second locking member 602 is located in the second clasp recess 605
  • the second handle recess 605 provides enough space for fingers to control the second locking member 602, and the second locking member 602 elastically moves inward under the action of external force.
  • the second locking member 602 includes a second elastic arm 6021 , a second handle portion 6022 and a second buckle portion 6023 , wherein the second elastic arm 6021 is located in the second handle recess 605
  • the second elastic arm 6021 includes two symmetrical parts. Each second elastic arm 6021 first extends along the opening direction of the second handle recess 605, then extends along the edge of the top cover, and then extends along the second buckle.
  • the hand recess 605 extends in the edge direction, wherein, as shown in Figure 9a, the opening direction of the second handle recess 605 is the direction A from the center of the top cover outward, and in this embodiment is also the rear direction of the top cover of the dust box.
  • the two parts of the second elastic arm 6021 are arranged symmetrically in two "several"-shaped structures.
  • the part 6022 is arranged above the two second elastic arms, as shown in Fig. 9b and Fig. 9c, Fig. 9c is an enlarged view of the second hand part at C in Fig. 9b, the bottom of the second part 6022 includes a The bottom surface 60221 protruding roughly outward and the handle surface 60222 extending upward along the bottom surface.
  • the handle surface extends to a position roughly flush with the top cover.
  • the handle surface can be in an arc-shaped structure.
  • the handle surface is convenient for receiving manual operations for fingers Apply force.
  • the second handle portion 6022 is integrally formed with the symmetrically arranged second elastic arm 6021 , and the second buckle portion 6023 is disposed on a laterally extending portion of the second elastic arm.
  • the second buckle part 6023 is a pair of symmetrically arranged along the two sides of the second elastic arm 6021, such as a protrusion or a sheet-like structure extending along the A direction.
  • each The second buckle part 6023 includes a groove extending inward from the end of the second buckle part 6023, the groove can prevent a whole piece of the second buckle part from excessive deformation after forming and cooling, resulting in a stuck Difficult to buckle.
  • the second locking member 602 also includes a symmetrically arranged connecting member 6024, the connecting member 6024 is substantially planar, one end of the second elastic arm 6021 is connected to one side of the connecting member 6024, and the other side of the connecting member 6024 Connect and fix with the end face of the supporting structure.
  • the second handle part 6022 leaks out of the second handle recess 605 in the X direction, so that when unlocking, fingers can extend into the second handle recess 605 and press on the second handle part 6022, along the X-axis Apply force to the inside of the dust box and drive the second buckle part 6023 to elastically shrink inward, so that the second buckle part 6023 pops out from the bottom of the second locking part 702 to realize unlocking.
  • the second elastic arm 6021 can be made of common elastic material as a whole, such as plastic or organic elastic material.
  • FIG. 10 which is an enlarged view of the second locking member 702 shown at B in FIG. 3 b
  • the inner wall of the accommodating chamber 200 roughly corresponds to the second locking member 602
  • a second locking piece 702 is provided in the local area, and the second locking piece cooperates with the second locking piece to lock.
  • the second locking member is a pair of protrusions, and the second locking portion 6023 extends into the bottom of the second locking member 702 to achieve locking.
  • the protrusion may be flat, cylindrical, cuboid, etc., which is not limited, as long as it can lock the second buckle part.
  • a second recess 207 is provided on the lower surface of the second chamber 202 approximately corresponding to the second handle recess 605 , and the pair of protrusions are arranged in the second chamber 202 at the same height.
  • the second recess 207 is configured to avoid and accommodate the second locking member 602 when the dust box 300 is put into the accommodation chamber 200 , so that the entire dust box can be better placed in place in the accommodation chamber 200 .
  • the top cover includes a first part covering the receiving part and a second part extending outward protruding from the receiving part, the second handle recess 605 and the second locking part 602 Located on the second part of the top cover.
  • the provided support structure 3023 forms an inward compression space in the X direction.
  • the locking structure is arranged symmetrically in the front and rear directions of the top cover of the dust box, so that when one hand applies force to the two elastic structures at the front and back of the dust box, the unlocking can be realized.
  • the dust box will not be tilted due to ejecting the dust box from one side after only one side is unlocked.
  • the elastic unlocking can be realized only by using elastic materials to form the elastic arms, which avoids the risk of easy damage of complex unlocking devices such as springs.
  • the second locking mechanism 620 includes at least one first magnetic attraction module 604, and the first magnetic attraction module 604 is arranged on the second part of the top cover and the between supporting structures.
  • the accommodating chamber includes at least one second magnetic attraction module 606 configured to cooperate with the first magnetic attraction module 604 to be locked after being adsorbed.
  • the first buckle part 6013 on the first locking part 601 will automatically pop out and be inserted into the first locking part 701, the first magnetic attraction module 604 and the second magnetic attraction module 606 will attract each other, thereby realizing the locking of the dust box.
  • the structure is simple, easy to operate, and convenient to realize the locking of the dust box.
  • the above-mentioned second locking mechanism 620 may be an implementation that includes the second handle recess 605 and the second locking member 602 , or an implementation that includes the first magnetic attraction module 604 , or Embodiments that include both are not limited to this.
  • the dust box of the existing automatic cleaning equipment needs to be equipped with a replaceable dust box filter.
  • the traditional filter is generally made of plastic or metal with a rigid frame.
  • the laminated filter element is placed in the frame, and glue is used to connect the frame and the periphery of the filter element to seal. Then paste the sealing strip on the frame to seal the gap between the filter screen and the dust box. Therefore, the filter part of the traditional dust box has a complex structure, and the installation steps of the filter are cumbersome, which wastes labor and cost, and the glue used for sealing is not economical nor environmentally friendly.
  • an embodiment of the present disclosure provides an automatic cleaning device, including: a mobile platform configured to automatically move on the operating surface, including a housing chamber; a cleaning module, including a dust box, the dust box is detachably assembled on the The accommodating chamber, the dust box includes a dust box filter, and the dust box filter is applied to the dust box of the automatic cleaning device, which simplifies the assembly process of the dust box filter.
  • this embodiment is simpler Some structural features are described above, and the same structure has the same technical effect, and some technical effects will not be repeated here.
  • the dust box filter screen 500 includes: a soft rubber frame 501, and the soft rubber frame includes at least one soft rubber protrusion 5011 for sealing with the dust box during the assembly process. Assembly gap; the filter element 502 is sheathed in the soft rubber frame 501 ; wherein, the soft rubber frame 501 is non-detachably connected to the filter element 502 .
  • the specific non-detachable connection process between the soft rubber frame 501 and the filter element 502 can adopt the overmolding injection molding process, the filter element is pre-set in the frame, and then the beer soft rubber is put on the set frame assembly to form an integral body As many sealing protrusions as required.
  • a two-shot process can be used to first inject the hard rubber frame body, set the filter element behind the frame body, and then inject soft rubber to form inner and outer sealing protrusions.
  • the soft rubber frame can be in a rectangular, square, elliptical, circular, polygonal, etc. structure, which is not limited.
  • the soft rubber frame is a rectangular structure, and the soft rubber frame of the rectangular structure includes two first side walls 50111 of the soft rubber frame and two second side walls 50113 of the soft rubber frame;
  • the soft rubber protrusions include first protrusions 5011 distributed on the outer peripheral surface of the first side wall 50111 of the soft rubber frame and second protrusions 5015 distributed on the outer peripheral surface of the first side wall 50111 of the other soft rubber frame
  • a pair of first side walls 50111 of the soft rubber frame and a pair of second side walls 50113 of the soft rubber frame enclose a rectangular structural frame, and a filter element is set inside the rectangular structural frame, as shown in FIGS. 11 and 12 .
  • the first protrusion 5011 and the second protrusion 5015 can be a continuous protrusion structure, for example, the first protrusion 5011 and the second protrusion 5015 are formed from the outer peripheral surface of the first side wall 50111 of the soft rubber frame. Continuously extending from one end to the other. Since the first protrusion 5011 and the second protrusion 5015 are soft rubber structures, when the dust box filter is assembled on the dust box, the first protrusion 5011 and the second protrusion 5015 will be squeezed and directly sealed to the dust box Between the filter screen 500 and the second opening 3012 of the dust box, the inner wall extending approximately horizontally with the second opening 3012 of the dust box is fully contacted and sealed, replacing the traditional dust box. Steps for sealing.
  • the undercut structure is configured to seal the assembly gap between the soft rubber frame and the dust box. At the same time, prevent the filter screen of the dust box from falling off from the dust box.
  • the undercut structure is an arc structure, and the arc structure is inclined to a side opposite to the assembly direction of the dust box filter. The undercut structure is convenient for the dust box filter to be dumped to the opposite side of the assembly direction with the friction force of the dust box filter extending into the dust box assembly opening during the assembly process of the dust box filter, and then squeezed and sealed between the dust box filter and the dust box filter. between dust bins.
  • the second side wall of the soft rubber frame further includes at least one third protrusion 5012, and the third protrusion 5012 is distributed on the outer peripheral surface of at least one second side wall 50113 of the soft rubber frame of the frame structure superior.
  • the third protrusion 5012 can be a plurality of discrete protrusion structures. As an embodiment, the third protrusion 5012 is distributed on the outer peripheral surfaces of the two second side walls 50113 of the frame structure.
  • the third projection 5012 on the outer peripheral surface of the second side wall 50113 of a soft rubber frame of the frame structure has a slightly longer structure, which can extend into the depression of the side wall of the dust box to play a buckle and prevent the dust box
  • the function of the filter screen falling off at the same time, when assembling the filter screen of the dust box, the slightly longer third protrusion 5012 can be inserted into the depression of the side wall of the dust box, and the filter screen of the dust box can be rotated around the third protrusion 5012. Put the dust box on the other side.
  • the third protrusion 5012 distributed on the outer peripheral surface of the second side wall 50113 of the other soft rubber frame of the frame structure has a more rounded structure.
  • the third protrusion on this side 5012 and the elastic structure 5013 of the side wall of the dust box are interferingly locked to prevent the filter screen of the dust box from falling off.
  • the outer convex part can be elastically moved under the action of external force to lock with the third protrusion 5012, as shown in Figure 15, which is an installation structure diagram of the filter screen of the dust box viewed from the bottom of the dust box.
  • Figure 15 is an installation structure diagram of the filter screen of the dust box viewed from the bottom of the dust box.
  • the soft rubber frame further includes: a first rib 510, arranged on the outer peripheral surface of the second side wall of the soft rubber frame, configured to prevent the dust box from The filter screen is installed too deep or too shallow in the dust box, resulting in poor assembly.
  • a first rib 510 arranged on the outer peripheral surface of the second side wall of the soft rubber frame, configured to prevent the dust box from The filter screen is installed too deep or too shallow in the dust box, resulting in poor assembly.
  • the soft rubber frame further includes: a fool-proof protrusion 509, arranged on the outer peripheral surface of the second side wall of the soft rubber frame, configured to prevent the dust box from The filter is installed backwards.
  • the position corresponding to the dust box and the fool-proof protrusion 509 will be provided with a depression.
  • the fool-proof protrusion 509 will enter the depression so that the dust box filter screen can be assembled normally.
  • the accommodating chamber 200 includes a first chamber 201 and a second chamber 202, and the first chamber 201 and the second chamber 202 are in the
  • the automatic cleaning equipment is arranged adjacent to each other in sequence in the advancing direction, and the depth of the first chamber 201 is greater than that of the second chamber 202 .
  • the bottom of the front side wall of the first chamber 201 is provided with a dust suction port 203, and the rear side wall of the connection between the first chamber 201 and the second chamber 202 is provided with an air outlet 208, and the space below the second chamber 202 accommodates a blower fan.
  • the rear side wall of the platform 100 is provided with an exhaust port 204.
  • the air outlet 208 is provided with a grid structure.
  • the soft rubber frame also includes: a sealing inner lip 507, which is arranged on the first end surface 50116 of the soft rubber frame 501 around the filter element 502, configured to realize the dust box filter screen and
  • the sealing fit between the assembly surface 30121 of the second opening 3012 of the dust box, the assembly surface 30121 of the second opening 3012 of the dust box is formed on the side of the second opening close to the inner wall of the dust box, and is roughly a planar structure , for assembling the soft rubber frame after abutting against the first end surface 50116 of the soft rubber frame 501, as shown in FIG.
  • the second end surface 50115 is configured to seal the filter screen of the dust box and the edge of the air outlet 208 of the accommodating chamber 200 .
  • the sealing inner lip 507 and the sealing outer lip 506 are higher than the first end surface 50116 or the second end surface 50115 where they are located. After being assembled in place, the sealing inner lip 507 will be squeezed between the dust box filter screen and the assembly surface of the dust box, Since the sealing inner lip 507 is a flexible material, it seals the assembly surface of the dust box filter screen and the dust box under the action of extrusion force; when the dust box is assembled on the automatic cleaning equipment, the sealed outer surface of the dust box filter screen The lip 506 will be squeezed between the dust box filter screen and the outside of the grille of the air outlet 208 of the accommodation chamber 200, thereby sealing the assembly surface of the dust box filter screen and the fan bracket, as shown in Figures 3a and 3b, the first The side wall connecting the first chamber 201 and the second chamber 202 constitutes the assembly surface of the fan support, the fan is arranged below the second chamber 202, and the grille air outlet 208 is arranged on the first chamber 201 and the second chamber.
  • the side walls of the chamber 202 are connected.
  • the sealing inner lip 507 and sealing outer lip 506 provided on the soft rubber frame 501 Through the sealing inner lip 507 and sealing outer lip 506 provided on the soft rubber frame 501, the connection between the inner end surface of the dust box filter screen 500 and the assembly surface of the dust box air outlet, as well as the outer end surface of the dust box filter screen 500 and the accommodating chamber are realized.
  • the sealing fit of the outer surface of the air outlet grille of 200 omits the cumbersome steps of installing sealing strips on the inside and outside of the traditional dust box filter to meet the sealing requirements of the air passage, and the soft rubber frame 501 is used as a carrier, which also has a certain degree of flexibility.
  • the sealing inner lip 507 and the sealing outer lip 506 are used as a sealing structure, which makes the contact and sealing fit more closely, the fit is more sufficient, and the sealing effect is stronger, ensuring the airtight performance of the entire air path, and the suction of the cleaning equipment relying on negative pressure. Functions such as dust and dust removal have played a better role in protection.
  • the soft rubber frame further includes: a stepped surface 503 extending outward along the second end surface 50115 of the soft rubber frame 501 , so that the stepped surface 503 and the The side wall of the soft rubber frame 501 forms a stepped structure, which is configured to prevent the dust box filter from being loaded too deep into the dust box.
  • the step surface 503 will abut against the outer edge of the dust box assembly, thereby locking on the outer edge of the dust box, preventing the dust box filter from being loaded into the dust box Too deep, as shown in Figure 14.
  • the soft rubber frame further includes a magnetic component installation hole 504, which is arranged on the second end surface 50115 of the soft rubber frame 501, and is configured to accommodate a magnetic component to ensure that the The dust box filter screen is installed in place, and the magnetic element can be a magnet or other electromagnetic components; the magnetic element mounting hole 504 is installed with an induction magnetic element, and the magnetic element mounting hole 504 has sufficient depth to ensure that the magnetic element can be installed at a fixed position inside the filter screen. When the overall filter is installed in a fixed position, it can be checked by the Hall sensor to ensure that the filter is installed in place.
  • the soft rubber frame further includes a second rib 5041 disposed around the periphery of the magnetic element installation hole, configured to prevent liquid from entering the magnetic element installation hole.
  • the second rib 5041 tightly wraps the outer end of the magnetic element outside the mounting hole 504 of the magnetic element, which can prevent the magnetic element from rusting and failing.
  • the second rib 5041 can be a soft rubber material, which further wraps the magnetic element after being squeezed.
  • the soft rubber frame further includes a clasp 505 disposed at a position where the step surface 503 extends outward, and is configured to facilitate taking out the filter screen of the dust box.
  • the shape and structure of the clasp 505 is not limited, and may be semicircular, square, or rectangular.
  • the soft rubber frame further includes a hollow structure 508, which is arranged on the first side wall of the soft rubber frame and/or the second side wall of the soft rubber frame of the frame, configured as
  • the hollow structure 508 can be a plurality of blind holes sunken inward, and the structure of the blind holes is not limited, and can be circular, square, rectangular, irregular, etc.
  • the automatic cleaning equipment described in the above embodiments wherein the filter screen of the dust box, due to the design of the soft rubber frame, can be directly squeezed and assembled on the opening of the dust box during the assembly process, and at the same time cooperate with the first protrusion, the sealing inner lip and the
  • the sealing outer lip and other structures can make the filter screen and the assembly surface achieve a tight sealing effect during assembly, avoiding the manual assembly part of the traditional process of installing the filter screen and then gluing it, simplifying the process and reducing the number of assembly parts.
  • the cost is reduced, and there is no glue bonding, no peculiar smell, and it is more environmentally friendly.
  • this embodiment further provides a dust box, including the filter screen of the dust box as described in any of the above embodiments.
  • a dust box including the filter screen of the dust box as described in any of the above embodiments.
  • an automatic cleaning device including the dust box as described in any of the above embodiments.
  • the structure of the automatic cleaning device please refer to the above embodiments, and details are not repeated here.
  • the automatic cleaning equipment After the automatic cleaning equipment is vacuumed, it can enter the dust collection station to collect dust automatically.
  • the automatic cleaning equipment When the automatic cleaning equipment is collecting dust automatically, because the air path entering the automatic cleaning equipment is single and the air path is not blocked by the machine structure, it will cause dust collection. It is difficult for the station to suck all the garbage in the dust box into the garbage bag of the dust collection station. In order to clean up the garbage in the dust box as much as possible, it is often necessary to increase the power of the dust collection station fan, resulting in greater noise and more energy consumption.
  • the embodiment of the present disclosure also provides an automatic cleaning device with a dust collection function.
  • the airflow of the automatic cleaning device can enter the dust box more easily during the dust collection process, thereby making it easier to The garbage in the dust box is cleaned.
  • this embodiment briefly describes some structural features. The same structure has the same technical effect, and some technical effects will not be repeated here.
  • the present disclosure provides an automatic cleaning device with a dust collection function, including a mobile platform 100 configured to automatically move on the operating surface, and the mobile platform 100 generally includes a The upper shell, the lower shell, the side shell of the automatic cleaning equipment, and the structures and accessories arranged in the inner space of the aforementioned shells.
  • the mobile platform 100 includes a housing chamber 200 and a driving wheel assembly 141.
  • the housing chamber 200 Roughly located at the rear half of the moving platform forward direction, the accommodating chamber 200 is formed in the form of an inward recess, and the driving wheel assembly 141 is located on the lower housing of the mobile platform 100 as described above, for providing automatic cleaning equipment Forward momentum.
  • the mobile platform 100 also includes a cleaning module 150.
  • the cleaning module 150 includes a dust box 300 and a main brush module 153.
  • the dust box 300 is detachably assembled in the accommodating chamber 200. Part of the structure of the dust box 300 is as described above.
  • the dust box 300 also includes a first air inlet door 3013 and a second air inlet door 3014, and the first air inlet door 3013 and the second air inlet door 3014 are respectively located in the dust.
  • the first side wall 3015 of the dust box and the second side wall 3016 of the dust box, the first air intake door 3013 and the second air intake door 3014 are configured to provide two different directions of intake airflow during the dust collection process, It is conducive to the formation of airflow vortex in the dust box during dust collection, which greatly reduces the garbage residue in the dust box, reduces the dead angle of airflow, and improves the dust collection rate.
  • the source of the intake airflow includes at least one of the following: the airflow I that enters from the top gap of the mobile platform 100, the airflow II that enters from the gap of the main brush module 153, and the airflow from the rear side wall of the mobile platform.
  • the incoming airflow III and the incoming airflow IV from the gap of the driving wheel assembly 141 can be increased, thereby increasing the dust collection force and dust collection efficiency of the dust collection station, further reducing the dead angle of the air flow in the dust box, reducing garbage residues, and improving collection efficiency. dust rate.
  • the fan of the dust collection station When the automatic cleaning equipment finishes vacuuming and returns to the dust collection station for dust collection operation, the fan of the dust collection station will start to suck the garbage in the dust box. During the suction process, the air flows through multiple channels through the first inlet. The air door 3013 and the second air inlet door 3014 enter the dust box, and then are sucked out from the dust collection port by the dust collection station along with the garbage. In the state of dust collection, the cleaning main brush of the automatic cleaning equipment moves in the opposite direction with the start of the fan of the dust collection station, and the automatic cleaning equipment is in the state of "spitting" dust, and the airflow passes through the shell of the automatic cleaning equipment from the outside of the automatic cleaning equipment.
  • the gap enters the inner cavity of the dust box, and the airflow will form a vortex in the inner cavity of the dust box, rotating and throwing up the garbage in the inner cavity of the dust box, the dust collection fan of the dust collection station starts, and connects to the main brush and the dust box through a certain air channel.
  • the first opening 3011 of the dust box and the inner cavity of the dust box then rely on suction to suck the garbage in the inner cavity of the dust box into the garbage storage container or bag inside the dust collection station.
  • the airflow entering the dust box mainly includes the airflow I entering from the top gap of the mobile platform 100, as shown in FIG.
  • the airflow entering from the gap between the top surface of the mobile platform 100 and the gap between the cover 940 and the position determination element 1211 is introduced.
  • a support structure such as a protrusion will form an airflow gap between the cover 940 and the top surface of the mobile platform 100 and between the cover 940 and the position determination element 1211.
  • the suction of the fan of the dust collection station creates a negative pressure in the dust box 300 that is in fluid communication with the fan of the dust collection station.
  • the airflow gap formed between the cover 940 and the top surface of the mobile platform 100 and the cover 940 and the position determination element 1211 can add more airflow channels, thereby ensuring sufficient airflow into the dust box, and further increasing the air intake of the dust box and air intake speed, thereby increasing the dust collection strength and dust collection efficiency of the dust collection station, while reducing the airflow dead angle in the dust box, reducing garbage residue, and improving the dust collection rate; more importantly, guide the airflow from the vicinity of the position determination element 1211 After passing through, it helps to take away the excess heat generated by the position determining device in the working process, and plays a cooling role, which is conducive to improving the working stability of the position determining device and prolonging the life of electronic devices; in addition, the top airflow is more efficient than other parts. Cleaner,
  • the airflow entering the dust box also includes the airflow II entering from the gap of the main brush module 153.
  • the edge gap of the main brush module 153 and the edge gap of the driving wheel assembly 141 are also formed through the protrusions or grooves or the self-contained assembly gap, so as to move along with the suction of the fan of the dust collection station.
  • the negative pressure formed in the platform will naturally guide the gas outside the moving platform to enter the machine from the edge gap of the main brush module 153.
  • the edge gap of the main brush module 153 can add more airflow channels , so as to ensure sufficient air flow into the dust box, further increase the air intake volume and air intake speed of the dust box, thereby increasing the dust collection force and dust collection efficiency of the dust collection station, and at the same time reduce the air dead angle in the dust box and reduce garbage residue.
  • Improve the dust collection rate in addition, the distance between the airflow II and the two inlet doors of the dust box is relatively short, and the air duct is relatively smooth, which is conducive to further increasing the supplementary speed of the airflow and ensuring the dust collection efficiency.
  • the rear side wall of the mobile platform 100 is provided with an exhaust port 204, as shown in FIG. Airflow III, as shown in Figure 18a, when the exhaust port 204 is in the dust collection state, with the adsorption of the fan of the dust collection station, a negative pressure is formed in the mobile platform, which will naturally guide the gas outside the mobile platform to enter from the exhaust port 204
  • the gas enters both sides of the fan bracket from the exhaust port 204, and then enters the outside of the side wall of the accommodating chamber from the air inlet gap 20115 of the sealing baffle 20114 on both sides of the fan bracket, and then passes through
  • the air inlet hole 20111 on the outside of the accommodating side wall enters the dust box, thereby ensuring sufficient airflow into the dust box, further increasing the air intake volume and air intake speed of the dust box, thereby increasing the dust collection force and dust collection efficiency of the dust collection station, Further reduce the dead angle of the airflow in the dust box, reduce the residue of garbage, and improve the
  • the airflow entering the dust box also includes the airflow IV entering from the gap of the driving wheel assembly 141.
  • the air intake channel on the rear side of the upper part enters both sides of the accommodation chamber, and then directly enters the dust box through the air intake hole 20111.
  • the path of the airflow IV entering from the gap of the drive wheel assembly 141 is shorter, and the airflow passage into the dust box is simpler, and more airflow can be easily provided.
  • the above-mentioned I-II and IV airflows enter the housing of the mobile platform 100 and are roughly divided into two parts.
  • the I and II airflows form the first part
  • the IV airflow forms the second part.
  • the first airflow enters directly from the gap between the cover 940 and the top surface of the mobile platform, and the gap between the cover 940 and the position determining element 1211 to the accommodating
  • the second airflow enters from the gap between the main brush and the lower casing, then passes through the opening around the main brush drive motor, and reaches the front wall of the housing chamber, as shown in Figure 18a, due to the front side wall of the housing chamber 200 2010, the airflow cannot directly reach the side of the storage chamber 200, but enters the side of the storage chamber 200 through the air ducts 209 on both sides of the front side wall.
  • the upper and outer sides of the front side wall of the accommodating chamber 200 respectively include an air duct 209, the airflow I entering from the gap at the top of the mobile platform 100, and the airflow II entering from the gap of the main brush module 153 pass through the air duct.
  • 209 reaches the plurality of air inlet holes 20111 on the side of the storage chamber 200, enters the storage chamber 200 from the plurality of air inlet holes 20111 and enters the dust box through the first air inlet door 3013 and the second air inlet door 3014 .
  • the second part of the airflow IV directly reaches the plurality of air inlet holes 20111 on the side of the storage chamber 200 from the air intake channel on the upper rear side of the driving wheel, enters the storage chamber 200 from the plurality of air inlet holes 20111 and passes through The first air inlet door 3013 and the second air inlet door 3014 enter the dust box.
  • the rear side of the mobile platform includes a fan support 20116 and baffles 20114 located on both sides of the fan support 20116.
  • the baffle 20114 connects the upper and lower surfaces of the housing and the side walls, and the baffle 20114 closes the fan support 20116.
  • the fan is connected to some exhaust ports 204 on the rear side wall of the mobile platform through the exhaust duct, and these exhaust ports can be called the first exhaust port; Part of the exhaust port 204 that is connected with the exhaust duct is the first exhaust port to exhaust the air.
  • the other exhaust ports 204 around the above-mentioned partial exhaust port 204 of the fan are also the second exhaust port.
  • the second exhaust port is actually an air inlet that is not directly connected with the fan exhaust duct.
  • the baffle plate 20114 is provided with an air intake gap 20115, the third airflow enters and moves from the second exhaust port 204 After the inside of the platform shell, the air intake gap 20115 of the baffle plate 20114 on both sides of the fan support reaches the multiple air intake holes 20111 on the side of the accommodation chamber 200, and enters the accommodation chamber from the plurality of air intake holes 20111 200 and enter the dust box through the first air inlet door 3013 and the second air inlet door 3014.
  • the exhaust port 204 also includes a third exhaust port disposed on the side of the baffle plate 20114 opposite to the first exhaust port or the second exhaust port, that is, the current exhaust port in FIG. 18b
  • the third airflow enters from the third exhaust port, and the third airflow directly reaches the plurality of air inlet holes 20111 on the side of the accommodation chamber 200 from the third exhaust port, Enter the accommodating chamber 200 from the plurality of air inlet holes 20111 and enter the dust box through the first air inlet door 3013 and the second air inlet door 3014 , so that the air supply efficiency can be further improved.
  • the above-mentioned third exhaust port is a decorative hole that is not opened or is only used for decoration, so as to avoid too much unnecessary communication between the inside and the outside of the automatic cleaning device, and make the automatic cleaning device
  • the air intake of the equipment is controllable.
  • the accommodating chamber 200 further includes a third side wall 2011 corresponding to the first side wall 3015 of the dust box, and a third side wall 2011 corresponding to the second side wall 3016 of the dust box.
  • the third side wall 2011 and the fourth side wall 2012 respectively include a plurality of air inlet holes 20111, and the plurality of air inlet holes 20111 cover the first air inlet door 3013 and the second air inlet door 3013. At least a portion of the air intake door 3014.
  • the outer sides of the third side wall 2011 and the fourth side wall 2012 of the accommodating chamber 200 respectively include a plurality of partitions 20112, and the plurality of partitions 20112 form a plurality of air passages.
  • the top of each partition 20112 includes at least one notch 20113 configured to communicate with the plurality of air passages.
  • the multiple air paths formed by the plurality of spacers 20112 can ensure the uniformity of the airflow entering the accommodation chamber 200, avoiding the loss of airflow caused by part of the airflow reaching the air inlet hole 20111 and then entering the accommodation chamber 200 but failing to enter the dust box in time.
  • the lost air flow forms a convection flow with the I-IV air flow, which affects the efficiency of the air flow entering the dust box.
  • the plurality of air passages can reach the accommodating chamber 200 through the plurality of air inlet holes 20111 more evenly, and then efficiently enter the dust box.
  • the first air inlet door 3013 and the second air inlet door 3014 are located at the asymmetric positions of the first side wall 3015 of the dust box and the second side wall 3016 of the dust box, respectively.
  • a stagger which is beneficial to form an airflow vortex more quickly in the dust box during dust collection, and promote the airflow to enter the dust box.
  • the final swirling speed greatly reduces the garbage residue in the dust box, reduces the dead angle of air flow, and improves the dust collection rate.
  • the second air inlet door 3014 is disposed near the lower edge of the second side wall 3016, and the lower edge of the second air inlet door 3014 is lower than the lower edge of the first air inlet door 3013, The swirling speed of the airflow after entering the dust box is further improved.
  • the second air inlet door 3014 is arranged near the rear side wall of the dust box, and the first air inlet door 3013 is arranged near the front side wall of the dust box, so as to further enhance the air flow into the dust box The final gyration speed, wherein, in the assembled state, the front side wall of the dust box is the side wall of the dust box facing the forward direction of the automatic cleaning equipment, and the rear side wall of the dust box is opposite to the front side wall side wall towards the rear of the automatic cleaning device.
  • the first air inlet door 3013 rotates approximately around a first rotation axis
  • the second air intake door 3014 approximately rotates around a second rotation axis
  • the first rotation axis is approximately perpendicular to the second rotation axis, further improving The whirling speed of the airflow after entering the dust box
  • the first rotating shaft and the second rotating shaft can be the actual rotating shafts of the first air inlet door 3013 and the second air inlet door 3014, or can be rotated around the first rotating shaft by an elastic driving member. and rotate where the second axis is located.
  • the first air inlet door 3013 and the second air inlet door 3014 described in this embodiment refer to the plate surface that covers the opening on the first side wall of the dust box and the second side wall of the dust box.
  • an elastic member connected to the first air inlet door 3013 and the second air inlet door 3014 it is also necessary to set an elastic member connected to the first air inlet door 3013 and the second air inlet door 3014, and to be fixed outside the first side wall of the dust box and the second side wall of the dust box The fixed structure of the surface will not be repeated here.
  • the shapes of the first air inlet door 3013 and the second air inlet door 3014 are at least one or a combination of the following: rectangle, square, circle, ellipse, strip, etc. limited.
  • the first air inlet door 3013 is a rectangular structure, and the long side of the first air inlet door 3013 is arranged longitudinally;
  • the second air inlet door 3014 is a rectangular structure, and the long side of the second air inlet door 3014 is arranged along the transverse direction Setting, the first air inlet door 3013 and the second air inlet door 3014 are set through the above-mentioned structure, so that the air flow generates a vertical vortex and a horizontal vortex, blowing dust from all directions and multiple angles, effectively improving the dust collection rate, and further improving the air flow into the place.
  • first air inlet door 3013 and the second air inlet door 3014 are inwardly open structures, as shown in Figure 21, when the first air inlet door 3013 is opened inwardly, the air door is in a half-open state, and the air door opening faces the front side of the dust box When the air comes in, it blows directly to the front side wall of the dust box; when the second air inlet door 3014 is opened inward, the damper is also in a half-open state, and the opening of the damper faces the bottom of the dust box, and when the air comes in, it blows directly to the bottom of the dust box ;
  • the airflow coming in from the two air doors will not blow against each other, but form a swirling airflow, which can accelerate the rotation of the garbage in the dust box, so that the garbage can be quickly circulated to the dust outlet and sent out of the dust box.
  • the dust box 300 further includes a first opening 3011 and a second opening 3012.
  • the first opening 3011 is configured as a dust inlet during dust suction and a dust outlet during dust collection.
  • the dust inlet and the dust outlet during dust collection are set as the same opening, reducing the number of ports, effectively sharing the existing ports, and reducing the probability of air leakage;
  • the second opening 3012 is provided with a filter screen, and the specific structure and setting method are implemented as above
  • the first opening 3011 and the second opening 3012 are roughly located on the central axis of the front and rear directions of the automatic cleaning device.
  • the air path is a straight line structure, avoiding the detour of the air flow, thereby improving the fluency of the air path, as shown in Figure 22.
  • the accommodating chamber 200 includes a first chamber 201 and a second chamber 202 arranged adjacently in sequence in the forward direction of the automatic cleaning device, and the first chamber 201 is The bottom of the side wall is provided with a dust suction port 203, and the rear side wall at the junction of the first chamber 201 and the second chamber 202 is provided with an air outlet 208, the dust suction port 203, the air outlet 208, the Both the first opening 3011 and the second opening 3012 are approximately located on the central axis in the front-back direction of the automatic cleaning device.
  • the airflow does not pass through the tortuous air duct or air path, so that the fan power and suction loss are small, and the efficiency of the fan is maximized, saving energy consumption and reducing noise.
  • the mobile platform 100 further includes a position determining element 1211 substantially located on the central axis of the mobile platform 100 in the front-to-back direction, and a cover 940 covering the position determining element 1211 .
  • the space below the second chamber 202 is provided with a fan, the position determination element 1211, the cover 940, the fan, the main brush module 153, the dust suction port 203, the air outlet 208, the second Both the first opening 3011 and the second opening 3012 are approximately located on the central axis in the front-back direction of the automatic cleaning device.
  • the air inlet when the air inlet is single, the intake airflow is asymmetrical, the dust inlet is usually offset, which is unsightly, the entire air inlet and outlet passages are non-linear, and the air flow is obstructed and lost, which will affect the performance of other equipment at the same time.
  • the above-mentioned air path structure is set on the central axis, which avoids the defects of low dust collection rate and residual dust collection under the existing dust collection method. It overcomes the technical defects of the prior art that the wind path is offset, and the power and suction of the fan are lost through the tortuous air path.
  • the 153 port of the main brush module is also placed on the central axis, which ensures that the dust suction air path is not hindered, reduces loss and improves efficiency.
  • the present disclosure provides an automatic cleaning system, including: a dust collection station and the automatic cleaning device as described in any one of the above, wherein the dust collection station includes a dust collection port, and the dust collection station The port is docked with the port of the main brush module to collect dust.
  • Fig. 23 is a schematic structural diagram of a dust collection station provided by some embodiments of the present disclosure.
  • the dust collection station 700 is configured to provide garbage collection for automatic cleaning equipment.
  • the dust collection station 700 includes a dust collection station base 710 and a dust collection station main body 720 .
  • the main body 720 of the dust collection station is configured to collect the garbage in the dust box of the automatic cleaning device, and it is arranged on the base 710 of the dust collection station.
  • the base 710 of the dust collection station includes a dust collection port 711, which is configured to connect with the port of the main brush module of the automatic cleaning device, and the garbage in the dust box of the automatic cleaning device enters the main body 720 of the dust collection station through the dust collection port 711 .
  • a sealing rubber pad 714 is also provided around the dust collection port 711, which is used to seal the dust collection port 711 and the port of the main brush module of the automatic cleaning device after docking to prevent leakage of garbage .
  • Figure 24 is a schematic diagram of the scene after the automatic cleaning equipment returns to the dust collection station provided by some embodiments of the present disclosure.
  • the mobile platform 100 of the automatic cleaning equipment such as a sweeping robot
  • the automatic cleaning device will move to the dust collection station base 710 along the X direction, so that the port of the main brush module of the automatic cleaning device is docked with the dust collection port 711, so as to transfer the garbage in the dust box of the automatic cleaning device to the dust collection station.
  • the garbage bag of the dust station In the garbage bag of the dust station.
  • the disclosure provides automatic cleaning equipment and a system.
  • the automatic cleaning equipment has the function of automatic dust collection.
  • the airflow entering the dust box forms a convection flow, and the airflow in the dust box
  • the vortex cyclone is formed to smoothly suck the garbage in the dust box into the dust collection station; in addition, the main brush module, the dust suction port, the air outlet, the first opening and the second opening are all roughly arranged in the front and rear directions of the automatic cleaning equipment.
  • the speed of the airflow through the dust box can be further increased during dust collection, and the dust collection efficiency can be improved.
  • the garbage in the dust box can be sucked into the dust collection station more easily during dust collection.
  • 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 800 arranged on the frame, an assembly structure 900 and a position determination element 1211, and the position determination element 1211 is assembled to the assembly part 800 through the assembly structure 900
  • the assembly part 800 is usually a part of the frame, and includes one or more screw holes
  • the assembly structure 900 includes one or more corresponding screw holes
  • the position determination element 1211 is assembled to the assembly part 800 by bolts; automatic cleaning equipment
  • the parts used to assemble the assembly structure 900 and the position determination element 1211 can be regarded as the assembly part 800 .
  • its position and size are fixed.
  • the space position of the reserved assembly part 800 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 900 includes an assembly bracket 910; the position determination device includes a rotor 920, a motor 930, a cover 940, etc., the assembly bracket 910 is fixed to the assembly part 800 through the screw holes around the bracket, and the rotor 920 and the motor 930 is set inside the assembly bracket 910, and the cover 940 is set on the top of the rotor 920, which has the function of shielding and protection.
  • the rotor 920 protrudes from the top surface of the self-cleaning equipment.
  • the rotor 920 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 910 includes a rotor accommodating portion 911 and a motor accommodating portion 912.
  • the rotor accommodating portion 911 includes a first arc-shaped side wall 9111.
  • the first arc-shaped side wall 9111 may be a circular 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 27, the first arc-shaped sidewall 9111 can be a large part of the circular structure, for example, it can be 180- In a part within a range of 270 degrees, the motor housing part 912 includes a second arc-shaped side wall 9121, and the second arc-shaped side wall 9121 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 9111 of the rotor housing
  • the position determination element 1211 includes a rotor 920, the rotating shaft of which is roughly set at the geometric center of the rotor housing portion 911, and when the first arc-shaped side wall 9111 is an arc-shaped side wall, the geometric center of the rotor housing portion 911 It is equivalent to the center of the circle where the first arc-shaped side wall 9111 is located.
  • the geometric center of the rotor housing part 911 is equivalent to the circle where the arc with the largest arc is located.
  • the center of the circle is equivalent, as shown at A in Figure 27, the rotor 920 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 920 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 9111 of the rotor receiving part, but it is still assembled at the geometric center of the rotor receiving part 911 to ensure the symmetry of the structure and the rotation.
  • the position determination element 1211 includes a motor 930, the output shaft of the motor 930 is roughly arranged at the connection between the rotor housing part 911 and the motor housing part 912, 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.
  • connection is approximately located at the center of the smooth connection between the first arc-shaped side wall 9111 and the second arc-shaped side wall 9121 , that is, approximately on the line MN.
  • the geometric center of the motor housing part 912 is equivalent to the center of the circle where the second arc-shaped side wall 9121 is located; when the second arc-shaped side wall 9121 is a plurality of
  • the geometric center of the motor housing portion 912 is equivalent to the center of the circle where the arc with the largest radian is located, as shown at C in FIG. 27 .
  • the motor 930 is configured to be connected to the rotor through a transmission structure 932 such as a belt to provide driving force for the rotor.
  • the motor 930 drives the rotor 920 through the motor roller 931 and the transmission structure 932.
  • the transmission structure 932 can be a belt, a metal belt, an organic material belt, etc.
  • the rotating shaft of the motor 930 is hard connected to the motor roller 931, and the motor roller 931 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 912 further includes: an opening 9122 located on the bottom surface 9124 of the motor accommodating portion 912, configured to accommodate the motor 930; a first support rib 9123, Extending inwardly along the side wall 9121 of the motor accommodating part to the edge of the first opening 9122; wherein, the geometric center B of the first opening 9122 is closer to the rotor accommodating part than the geometric center C of the motor accommodating part
  • the geometric center A wherein the geometric center B of the first opening 9122 is approximately located at the center of the circle where the arc of the opening 9122 is located, and the geometric center C of the motor housing is approximately located at the center of the circle where the side wall 9121 of the motor housing is located.
  • the motor 930 can be assembled close to the rotor. At this time, the rotation gap between the motor 930 and the rotor 920 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 9123 especially the farther the distance from the motor, the longer the first support rib 9123 .
  • the rotor accommodating portion 911 further includes: an opening two 9112 located on the bottom surface 9114 of the rotor accommodating portion 911 and configured to accommodate the rotor 920 ; second supporting ribs 9113 , Extending inwardly along the inner side wall 9111 of the rotor accommodating part to the edge of the second opening 9112, the second support rib 9113 can enhance the stability and rigidity of the assembly bracket 910; wherein, the geometric center of the second opening 9112 is consistent with the The geometric center of the rotor housing part 911 is equivalent, roughly located at the center of the circle where the side wall 9111 of the rotor housing 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 that of the first opening.
  • the second opening communicates with the first opening to reduce the processing technology of the bracket structure, and the communication structure also facilitates the motor to drive the rotor to rotate through the transmission structure.
  • the position determining device further includes a cover 940, which is arranged on the top of the rotor 920.
  • the cover 940 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 940 includes a circular top surface 941, a bottom circular ring 942, and a plurality of connecting pieces 943 connecting the circular top surface 941 and the bottom circular ring 942.
  • the bottom circular ring 942 has The bottom plate extending horizontally from its bottom, the bottom ring 942 is fixedly connected or integrally formed with the bottom plate, the bottom plate is used for the pivotal connection between the cover 940 and the top surface of the mobile platform, the bottom ring 942 and the outer peripheral surface of the rotor 920 A first gap is formed, and a gap is formed between a plurality of connecting parts 943, 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 small
  • the rotor, and the cover 940 is equivalent to the size of the cover in 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 940 includes a circular top surface 941, a bottom ring 942, and a circular top surface 941 connected to the bottom ring 942
  • the bottom ring 942 has a bottom plate extending horizontally from its bottom, the bottom ring 942 is fixedly connected or integrally formed with the bottom plate, and the bottom plate is used for the pivotal connection between the cover 940 and the top surface of the mobile platform , a second gap is formed between the bottom ring 942 and the outer peripheral surface of the rotor 920, the second gap is smaller than the first gap, and the second gap makes the bottom ring 942 as close as possible to the outer peripheral surface of the rotor 920 without affecting the rotation of the rotor , such as 1-5mm spacing.
  • the assembly structure 900 further includes an annular shield 950, which is attached to the bottom ring 942, the annular shield 950 forms a second gap with the outer peripheral surface of the rotor 920, 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 annular shield 950 is as close as possible to the outer peripheral surface of the rotor 920, for example, with a distance of 1-5 mm.
  • the annular shielding member 950 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 radially extending width of the annular shielding member 950 is wide enough to shield the stray light caused by the first gap being too large.
  • the axially extending height of the annular shield 950 can facilitate the assembly of the annular shield 950 inside the bottom ring 942 .
  • the annular shielding member 950 includes an inserting member 951 adapted to the connecting member 943, and the inserting member 951 is inserted into the connecting member 943 so that the The annular shielding part 950 is fitted on the inner side of the bottom ring 942, and the plug-in part 951 and the connecting part 943 are provided in one-to-one correspondence, and the third slot 9433 is arranged under the connecting part 943, and the T-shaped protrusion 9512 is disposed under the connector 951 .
  • the thickness of the connecting piece 943 is increased, thereby reducing the distance of the above-mentioned first gap, so that stray light can be further reduced from entering the rotor 920 .
  • the inner wall of the connector 943 includes a first slot 9431
  • the outer wall of the plug connector 951 includes a protruding beam 9511 adapted to the first slot 9431.
  • the bottom ring includes a second slot 9432 extending circumferentially along the bottom surface of the bottom ring, and a third slot located on the inner surface of the bottom ring 942 9433, the second slot 9432 communicates with the third slot 9433; as shown in FIG. After the T-shaped protrusion 9512 is inserted into the third slot 9433, the annular shield 950 is fitted on the inner side of the bottom ring 942.
  • the T-shaped protrusion 9512 When the annular shield 950 is assembled, the T-shaped protrusion 9512 first The bottom of the second slot 9432 is inserted, and then pushed upward to insert the T-shaped protrusion 9512 into the third slot 9433 , which further stabilizes the circumferential and radial stability of the annular shield 950 .
  • the bottom ring 943 further includes a limit groove 9434 disposed on the inner surface of the bottom ring 943, and the limit groove 9434 is symmetrically disposed on the Both sides of the third slot 9433;
  • the annular blocking member 950 also includes limit protrusions 9513 arranged on both sides of the T-shaped protrusion 9512, when the annular blocking member 950 is fitted on the bottom ring 942 inside, the limiting protrusion 9513 fits into the limiting groove 9434 .
  • the cooperation of the limiting protrusion 9513 and the limiting groove 9434 further defines the position of the annular blocking member 950 .
  • 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 top of the automatic cleaning device since the top of the automatic cleaning device is not completely closed, there is a risk of internal water ingress. For example, if the user accidentally spills water on the automatic cleaning device, the water may pass through the gap on the top cover of the automatic cleaning device. For example, if the gap at the position determination device enters the interior of the automatic cleaning equipment, it may threaten components such as circuit boards and cause damage to the automatic cleaning equipment.
  • the present disclosure provides an automatic cleaning device, comprising: a mobile platform including a storage cavity; a position determination device, at least a part of which is arranged in the storage cavity; a circuit board, which is set in the mobile platform and is connected to the storage cavity adjacently arranged; and a water retaining bracket arranged between the circuit board and the accommodating chamber to prevent liquid from flowing into the circuit.
  • the position determining device includes: a position determining element and a cover, and the position determining device may be a camera device, a laser distance measuring device, etc.
  • the embodiments of the present disclosure specifically take the laser distance measuring device as an example for description, and the corresponding , the position determination element is a laser ranging unit.
  • Figure 32 is a schematic top view of the mobile platform body in the mobile platform provided by some embodiments of the present disclosure
  • Figure 33 is a schematic bottom view of the platform cover assembled on the upper part of the mobile platform body provided by some embodiments of the present disclosure
  • Figure 34 A schematic top view of the platform bottom plate assembled on the mobile platform body provided for some embodiments of the present disclosure.
  • the automatic cleaning equipment includes:
  • the mobile platform 100 includes a housing cavity 1011; at least a part of the position determination device 121 is disposed in the housing cavity; the circuit board 105 is disposed in the mobile platform 100, used to carry various electronic components of the automatic cleaning equipment, and the The receiving cavity 1011 is disposed adjacently; the water retaining bracket 104 is disposed between the circuit board 105 and the receiving cavity 1011 to prevent liquid from flowing into the circuit board 105 and avoid damage to the electronic components on the circuit board 105 .
  • the mobile platform 100 includes a mobile platform body 101, a platform cover 102 and a platform bottom plate 103; the structures of the platform cover 102 and the platform bottom plate 103 are all adapted to the structure of the mobile platform body 101 , according to the actual product settings.
  • the mobile platform body 101 can drive the automatic cleaning equipment to move and perform various cleaning tasks, and the mobile platform body 101 is provided with a storage cavity 1011, which is used to accommodate the position determination device 121. at least part of the structure.
  • the storage cavity 1011 is a hollow cavity, and a water blocking wall 10111 is arranged in the hollow cavity to guide the liquid entering the storage cavity to flow to the bottom of the storage cavity to prevent splashing.
  • the water blocking wall 10111 is part of the side wall of the receiving cavity 1011 .
  • the bottom of the storage cavity 1011 is provided with a liquid discharge hole 10112, so that the liquid collected in the storage cavity flows out of the storage cavity.
  • the number of the drain holes 10112 is multiple, and they are respectively arranged at different positions on the bottom edge of the storage cavity, and the water retaining wall 10111 forms a waterway with the bottom of the storage cavity, so that the liquid that enters the storage cavity Liquid substantially all flows into the drain hole 10112.
  • the mobile platform body 101 also has an accommodating space for accommodating the dust box 300 in the cleaning module 150 .
  • the platform cover 102 is the top of the automatic cleaning device and has an opening 1021.
  • the platform cover 102 In response to the platform cover 102 being fastened on the mobile platform body 101, the platform cover 102 basically covers the The position determination device 121 , a part of the structure of the position determination device is exposed to the external environment through the opening 1021 .
  • the side of the platform cover 102 facing the mobile platform body 101 is further provided with a water retaining rib 1022 protruding toward the mobile platform body.
  • the water retaining rib 1022 is located between the circuit board 105 and the receiving cavity 1011, and is located on the water retaining bracket 104 away from the circuit. side of the board 105.
  • the water retaining ribs 1022 can effectively guide the condensed water formed on the inner surface of the upper shell after the rising and condensed water vapor that may occur in the automatic cleaning equipment, preventing it from moving along the surface of the platform cover 102 facing the mobile platform body. Move, cross the water retaining bracket 104 from above and flow into above the circuit board 105 and drop, causing the electronic components on the circuit board 105 to be damaged.
  • the platform cover 102 also has an access opening 1023 configured to insert or take out the dust box 300 through the access opening 1023, and the orthographic projection of the access opening 1023 in the mobile platform falls on the within the accommodation space.
  • the surface of the dust box away from the bottom plate of the platform is coplanar with the platform cover, that is to say, the upper surface of the dust box serves as the self-cleaning part of the upper surface of the device. In this way, there is no need to set an upper flip cover, which simplifies the structure of the device, and further improves the technological sense and aesthetic feeling of the appearance of the automatic cleaning device.
  • the platform bottom plate 103 is buckled on the bottom of the mobile platform body 101 and is opposite to the platform cover 102 .
  • the platform bottom plate 103 is provided with an accommodating groove 1031 configured to collect the liquid discharged from the drain hole 10112, and the orthographic projection of the drain hole 10112 on the platform bottom plate 103 falls into the accommodating groove 1031 In this way, the liquid flowing out of the drain hole 10112 can naturally fall into the accommodating groove 1031 .
  • the side wall of the storage tank 1031 is further provided with a liquid discharge port 1032, and the liquid in the storage tank 1031 is discharged through the liquid discharge port 1032, which can precisely guide the specific outflow direction of the liquid and avoid Interfere with cleaning tasks.
  • the size and number of the accommodating grooves 1031 are matched with the positions and number of the drain holes 10112 .
  • the platform bottom plate 103 also includes a third opening 1033 configured to expose at least a part of the dry cleaning module of the automatic cleaning device so as to communicate with the mobile platform body 101 .
  • the third opening 1033 is disposed adjacent to the accommodating tank 1031 , and the liquid outlet 1032 guides the liquid in the accommodating tank 1031 to flow out of the automatic cleaning device through the third opening 1033 .
  • FIG. 35 is a schematic structural diagram of the water retaining bracket provided by some embodiments of the present disclosure; as shown in FIG. 35, the water retaining The bracket 104 is disposed between the circuit board 105 and the receiving cavity 1011 to prevent liquid from flowing into the circuit board 105 .
  • the circuit board 105 is a circuit element in the automatic cleaning device, and is generally located on the side of the position determining device close to the forward part of the automatic cleaning device.
  • the water retaining bracket 104 can be used to prevent the liquid from flowing from the position of the position determination device.
  • the water flows into the circuit board, so the water blocking bracket is arranged between the receiving cavity and the circuit board to realize waterproofing.
  • at least a part of the water retaining bracket 104 is located on the edge of the side of the circuit board 105 away from the surface of the platform floor 103 .
  • the water retaining bracket 104 includes: a bottom wall 1041, which is arranged at the first end of the circuit board close to the receiving cavity, and extends along at least a part of the edge of the first end; the side wall of the bracket 1042, extending from the edge of the bottom wall close to the circuit board in a direction substantially perpendicular to the bottom wall, and the free end of the side wall away from the bottom wall is further away from the circuit board than the The underside of the mobile platform.
  • the bottom wall 1041 is a flat plate structure with a certain width, and the width is the length of the bottom wall extending from an end close to the circuit board to the receiving cavity.
  • the support side wall 1042 includes a first support side wall 10421, a second support side wall 10422 and a third support side wall 10423 oppositely arranged at both ends of the first support side wall, and the second support side wall is far away from the A fourth support side wall 10424 connected to one end of the first support side wall, and a fifth support side wall 10425 connected to an end of the third side wall away from the first support side wall.
  • the first bracket side wall 10421 is arranged at the first end of the circuit board close to the receiving cavity, and the fourth side wall and the fifth side wall are respectively located at two ends of the water retaining bracket 104 , which The end is a free end, and the orthographic projections of the fourth side wall and the fifth side wall on the platform bottom plate 103 fall into the storage cavity, and are configured to guide the liquid blocked by the water retaining bracket to fall from the free end. into the holding chamber.
  • the side walls of the first bracket, the side walls of the second bracket, and the side walls of the third bracket are all plane.
  • the water retaining bracket 104 further includes a pivot shaft 1043 configured to be pivotally connected to the position determining device 121 to make at least some elements of the position determining device move relative to the water retaining bracket 104 .
  • the direction of the pivot shaft 1043 is parallel to and spaced from the first bracket side wall 10421 , and two ends of the pivot shaft 1043 are respectively fixed on the second bracket side wall 10422 and the third bracket side wall 10423 .
  • the water retaining bracket 104 also includes an installation hole 1044 for positioning the water retaining bracket 104 and fixing the water retaining bracket in the mobile platform 100 .
  • Fig. 36 is a schematic structural diagram of a position determination device in an automatic cleaning device provided by some embodiments of the present disclosure
  • Fig. 37 is a schematic structural diagram of an assembly structure of the position determination device and the mobile platform shown in Fig. 36 .
  • the position determining device 121 includes: a position determining element 1211 and a cover 940 .
  • the position determination element 1211 is exposed to the outside through the opening 1201 of the platform cover, the position determination element 1211 is rotatable relative to the mobile platform 100, and is used to measure the level of the automatic cleaning equipment and obstacles in the circumferential direction distance.
  • the cover 940 is buckled on the position determining element 1211 to protect the position determining element from being damaged.
  • Fig. 38 shows a schematic structural view of the cover in the position determination device in Fig. 36;
  • Fig. 39 shows a structural schematic view of the cover in Fig. 38 from another perspective, as shown in Figs. 38-39, specifically, the The cover 940 includes: a bottom plate 1221 , and a fastening cover 1222 protruding from the bottom plate, and a liquid guide hole 1223 is provided at the junction of the bottom plate 1221 and the fastening cover 1222 .
  • the quantity of the liquid guide hole 1223 is one or more, and when it is multiple, the intervals are distributed at the junction. A part of the liquid dropped on the bottom plate 1221 enters the receiving cavity 1011 through the liquid guide hole 1223 .
  • the bottom plate 1221 is a flat plate structure, and an opening 12210 is opened on the bottom plate 1221, and the fastening cover 1222 protrudes from the opening 12210 of the bottom plate to the side away from the platform bottom plate 103 for accommodating Position determination element 1211 .
  • One end of the bottom plate 1221 close to the surface of the platform bottom plate 103 is provided with a pivot structure 1224, the pivot structure 1224 is adapted to the pivot shaft 1043, so that the bottom plate 1221 and the water retaining bracket 104 pass through the pivot
  • the rotating shaft 1043 is pivotally connected.
  • At least a part of the bottom plate 1221 is overlapped with the bottom wall of the water retaining bracket 104, and a liquid guide groove 1225 is formed between the edge of the bottom plate 1221 close to the water retaining bracket 104 and the side wall of the water retaining bracket, It is configured to guide the liquid falling on the bottom plate 1221 into the receiving cavity. That is to say, the liquid guide groove 1225 is used to collect the liquid originally flowing to the circuit board and guide it out.
  • the liquid guide hole 1223 and the liquid guide groove 1225 are provided, and when the external liquid entering from the gap of the position determination device 121 falls to the surface of the bottom plate 1221 and spreads around, part of the liquid passes through the The liquid guiding hole 1223 directly flows into the receiving cavity, and when part of the liquid flows to the circuit board, it will directly flow into the liquid guiding groove 1225, and part of the liquid in the liquid guiding groove 1225 flows along the side wall 10421 of the first bracket, the third The side wall 10423 of the bracket and the side wall 10425 of the fifth bracket flow into the storage cavity, and part of the liquid flows into the storage cavity along the side wall 10421 of the first bracket, the side wall 10422 of the second bracket and the side wall 10424 of the fourth bracket .
  • the snap-fit cover 1222 is a groove structure configured to accommodate at least a part of the position determination element, the specific shape of the snap-fit cover 1222 is adapted to the structure of the position determination element, in some embodiments , the groove structure is a hollow cylinder.
  • the groove structure is buckled on the opening 12210 of the bottom plate, and the edge of the groove away from the bottom of the groove intersects with the open edge of the bottom plate.
  • the specific method can be fixed or detachable. Coitus.
  • a plurality of windows 12220 are provided around the side wall of the groove structure, and the position determination element located in the snap-fit cover 1222 emits laser light through the windows 12220 and receives the returned laser signal.
  • the liquid that enters from the gap between the position determination device 121 and the opening of the platform cover 102 falls to the bottom of the position determination device.
  • the surface of the bottom plate 1221 partly flows into the storage cavity through the liquid guide hole 1223, and partly flows into the storage cavity through the liquid guide groove 1225; and/or, when water vapor is generated in the automatic cleaning equipment, the water vapor gathers in Condensed water is formed on the inner surface of the platform cover 102, and the water retaining rib 1022 guides the condensed water to flow to the surface of the bottom plate of the position determination device, and flows into the receiving cavity through the liquid guide hole and the liquid guide groove respectively;
  • the liquid in the storage cavity 1011 falls into the storage tank 1031 of the platform bottom plate 103 through the drain hole 10112 at the bottom of the storage cavity, and the liquid in the storage tank flows out through the drain port 1032 and the third opening 1033 for automatic cleaning Equipment, to avoid damage to circuit boards
  • the automatic cleaning equipment provided by the present disclosure can prevent the liquid flowing in from the outside from entering the circuit board by setting a water-retaining bracket between the circuit board and the storage cavity, so as to avoid damage to the circuit components;
  • the equipment structure improves the sense of technology and aesthetics of the automatic cleaning equipment.
  • FIG. 40 is a schematic diagram of an assembly structure of a mobile platform, a position determination device and a trigger assembly provided by some embodiments of the present disclosure
  • Fig. 41 is a schematic diagram of a partial structure of the assembly structure shown in Fig. 40
  • Fig. 42 is an exploded structure of the trigger assembly shown in Fig. 41 schematic diagram.
  • the trigger protrusion 181 is disposed on the bottom surface of the other end of the bottom plate 1221 away from the water retaining bracket 104 .
  • the trigger protrusion is a hard structure configured to apply pressure to the trigger component, and the specific shape is not limited.
  • the trigger component 182 is set on the mobile platform 100, specifically, the trigger component 182 is set in the receiving groove 1012 of the mobile platform 100, and the receiving groove 1012 is set in the mobile platform 100.
  • the trigger assembly 182 includes: a trigger button 1821 and an elastic plate 1822, the trigger button 1821 is configured to be pressed by the trigger protrusion so that the automatic cleaning device performs an anti-jamming action; the elastic plate 1822 , are arranged in the receiving groove 1012 and are substantially parallel to and spaced apart from the bottom of the receiving groove.
  • the elastic plate can be a plane plate, which will be bent under the action of external force.
  • the elastic plate 1822 is made of flexible materials such as carbon nanotube film, polyester film and the like.
  • the elastic plate 1822 includes a fixed end 18221 and a free end 18222.
  • the elastic plate 1822 is a "T"-shaped structure
  • the fixed end 18221 is a strip-shaped structure.
  • the free end 18222 is a square structure, one end of the free end is connected to one end of the fixed end, and the fixed end 18221 is fixedly connected to the side wall of the receiving groove 1012, so that the strip
  • the shape structure is clamped at the bayonet 10121 on the side wall of the receiving tank; the free end is suspended.
  • the trigger button 1821 is disposed on the elastic plate and is located at the free end 18222. In response to the cover 940 being installed on the mobile platform, the trigger button 1821 faces the trigger protrusion 181, and the two are separated by a certain distance.
  • the trigger assembly 182 further includes an anti-upturning buckle 1823 and a positioning post 1824, the anti-upturning buckle 1823 is configured to prevent the elastic plate from rebounding in a direction away from the bottom of the receiving groove 1012 after being pressed.
  • the anti-upturning buckle 1823 is located on the side wall of the receiving groove 1012 away from the fixed end 18221 of the elastic plate. The free end of 1823 is as close as possible to the surface of the elastic plate away from the bottom of the receiving groove 1012 .
  • One end of the positioning post 1824 is fixed at the bottom of the receiving groove 1012 , and extends upward along a direction perpendicular to the bottom of the receiving groove, and passes through the elastic plate to fix the elastic plate.
  • the position determination device 121 pivots around the pivot shaft 1043, and the bottom plate approaches the trigger assembly 182. Movement, the trigger protrusion 181 on the bottom plate triggers the trigger button 1821, and the trigger button 1821 will generate and transmit the anti-jamming control signal to the control system 130 after being triggered, and then the control system 130 can generate corresponding control commands to make the cleaning equipment perform anti-jamming.
  • the trigger button 1821 has a certain pressing stroke, usually, the upper obstacle makes the action range of the bottom plate 1221 less than or equal to the pressing stroke of the trigger button 1821, which can be safely
  • the position determination device 121 may pivot too much, causing the bottom plate 1221 to drive the trigger protrusion 181 to move more than the trigger button 1821.
  • the elastic plate 1822 when the automatic cleaning device leaves the upper obstacle, the elastic plate 1822 generates a reaction force away from the bottom of the receiving tank and rebounds, and the elastic plate is finally blocked by the upturning buckle 1823 It is kept parallel to the plane where the bottom of the receiving groove is located, and is ready for the next possible anti-jamming control signal triggering process.
  • the setting of the elastic plate 1822 ensures the working safety of the trigger button 1821, and at the same time reduces the use of other additional components such as springs, makes the structure of the device more concise, easy to maintain or replace components, and reduces the damage of the position determination components that may be caused by surrounding metal components. interference.
  • 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 kind of 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 upper shell of the machine, 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 disclosure provides an automatic cleaning device without flip cover, which simplifies the unnecessary components of the key assembly of the automatic cleaning device, and at the same time increases the space between the bottom of the key assembly and the top of the circuit board, so that the More electronic components are arranged in the space, and at the same time, the elastic force of the button assembly is increased, making it easier to press.
  • the present disclosure provides an automatic cleaning device, as shown in FIG.
  • the present disclosure provides an automatic cleaning device, including: a mobile platform 100 configured to automatically move on the operating surface,
  • the mobile platform 100 includes a cover plate 1000, which constitutes at least a part of the top surface of the mobile platform; a button assembly 400, which is pressed by a manual operation to control the operation of the automatic cleaning device, and the button assembly 400 includes a keycap 410 and a bracket 420 , assembled on the cover plate 1000, wherein the cover plate 1000 includes a button installation hole 1002, the button assembly 400 includes a pressing main body part 411, and the pressing main body part 411 is assembled in the button installing hole 1002, so that the The top surface of the pressing main body is substantially flush with the top surface of the cover plate, and the user can directly apply force by pressing the main body during operation, without additional decorative parts; in some embodiments, the top surface of the pressing main body is slightly It is lower than or slightly higher than the top surface of the cover plate, so that the user can easily find the position of the key component only by the touch
  • the button assembly 400 can be applied to any equipment casing that requires mechanical buttons, including but not limited to sweeping robots, mopping robots, sweeping and mopping robots, hand-held robots, sprinkler robots, etc.
  • the button assembly is usually arranged on the upper surface of the casing of the mechanical equipment, It can also be arranged on the side of the mechanical equipment casing, which is not limited.
  • the casing of the mechanical equipment is generally formed of hard plastic, resin, metal or alloy material, without limitation.
  • the button assembly 400 includes a keycap 410 and a bracket 420.
  • the keycap 410 is usually made of soft rubber and opaque material to provide tightness, waterproofness and Light-shielding
  • the bracket 420 is usually made of hard rubber to provide support during the keycap assembly process, and at the same time cooperate with the hard cover plate to fix the keycap.
  • the soft rubber keycap is first assembled with the cover plate from bottom to top, so that at least the pressing body part 411 is assembled in the corresponding key installation hole 1002, and then the hard rubber bracket is assembled on the soft rubber keycap.
  • the bottom of the key cap is fixed by the positioning cylinder 1001 on the cover 1000 and the positioning hole 425 on the bracket 420 to form a key assembly.
  • the two circular positioning holes 425 on the key bracket have a buckle structure with the one on the cover.
  • the positioning cylinder 1001 also plays a positioning role, so that the keycap 410 is assembled between the bracket 420 and the cover plate.
  • the bracket 420 includes a step structure 430 extending in the circumferential direction.
  • the step structure is a continuous rising step from the outside to the inside or from the inside to the outside. Compared with the whole
  • the upper part of the bracket is relatively flat and regular.
  • the raised part of the step structure can provide layout space and design freedom for other components, effectively utilizing the upper space of the bracket.
  • the direction of the steps can be designed according to the space requirements of other components.
  • the step structure in the assembled state, is a continuously rising step from the outside to the inside.
  • Each step of the stepped structure 430 extends in a circumferential direction parallel to the overall outer contour shape of the bracket 420 to form a closed structure, such as a closed ellipse, circle, square, rectangle, etc., which is not limited thereto.
  • the stepped structure 430 forms a roughly conical stepped structure from outside to inside with continuous rising steps, and extends upward from the outer ring steps to the inner ring steps.
  • the specific number of steps is not limited, such as 2-5 steps, as an example, such as 2 -3 steps, as shown in Figure 44-45, the width and height of each step are not limited, and can be equal width and height, or steps of unequal width and height.
  • the step structure 430 extending along the circumferential direction of the bracket 420 makes the underside of the bracket have a larger suspended space. Since the bottom of the bracket is the butted circuit board 105, as shown in FIG. The circuit board increases the convenience of designing components, so that the space originally occupied by the lower part of the bracket can be used to lay out more electronic components.
  • the stepped structure 430 extending in the circumferential direction of the bracket 420 enables a larger suspended space under the bracket and increases the elasticity of the hard bracket. When the pressing force applied to the key assembly is transmitted to the hard bracket, the bracket is easier to The elastic deformation is generated and it is easier to reset after the elastic deformation, which brings a better touch feeling to the button assembly and increases the convenience of pressing and contacting the device.
  • the bracket 420 includes a bracket first side wall 421 extending continuously along the outer edge of the bracket 420 and a bracket second side wall continuously extending along the inner circumference of the bracket 420 .
  • the side wall 422 wherein a first fitting portion 423 is formed between the first side wall 421 of the bracket and the second side wall 422 of the bracket, and a second fitting portion 424 is formed in the second side wall 422 of the bracket.
  • the first side wall 421 of the bracket and the second side wall 422 of the bracket extend in a circumferential direction parallel to the overall outer contour shape of the bracket 420 to form a closed structure, such as a closed oval, circle, square, rectangle, etc. Do limited.
  • the closed and extended bracket first side wall 421 and the bracket second side wall 422 form a first fitting portion 423 and a second fitting portion 424 for accommodating the first raised portion 412 and the second raised portion 413 of the keycap.
  • the keycap as a whole plays a role of fixing and supporting.
  • At least a part of the step structure is located at the first assembly part 423
  • another part of the step structure is located at the second assembly part 424
  • the first assembly part 423 includes at least one step structure
  • the second assembly part 424 includes the highest step surface of the step structure.
  • the first side wall 421 of the bracket and the second side wall 422 of the bracket substantially form a high-low structure along with the rise of the step structure 430, for example, the second side wall 422 of the bracket is higher than the first side wall 421 of the bracket, so that the keycap The support is more stable and the sealing is more thorough.
  • both ends of the bracket 420 respectively include a positioning hole 425, and the lower surface of the cover plate is provided with a positioning cylinder 1001 corresponding to the positioning hole 425, and the positioning cylinder 1001 passes through the positioning hole 425.
  • the positioning hole 425 realizes the fixing of the bracket 420.
  • the side wall of the positioning cylinder 1001 includes at least one protrusion, so that the positioning cylinder 1001 and the positioning hole 425 are interference-fitted, so that the bracket 420 is firmly fixed. to the lower surface of the cover while providing an upward pressing force to fix the keycap 410 .
  • the bracket 420 further includes a keypad 427 connected by at least one elastic arm 426, the keypad is configured to move downward under the action of an external force to perform the pressing function, and the elastic arm 426 is configured to make The button board 427 is reset.
  • the keypad 427 is generally located inside the bracket, and includes a pair of symmetrically arranged.
  • the keypad 427 includes a keypad head 4271 in contact with the keycap abutting portion 4171 and a keypad head 4271 in contact with the components of the circuit board 105.
  • the keypad tail 4272 generally, the width of the keypad head 4271 is larger than the width of the keypad tail 4272, the width of the keypad head 4271 is larger to receive the pressing force, and the smaller the keypad tail 4272 is convenient for precise contact with the pressing element, avoiding wrong pressing.
  • the keypad 427 is connected to the inner edge of the bracket 420 through slender elastic arms 426 , and one or more slender elastic arms 426 are arranged around the keypad 427 to provide sufficient pressing and reset elastic force for the keypad 427 .
  • the keycap 410 includes a pressing body part 411 approximately located at the center of the keycap 410 and a first raised part 412 extending downward around the pressing body part 411 and the second protruding portion 413, the first protruding portion 412 and the second protruding portion 413 extend in a circumferential direction parallel to the contour shape of the pressing main body portion 411, forming a closed structure, wherein, when the keycap 410 is assembled on the When using the bracket 420 , the first protruding portion 412 and the second protruding portion 413 are adapted to the first fitting portion 423 and the second fitting portion 424 respectively.
  • the length of the first protruding part 412 extending downward is greater than the length of the second protruding part 413 extending downward.
  • the first protruding portion 412 and the second protruding portion 413 can be interference-fitted on the first assembling portion 423 and the second assembling portion 424 respectively, so as to increase the stability and sealing of the keycap assembly.
  • the upper surface of the keycap 410 includes an upper surface that connects the first protruding portion 412 and the second protruding portion 413 and extends upward around the pressing main body portion 411 .
  • the third protrusion 414 extends in a circumferential direction parallel to the outline shape of the pressing body portion 411 to form a closed structure.
  • the keycap 410 further includes a first groove 415 and a second groove 416 extending around two sides of the third protrusion 414 , wherein the depth of the first groove 415 is greater than that of the second groove 416 .
  • Figure 50 is an enlarged view of the bottom view of the cover plate D in Figure 49, the cover plate 1000 includes a button installation hole 1002, and the pressing main body 411 is assembled in the button installation hole 1002, here At this time, the edge of the key installation hole 1002 is surrounded by a downwardly extending edge portion 1004, and the edge portion is inserted into the second recess around the pressing main body 411 as the pressing main body 411 is inserted into the key installing hole 1002 from bottom to top. Groove 416.
  • the edge portion 1004 constitutes one of the waterproof ribs of the cover plate 1000, and the side wall of the edge portion 1004 may include at least one convex point, so that the pressing body portion 411 and the button mounting hole 1002 are interference-fitted to achieve a sealed connection, and play a waterproof and light-proof role.
  • the cover plate 1000 further includes a waterproof rib 1003 extending downward around the key installation hole 1002, the waterproof rib 1003 is assembled in the first groove 415, and the waterproof rib 1003
  • the side wall of 1003 may include at least one convex point, so that the waterproof rib 1003 is interference-fitted in the first groove 415 .
  • the edge of the button installation hole 1002 is inserted into the second groove 416 around the pressing body part 411, and the waterproof rib 1003 is also inserted into the first groove 415 with interference, and the waterproof rib 1003 is downward
  • the extended length is greater than the length of the edge of the button installation hole 1002, which further makes the pressing body 411 and the button installation hole 1002 more hermetically connected, and has a better effect of waterproofing and preventing light leakage.
  • FIGS. 47-48 wherein FIG. 48 is a cross-sectional view along line AB in FIG.
  • the recess 417 is configured to accommodate the keypad 427 .
  • the top of the depression 417 is provided with a top 4171 , and when the keycap and the bracket are assembled, the keypad head 4271 and the top 4171 are tightly pressed against each other, so as to accept the pressing force.
  • a light-shielding arm 418 extending downward is disposed between the two spaced apart recesses 417 .
  • the light-shielding arm 418 is made of opaque material, and can also be formed by applying opaque material, which can prevent optical interference between the optical elements associated with the pressing operation after the keypads 427 on both sides press the components on the circuit board 105 , affecting the user's acquisition of optical prompt information.
  • the light-shielding arm 418 and the keycap can be integrally formed, or can be processed and synthesized by bonding, clipping, etc. in a later stage, which is not limited.
  • the present disclosure provides an automatic cleaning device, wherein the button assembly is assembled on the cover plate of the automatic cleaning device, the button assembly includes a soft rubber keycap and a hard rubber bracket, the keycap is assembled on the bracket, and the bracket includes a
  • the step structure is a continuous rising step from the outside to the inside.
  • the continuous rising step structure provides enough space for the lower side of the key assembly, which can accommodate more components and increase the bracket.
  • the elastic force makes it easier for the button assembly to return to its original position after being pressed, further increases the length that the waterproof rib of the top cover can be set, and enhances the waterproof effect of the button assembly.

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

一种具有集尘功能的自动清洁设备及系统，自动清洁设备包括移动平台（100），移动平台（100）包括容纳腔室（200），移动平台（100）配置为在操作面上自动移动；清洁模组（150），包括尘盒（300）及主刷模组（153），尘盒（300）可拆卸的装配于容纳腔室（200）；尘盒（300）包括第一进风门（3013）和第二进风门（3014），第一进风门（3013）和第二进风门（3014）分别位于尘盒（300）的第一侧壁（3015）和第二侧壁（3016），第一进风门（3013）和第二进风门（3014）配置为在集尘过程中提供不同方向的进气气流。

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11日递交的中国专利申请第202210028896.9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。现有技术中，一些清洁机器人增加了自动充电、自动集尘、升降震动等结构或功能，使清洁机器人更加智能化。但同时，对于能够自动集尘的清洁机器人，往往由于风机的风力不够、集尘气流供应不足或不畅导致尘盒内的灰尘清除不干净。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
根据本公开的具体实施方式，本公开提供一种具有集尘功能的自动清洁设备，包括：移动平台，包括容纳腔室，所述移动平台配置为在操作面上自动移动；清洁模组，包括尘盒及主刷模组，所述尘盒可拆卸的装配于所述容纳腔室；所述尘盒包括第一进风门和第二进风门，所述第一进风门和所述第二进风门分别位于所述尘盒的第一侧壁和第二侧壁，所述第一进风门和所述第二进风门配置为在集尘过程中提供不同方向的进气气流。
在一些实施例中，所述第一进风门和所述第二进风门分别位于所述第一侧壁和第二侧壁的非对称位置。
在一些实施例中，所述第二进风门设置于临近所述第二侧壁下边缘的位置，且所述第二进风门下边缘低于所述第一进风门下边缘。
在一些实施例中，所述第二进风门临近所述尘盒的后侧壁设置，所述第一进风门临近所述尘盒的前侧壁设置。
在一些实施例中，所述第一进风门大致绕第一转轴旋转，所述第二进风门大致绕第二转轴旋转，所述第一转轴与所述第二转轴大致垂直。
在一些实施例中，所述第一进风门和所述第二进风门的形状为以下至少一种或组合：矩形、方形、圆形、椭圆形、长条形。
在一些实施例中，所述第一进风门为矩形结构，所述第一进风门长边沿纵向设置；所 述第二进风门为矩形结构，所述第二进风门长边沿横向设置。
在一些实施例中，所述尘盒还包括第一开口和第二开口，所述第一开口配置为吸尘时的进尘口和集尘时的出尘口，所述第一开口和所述第二开口大致位于所述自动清洁设备前后方向的中轴线上。
在一些实施例中，所述容纳腔室包括在所述自动清洁设备的前进方向上按序前后相邻布设的第一腔室和第二腔室，所述第一腔室前侧壁底部设置有吸尘口，所述第一腔室与第二腔室连接处的后侧壁设置有出风口，所述吸尘口、所述出风口、所述第一开口和所述第二开口均大致位于所述自动清洁设备前后方向的中轴线上。
在一些实施例中，所述第二腔室下方空间设置有风机，所述风机、所述主刷模组、所述吸尘口、所述出风口、所述第一开口和所述第二开口均大致位于所述自动清洁设备前后方向的中轴线上。
在一些实施例中，所述移动平台还包括位置确定装置及罩设于所述位置确定装置上方的罩盖，所述位置确定装置、所述罩盖、所述主刷模组、所述吸尘口、所述出风口、所述第一开口和所述第二开口均大致位于所述自动清洁设备前后方向的中轴线上。
在一些实施例中，所述不同方向的进气气流来源于以下至少之一：从所述移动平台顶端间隙进入的气流、从所述主刷模组间隙进入的气流以及从所述移动平台后侧壁进入的气流。
在一些实施例中，所述从所述移动平台顶端间隙进入的气流包括：从所述罩盖和所述移动平台顶面之间的间隙、以及所述罩盖和所述位置确定装置之间的间隙进入的气流。
根据本公开的具体实施方式，本公开提供一种自动清洁系统，包括：集尘站和如上任一项所述的自动清洁设备，其中，所述集尘站包括集尘端口，所述集尘端口与所述主刷模组的端口对接并集尘。
与相关技术相比，本公开实施例具有如下的技术效果：
本公开提供自动清洁设备及系统，该自动清洁设备具有自动集尘功能，通过在自动清洁设备的尘盒中非对称的设置两个风门，使得进入尘盒的气流形成对流，并在尘盒中形成涡流气旋，从而顺利的将尘盒中的垃圾吸入集尘站；此外，将主刷模组、吸尘口、出风口、第一开口和第二开口均大致设置于自动清洁设备前后方向的中轴线上，能够在吸尘时进一步增加气流流经尘盒的速度，提升吸尘效率，同时也能在集尘时更易将尘盒中的垃圾吸入集尘站。
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3a为本公开的一些实施例的自动清洁设备容纳腔室的斜视图。
图3b为本公开的一些实施例的自动清洁设备容纳腔室的出风口结构示意图。
图4为本公开的一些实施例的尘盒的立体视图。
图5为本公开的一些实施例的尘盒的斜视图。
图6a-6h为本公开的一些实施例的顶盖结构布局示意图。
图7为本公开的一些实施例的第一锁止件的放大示意图。
图8为本公开的一些实施例的第一锁定件的放大示意图。
图9a为本公开的一些实施例的第二锁止件的放大示意图。
图9b为本公开的一些实施例的第二锁止件的整体结构示意图。
图9c为本公开的一些实施例的第二扣手部的放大示意图。
图10为本公开的一些实施例的第二锁定件的放大示意图。
图11为本公开的一些实施例的尘盒滤网的外侧视角立体结构图。
图12为本公开的一些实施例的尘盒滤网的内侧视角立体结构图。
图13a为本公开的一些实施例的尘盒滤网的内侧正视结构图。
图13b为本公开的一些实施例的尘盒滤网的内侧视角立体结构图。
图14为本公开的一些实施例的尘盒与滤网装配结构示意图。
图15为本公开的一些实施例的尘盒与滤网装配结构及放大示意图。
图16为本公开的一些实施例的罩盖进气结构示意图。
图17为本公开的一些实施例的底座进气结构示意图。
图18a为本公开的一些实施例的内部气流结构示意图。
图18b为本公开的一些实施例的排气口进气结构示意图。
图19为本公开的一些实施例的风道结构放大示意图。
图20为本公开的一些实施例的容纳腔室结构示意图。
图21为本公开的一些实施例的尘盒结构示意图。
图22为本公开的一些实施例的自动清洁设备轴线BB对称结构图。
图23为本公开的一些实施例的集尘站结构示意图。
图24为本公开的一些实施例的自动清洁系统结构示意图。
图25为本公开的一些实施例的位置确定元件的整体结构图。
图26为本公开的一些实施例的位置确定元件的放大结构图。
图27为本公开的一些实施例的模组支架的结构图。
图28为本公开的一些实施例的罩盖的结构图。
图29为本公开的一些实施例的罩盖的局部剖视结构图。
图30为本公开的一些实施例的环形遮挡件的结构图。
图31为本公开的一些实施例的环形遮挡件的局部放大结构图。
图32为图1所示自动清洁设备中的移动平台本体的示意性俯视图。
图33为图1所示自动清洁设备中装配在所述移动平台本体上部的平台盖体的示意性仰视图。
图34为图1所示自动清洁设备中装配在所述移动平台本体上的平台底板的示意性俯视图。
图35为本公开的一些实施例的挡水支架的结构示意图。
图36为本公开的一些实施例的位置确定装置的结构示意图。
图37为图36所示位置确定装置与移动平台的装配结构示意图。
图38为图36所述位置确定装置中罩盖的结构示意图。
图39为图38所示罩盖的底部结构示意图。
图40为本公开的一些实施例中移动平台、位置确定装置与触发组件的装配结构示意图。
图41为图40所示装配结构中触发组件的放大示意图。
图42为图41所示触发组件的爆炸结构示意图。
图43为本公开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44为本公开的一些实施例的自动清洁设备按键支架上侧视角示意图。
图45为本公开的一些实施例的自动清洁设备按键支架下侧视角示意图。
图46为本公开的一些实施例的自动清洁设备按键键帽上侧视角示意图。
图47为本公开的一些实施例的自动清洁设备按键键帽下侧视角示意图。
图48为本公开的一些实施例的自动清洁设备按键组件装配结构剖面结构示意图。
图49为本公开的一些实施例的自动清洁设备盖板的结构示意图。
图50为本公开的一些实施例的图49盖板D处仰视图的放大图。
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、容纳腔室200、第一腔室201、第二腔室202、吸尘口203、排气口204、出风口208、容纳部301、顶盖302、第一开口3011、第二开口3012、第一部分3021、边缘部30211、台阶部205、第二部分3022、支撑结构3023、凹槽2021、第一凹陷206、第二凹陷207、第一锁止件601、第二锁止件602、第一扣手凹陷603、第一弹性臂6011、第一抠手部6012、第一卡扣部6013、第一锁定件701、第二扣手凹陷605、第二弹性臂6021、第二抠手部6022、第二卡扣部6023、第二锁定件702、软胶框架501、软胶凸起5011、滤芯502、第一筋位510、防呆凸起509、密封内唇507、密封外唇506、 台阶面503、磁铁安装孔504、第二筋位5041、扣手505、镂空结构508、第三凸起5012、弹性结构5013、枕位5014、第一进风门3013、第二进风门3014、尘盒第一侧壁3015、尘盒第二侧壁3016、位置确定元件1211、风道209、进风孔20111、第三侧壁2011、第四侧壁2012、隔片20112、缺口20113、集尘站700、集尘站底座710、集尘站主体720、集尘端口711、密封胶垫714、装配部800、装配结构900、装配支架910、转子920、马达930、罩盖940、转子容纳部911、马达容纳部912、第一弧形侧壁9111、第二弧形侧壁9121、马达滚轮931、传送带932、开口一9122、马达容纳部底面9124、第一支撑筋9123、开口二9112、第二支撑筋9113、转子容纳部底面9114、圆形顶面941、底部圆环942、连接件943、环形遮挡件950、插接件951、第一插槽9431、第二插槽9432、第三插槽9433、凸梁9511、T型凸起9512、限位凹槽9434、限位凸起9513、移动平台本体101、收容腔1011、挡水壁10111、排液孔10112、容纳槽1012、卡扣10121、平台盖体102，开孔1021、挡水筋1022、取放口1023、平台底板103、容置槽1031、排液口1032、第三开口1033、挡水支架104、底壁1041、支架侧壁1042、第一支架侧壁10421、第二支架侧壁10422、第三支架侧壁10423、第四支架侧壁10424、第五支架侧壁10425、枢转轴1043、安装孔1044、电路板105、底板1221、敞口12210、扣合盖1222、窗口12220、导液孔1223、枢转结构1224、导液槽1225、触发凸起181、触发组件182、触发按钮1821、弹性板件1822、固定端部18221、自由端部18222、防上翘卡扣1823、定位柱1824、盖板1000、按键组件400、按压主体部411、按键安装孔1002、键帽410、支架420、定位柱体1001、定位孔425、台阶结构430、支架第一侧壁421、支架第二侧壁422、第一装配部423、第二装配部424、弹性臂426、按键板427、按键板头部4271、按键板尾部4272、第一凸起部412、第二凸起部413、第三凸起部414、第一凹槽415、第二凹槽416、凹陷417、抵顶部4171、遮光臂418。
具体实施方式
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。
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，本公开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，根据位置确定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。
现有的自动清洁设备壳体布局框架结构复杂、零件数量多、组装工时长、工序繁杂、 成本高，例如增加自动清洁设备顶面翻盖及翻动机构，顶面翻盖上设计上壳装饰件等，上壳装饰件、上翻盖虽然能起到遮丑、保护内部元件等功能，但造成整机结构复杂、成本高，且对顶面翻盖下的尘盒等元件的设计空间造成了影响。
为此，本公开实施例提供一种无翻盖的自动清洁设备，简化了自动清洁设备不必要的元件的同时，增大了尘盒及其容纳腔室的设计空间，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，本公开提供一种自动清洁设备，如图3所示，包括：移动平台100，配置为在操作面上自动移动，移动平台100包括容纳腔室200，在一些实施例中，所述容纳腔室200设置于自动清洁设备前进方向上的偏后侧，所述容纳腔室200包括第一腔室201和第二腔室202；干式清洁模组151，包括尘盒300，所述尘盒300可拆卸的装配于所述容纳腔室200；其中，所述第一腔室201和所述第二腔室202在所述自动清洁设备的前进方向上按序前后相邻布设，且所述第一腔室201深度大于所述第二腔室202深度。第一腔室201和所述第二腔室202在所述自动清洁设备的前进方向上按序前后相邻布设，可以将整个尘盒中体积和重量更大的部分设置于更加靠近自动清洁设备中部的位置，使得尘盒更加稳定的设置于容纳腔室200，也使整个清洁设备的重心更稳定，在行进、转弯、越障等过程中表现的更平稳，不容易倾覆；同时便于将尘盒容纳部和尘盒顶盖做成一体结构，使得尘盒顶盖可以做为移动平台顶面的一部分，和移动平台顶面的其他部分齐平，省略了传统清洁设备的翻盖结构，同时便于将位于清洁设备底部大致中央位置的吸尘口直接对准尘盒，使灰尘从吸尘口直接进入尘盒，减少灰尘进入机器内部的行程，避免灰尘对机器内部的污染。第一腔室201深度大于第二腔室202深度，能够分结构的容纳尘盒和尘盒顶盖，便于尘盒顶盖的一体化设计。第一腔室201前侧壁底部设置有吸尘口203，第一腔室201与第二腔室202连接处的后侧壁设置有出风口208，出风口208具有格栅结构，第二腔室202下方空间容纳风机，风机可由风机支架承载，在一些实施例中，出风口208构成风机支架的一部分；移动平台100后侧壁设置有排气口204，在风机吸力的作用下，灰尘从吸尘口203进入尘盒300，气流经尘盒滤网过滤后从排气口204排出。
在一些实施例中，所述尘盒300包括容纳部301和位于所述容纳部301上方的顶盖302，所述顶盖与所述容纳部固定连接。固定连接方式包括但不限于粘结、焊接、一体成型、螺栓连接、卡扣连接等。容纳部用于容纳从吸尘口203吸入的垃圾，容纳部的外型与所述第一腔室201大致匹配。
与地面具有一定干涉的滚刷将地面上的垃圾扫起并在风机产生的负压气流作用下卷带到滚刷与尘盒300之间的吸尘口203前方，然后被风机产生并经过尘盒300的有吸力的气流吸入尘盒300，垃圾被滤网500隔离在尘盒300内部，经过过滤后的空气进入风机。
典型的，尘盒300的容纳部301具有位于尘盒前侧的第一开口3011，第一开口3011与吸尘口203对准设置，容纳部301具有位于尘盒后侧的第二开口3012，滤网500设置于所述第二开口3012，第二开口3012与出风口208相对接。所述滤网500与尘盒300的盒体为可拆卸连接，方便滤网拆卸和清洗。其中，前侧是指X方向，尘盒300装配于容纳 腔室200后，沿自动清洁设备前进方向的一侧，后侧是指X方向，与自动清洁设备前进方向相反的一侧。
在一些实施例中，所述顶盖302包括覆盖所述容纳部301的第一部分3021和超出所述容纳部301向外延伸的第二部分3022，当所述尘盒300装配于所述容纳腔室200时，所述容纳部301及所述顶盖302的第一部分3021容置于所述第一腔室201中，所述顶盖302的第二部分3022容置于所述第二腔室202中。顶盖302和第一腔室的顶端部分以及第二腔室结构大致匹配，使得尘盒300可以稳定的安装到容纳腔室200当中，避免了尘盒由于自动清洁设备行进过程中的颠簸而造成的晃动，同时，尘盒顶盖能够恰好的覆盖容纳部和风机所在位置，使得尘盒顶盖上表面与移动平台上表面大致水平，保证了自动清洁设备外表面的平整，外观整体协调性更好，也为顶盖下面包括容纳部在内的各部件的设计提供了更多的空间选择，方便安排不同部件的位置，尘盒容积可选择性提高，可以按需布置具体大小，不影响容纳腔室的总体开口大小，减少开模成本。
在一些实施例中，所述顶盖302的第一部分3021包括突出所述容纳部边缘轮廓向外延伸的边缘部30211。所述容纳腔室200包括沿所述容纳腔室顶端边缘环绕延伸的台阶部205，所述台阶部205配置为容纳所述边缘部30211的至少一部分以及所述第二部分外边缘的至少一部分，使得所述顶盖上表面与所述移动平台上表面大致共面。容纳腔室200沿所述容纳腔室顶端边缘环绕延伸的台阶部205，能够完整的接纳顶盖302的边缘，使得顶盖302能够基本严丝合缝的容置于容纳腔室200，能够防止异物直接掉入尘盒边缘缝隙，进一步防止卡住尘盒，同时保证了顶盖作为自动清洁设备上表面的美观。
在一些实施例中，所述顶盖302的第二部分3022下方设置有支撑结构3023，配置为支撑所述顶盖的第二部分3022。可选择地，所述支撑结构3023与所述容纳部301的至少一部分一体成型，以增强所述支撑结构3023对于顶盖302的第二部分3022的支撑力，有效防止其损坏。支撑结构3023可以包括但不限于弧形结构、直线型结构。作为一种实施方式，例如，支撑结构3023为与顶盖302的第二部分3022外边缘轮廓大致匹配的对称设置的两个弧形结构。
在一些实施例中，所述第二腔室202的下表面包括一凹槽2021，所述凹槽2021与所述支撑结构3023轮廓大致匹配，配置为当所述顶盖的第二部分容置于所述第二腔室中时，所述支撑结构3023容置于所述凹槽2021，以使得顶盖302上表面基本水平。
在一些实施例中，所述顶盖沿所述自动清洁设备的前进方向中轴线对称设置。在一些实施例中，所述顶盖形状为以下至少之一或组合：D型、长方形、方形、圆形、椭圆形、三角形、四边形、五边形、六边形、七边形或八边形，如图6a-6h所示。对称设置可以使得机器外形无外盖遮挡的情况下，仍然比较美观，且对于尘盒的安装与拆卸都比较便利。
在一些实施例中，所述第一腔室201包括第一锁定件701，所述第二腔室202包括第二锁定件72，所述顶盖第一部分3021包括第一锁止件601，所述顶盖第二部分3022包括第二锁止件602，所述第一锁止件601与所述第一锁定件701配合锁止，所述第二锁止件 602与所述第二锁定件72配合锁止。
上述实施例涉及到自动清洁设备的尘盒及其安装结构，通过在自动清洁设备前进方向的后侧设置容纳腔室，所述容纳腔室包括第一腔室和第二腔室，且所述第一腔室深度大于所述第二腔室深度，当尘盒装配于容纳腔室后，尘盒顶盖上表面与移动平台上表面大致共面，简化了自动清洁设备顶面的结构，降低了生成成本，同时增加了容纳腔室的设计空间。
现有的自动清洁设备设置有弹出式尘盒和非弹出式尘盒，弹出式尘盒顶面翻盖及翻动机构，取放尘盒时，需要将顶面翻盖打开，再通过按压尘盒的方式将尘盒弹出，该实施方式需要设置复杂的尘盒弹出机构，尘盒弹出机构包括弹簧等多个零件，由于弹簧反复使用导致弹性下降，使得尘盒不能顺利弹起，此外其他诸多的零部件也容易导致尘盒无法正常弹出，影响使用。非弹出式尘盒多采用结构复杂的锁定结构，其中的弹簧组件易老化损坏，按压部件在操作时和手指的匹配舒适度也不足，整体使用体验较差。
为此，本公开实施例提供一种无翻盖的自动清洁设备，简化了自动清洁设备不必要的元件的同时，方便了尘盒的顺利取放，本实施例同上述实施例相比简述了部分结构特征，相同的结构具有相同的技术效果，部分技术效果在此也不做赘述。具体的，如图1-5、7所示，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，包括设置于前进方向上后侧的容纳腔室200；清洁模组，包括尘盒300，所述尘盒300可拆卸的装配于所述容纳腔室200，所述尘盒包括容纳部301、位于所述容纳部上方的顶盖302和锁定机构。所述锁定机构包括大致位于所述顶盖中心轴线的第一锁定机构610；其中，所述第一锁定机构610至少包括第一扣手凹陷603和第一锁止件601，所述第一锁止件601位于所述第一扣手凹陷603内，所述第一锁止件601在外力作用下可以相对于所述第一扣手凹陷603弹性移动。第一扣手凹陷603沿顶盖第一部分边缘向下形成凹陷，第一扣手凹陷603在Z向提供足够的深度，使得第一锁止件601高度低于顶盖表面，第一扣手凹陷603在X方向提供足够的弹性空间使得当第一锁止件601向内弹性移动时具有足够的活动空间。
在一些实施例中，所述第一锁止件601包括第一弹性臂6011、第一抠手部6012和第一卡扣部6013，其中，所述第一弹性臂6011从所述第一扣手凹陷603底部向上延伸，所述第一抠手部6012位于所述第一弹性臂6011向上延伸的末端，所述第一卡扣部6013沿所述第一弹性臂6011横向延伸。第一弹性臂6011整体大致呈“冂”字形，以减少物料，增加弹性，对此形状结构不做限定。第一抠手部6012横向设置于第一弹性臂6011上方，第一抠手部6012包括一个大致向外突出的底面和沿底面向上延伸的扣手面，扣手面延伸至大致与顶盖齐平位置，扣手面可以为弧形结构，即其在水平面的投影为弧形；扣手面便于接收手动操作，与手指形状更符合人体工程学受力关系。在一些实施例中，所述第一卡扣部6013为沿所述第一弹性臂6011两侧对称设置的一对片状结构，所述片状结构从根部到自由端部的宽度由大变小，以便于顺利的插入第一锁定件701。第一弹性臂6011整体采用常见的弹性材料制作即可，例如塑料或有机弹性材料。
在一些实施例中，如图8所示，图8为图3a中A处的第一锁定件的放大示意图，所述容纳腔室200内壁与所述第一锁止件601大致对应的地方设置有第一锁定件701，所述第一锁止件601与所述第一锁定件701配合锁止。在一些实施例中，所述第一锁定件701为一对通孔，所述片状结构的自由端部插入所述通孔实现锁止。
在一些实施例中，所述容纳腔室内壁与所述第一扣手凹陷603大致对应的地方设置有第一凹陷206，所述一对通孔设置于所述第一凹陷206两侧。当第一锁止件601伸入所述通孔时实现锁止，当通过第一凹陷206伸入手指施加作用力将第一锁止件601从通孔拔出时，实现解锁。第一凹陷206和第一扣手凹陷603的协同配合，使得手指的伸入操作变得更为轻松方便。
在一些实施例中，如图9a所示，所述锁定机构还包括第二锁定机构620，所述第二锁定机构620包括第二扣手凹陷605和第二锁止件602，第二扣手凹陷605沿顶盖第二部分3022大致中线位置向内形成缺口，例如弧形或方形缺口，便于手指伸入进行扣动操作，所述第二锁止件602位于所述第二扣手凹陷605下侧，第二扣手凹陷605为手指控制第二锁止件602提供足够的空间，所述第二锁止件602在外力作用下向内弹性移动。具体的，所述第二锁止件602包括第二弹性臂6021、第二抠手部6022和第二卡扣部6023，其中，所述第二弹性臂6021位于所述第二扣手凹陷605的下方，第二弹性臂6021包括对称的两部分，每一第二弹性臂6021先沿所述第二扣手凹陷605开口方向延伸，然后沿顶盖边缘方向延伸，再沿所述第二扣手凹陷605边缘方向延伸，其中，所述第二扣手凹陷605开口方向如图9a所示，为从顶盖中心向外的A方向，在本实施例中也为尘盒顶盖的后向，两部分第二弹性臂6021大致呈两个“几”字形结构对称相连设置，所述第二抠手部6022连接对称设置的两部分第二弹性臂6021，具体的，所述第二抠手部6022设置于两个所述第二弹性臂的上方，如图9b和图9c所示，图9c是图9b中C处第二抠手部的放大图，第二抠手部6022底部包括一个大致向外突出的底面60221和沿底面向上延伸的扣手面60222，扣手面延伸至大致与顶盖齐平位置，扣手面可以为弧形结构，扣手面便于接收手动操作，供手指施加作用力，可选的，所述第二抠手部6022与对称设置的第二弹性臂6021一体成型，所述第二卡扣部6023设置于所述第二弹性臂的横向延伸部分。所述第二卡扣部6023为沿所述第二弹性臂6021两侧对称设置的一对，例如为沿所述A方向延伸的凸起或片状结构，作为可选的实施方式，每一所述第二卡扣部6023包括一从所述第二卡扣部6023端部向内延伸的凹槽，凹槽可以防止一整块第二卡扣部成型冷却后产生过大形变，造成卡扣困难。可选的，所述第二锁止件602还包括对称设置的连接件6024，连接件6024大致为平面状，第二弹性臂6021的一端与连接件6024的一面连接，连接件6024的另一面与支撑结构端面连接固定。第二抠手部6022在X方向上漏出所述第二扣手凹陷605，以使得当解锁时，手指可以伸入第二扣手凹陷605并按压在第二抠手部6022上，沿X轴向尘盒内侧施力并带动第二卡扣部6023向内弹性收缩，使第二卡扣部6023从第二锁定件702底部弹出，实现解锁。第二弹性臂6021整体采用常见的弹性材料制作即可，例如塑料或有 机弹性材料。
在一些实施例中，如图10所示，图10为图3b中B处所示第二锁定件702的放大图，所述容纳腔室200内壁与所述第二锁止件602大致对应的地方设置有第二锁定件702，所述第二锁止件与所述第二锁定件配合锁止。所述第二锁定件为一对突起，第二卡扣部6023伸入所述第二锁定件702底部实现锁止。所述突起可以为扁平状、圆柱状、长方体状等，对此不做限定，以能卡止所述第二卡扣部为限。
在一些实施例中，所述第二腔室202的下表面与所述第二扣手凹陷605大致对应的部位设置有第二凹陷207，所述一对突起等高地设置于第二腔室202的后侧壁上，位于所述第二凹陷207上方。第二凹陷207配置为在尘盒300放入容纳腔室200时避让和容纳第二锁止件602，使整个尘盒更好的在容纳腔室200中放置到位。
在一些实施例中，所述顶盖包括覆盖所述容纳部的第一部分和突出所述容纳部向外延伸的第二部分，所述第二扣手凹陷605和所述第二锁止件602位于所述顶盖的第二部分。所述顶盖的第二部分下方包括支撑结构3023，配置为支撑所述顶盖的第二部分，所述第二锁止件602设置于所述支撑结构3023上，如图4所示，对称设置的支撑结构3023，形成X方向向内的压缩空间，当第二弹性臂6021连接于对称的支撑结构3023时，有足够的弹性空间可以响应施加的向内的作用力。
对于上述实施例所述的尘盒锁止结构，通过在尘盒顶盖前后方向对称的设置锁止结构，使得当单手施加作用力于尘盒前后两个弹性结构时，即可实现解锁，不会由于仅单侧解锁后从单侧弹出尘盒而造成尘盒倾斜。同时，由于弹性结构简单，仅仅采用弹性材料形成弹性臂即可实现弹性解锁，避免了使用弹簧等复杂的解锁装置易损坏的风险。
在一些实施例中，如图4所示，所述第二锁定机构620包括至少一个第一磁吸模块604，所述第一磁吸模块604设置于所述顶盖的第二部分与所述支撑结构之间。如图3a所示，所述容纳腔室包括至少一个第二磁吸模块606，配置为与所述第一磁吸模块604配合吸附后锁止。在应用过程中，用手推压第一锁止件601及第二扣手凹陷605可将尘盒对应的第一锁止件601收回，当将尘盒放入容纳腔室放开手后，第一锁止件601上的第一卡扣部6013会自动弹出并插入第一锁定件701，第一磁吸模块604与第二磁吸模块606相吸，从而实现尘盒锁固，该锁定结构简单，易操作，便于实现尘盒的锁定。
在一些实施例中，如上所述的第二锁定机构620可以为包括第二扣手凹陷605和第二锁止件602的实施方式，也可以为包括第一磁吸模块604的实施方式，或者二者均包括的实施方式，对此不做限定。
现有的自动清洁设备的尘盒需要配备可更换尘盒滤网，传统滤网一般由塑胶或者金属做成硬质框架，将层叠式滤芯放置到框架中，点胶连接框架和滤芯周边密封，然后再在框架上粘贴密封条来密封滤网与尘盒之间的缝隙。因此，传统的尘盒滤网部分结构复杂，滤网安装步骤繁琐，浪费人工和成本，且密封时使用的胶水不经济也不环保。
为此，本公开实施例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，包括容纳腔室；清洁模组，包括尘盒，所述尘盒可拆卸的装配于所述容纳腔室，所述尘盒包括尘盒滤网，尘盒滤网应用于自动清洁设备的尘盒当中，简化了尘盒滤网的装配过程，本实施例同上述实施例相比简述了部分结构特征，相同的结构具有相同的技术效果，部分技术效果在此也不做赘述。具体的，如图11-图12所示，尘盒滤网500，包括：软胶框架501，所述软胶框架包括至少一个软胶凸起5011，用于在装配过程中密封与尘盒的装配间隙；滤芯502，套设于所述软胶框架501内；其中，所述软胶框架501与所述滤芯502不可拆卸式连接。具体的软胶框架501与所述滤芯502不可拆卸式连接工艺，可以采用包胶注塑工艺，将滤芯预先套设在框架内，再在套设好的框架组合体上套啤软胶，一体形成多个需要的密封凸起。或者，可以采用双射工艺先注塑硬胶框架主体，将滤芯套设在框架主体后，再注射软胶形成内外密封凸起。
所述软胶框架可以为矩形、方形、椭圆形、圆形、多边形等结构，对此结构不做限定。在一些实施例中，所述软胶框架为矩形结构，所述矩形结构的软胶框架包括相对设置的两个软胶框架第一侧壁50111和两个软胶框架第二侧壁50113；所述软胶凸起包括分布于一个所述软胶框架第一侧壁50111外周面的第一凸起5011和分布于另一个所述软胶框架第一侧壁50111外周面的第二凸起5015，一对软胶框架第一侧壁50111和一对软胶框架第二侧壁50113围成矩形结构框架，矩形结构框架内套设有滤芯，如图11和12所示。
在一些实施例中，第一凸起5011和第二凸起5015可以是连续的凸起结构，例如第一凸起5011和第二凸起5015为从软胶框架第一侧壁50111外周面的一端连续的延伸至另一端。由于第一凸起5011和第二凸起5015为软胶结构，当尘盒滤网装配到尘盒上时，第一凸起5011和第二凸起5015会受到挤压并直接密封于尘盒滤网500和尘盒第二开口3012之间，与尘盒第二开口3012大致沿水平方向延伸的内壁充分接触密封，代替了传统尘盒滤网装配到尘盒上后，还需要通过密封条进行密封的步骤。
在一些实施例中，如图14所示，所述第一凸起和第二凸起至少之一为倒扣结构，所述倒扣结构配置为密封所述软胶框架与尘盒装配间隙的同时，防止所述尘盒滤网从所述尘盒脱落。具体的，所述倒扣结构为弧形结构，所述弧形结构向相对于所述尘盒滤网装配方向相反的一侧倾斜。倒扣结构便于在尘盒滤网装配过程中，随着尘盒滤网伸入尘盒装配开口的摩擦力，而向装配方向相反一侧倾倒，然后被挤压密封于尘盒滤网与尘盒之间。
在一些实施例中，所述软胶框架第二侧壁还包括至少一个第三凸起5012，所述第三凸起5012分布于所述框架结构至少一个软胶框架第二侧壁50113外周面上。第三凸起5012可以是离散的多个凸起结构，作为一种实施方式，第三凸起5012分布于所述框架结构的两个第二侧壁50113外周面上，当尘盒滤网装配到尘盒上时，位于框架结构一个软胶框架第二侧壁50113外周面上第三凸起5012具有稍长的结构，能够伸入尘盒侧壁的凹陷，起到卡扣、防止尘盒滤网脱落的作用，同时，在装配尘盒滤网时，可以先将该稍长的第三凸起5012伸入尘盒侧壁的凹陷，绕第三凸起5012旋转后将尘盒滤网另一侧装入尘盒。分布于所述框架结构另一个软胶框架第二侧壁50113外周面上的第三凸起5012具有更圆滑的 结构，当尘盒滤网装配到尘盒上时，该侧的第三凸起5012与尘盒侧壁弹性结构5013过盈卡止，防止尘盒滤网脱落，其中，弹性结构5013大致为S结构，其具有容纳第三凸起5012的内凹部和与第三凸起5012卡止的外凸部，外凸部可以在外力作用下弹性移动而与第三凸起5012卡止，如图15所示，为从尘盒底端仰视尘盒滤网的安装结构图。在一些实施例中，如图13a、图13b所示，所述软胶框架还包括：第一筋位510，设置于所述软胶框架第二侧壁外周面，配置为防止所述尘盒滤网装入尘盒过深或过浅，导致装配不良。尘盒滤网装入尘盒过程中，当装配到位后，第一筋位510会抵靠于尘盒边框对应位置设置的枕位5014，阻止滤网进一步向内伸入，即可防止尘盒滤网装入尘盒过深。同时，当装配过程中没有使第一筋位510抵靠于尘盒边框的枕位5014，则认为没有装配到位，可防止尘盒滤网装入尘盒过浅，如图15所示。
在一些实施例中，如图13a、图13b所示，所述软胶框架还包括：防呆凸起509，设置于所述软胶框架第二侧壁外周面，配置为防止所述尘盒滤网装反。尘盒与所述防呆凸起509对应的位置会设置有凹陷，当尘盒滤网正常装入时，防呆凸起509会进入该凹陷而使得尘盒滤网能正常装配，当尘盒滤网装反时，由于尘盒另一侧没有该凹陷而使得防呆凸起509会阻止尘盒滤网的装配，因此起到提示尘盒滤网装反的防呆作用。
在一些实施例中，如图3a和3b所示，所述容纳腔室200包括第一腔室201和第二腔室202，所述第一腔室201和所述第二腔室202在所述自动清洁设备的前进方向上按序前后相邻布设，且所述第一腔室201深度大于所述第二腔室202深度。第一腔室201前侧壁底部设置有吸尘口203，第一腔室201与第二腔室202连接处的后侧壁设置有出风口208，第二腔室202下方空间容纳风机，移动平台100后侧壁设置有排气口204，在风机吸力的作用下，灰尘从吸尘口203进入尘盒300，气流经尘盒滤网过滤后从排气口204排出。其中，出风口208设置有格栅结构。
如图11和12所示，所述软胶框架还包括：密封内唇507，环绕所述滤芯502设置于所述软胶框架501的第一端面50116，配置为实现所述尘盒滤网与所述尘盒第二开口3012的装配面30121之间的密封配合，所述尘盒第二开口3012的装配面30121形成于所述第二开口内靠近尘盒内壁的一侧，大致为平面结构，用于与所述软胶框架501的第一端面50116抵接后装配所述软胶框架，如图14所示；密封外唇506，环绕所述滤芯502设置于所述软胶框架501的第二端面50115，配置为密封所述尘盒滤网与容纳腔室200的出风口208边缘。密封内唇507和密封外唇506高于其所在的第一端面50116或第二端面50115，在装配到位后，密封内唇507会挤压于尘盒滤网和尘盒的装配面之间，由于密封内唇507为柔性材料，在挤压力作用下密封所述尘盒滤网与所述尘盒的装配面；当尘盒装配到自动清洁设备上后，尘盒滤网的密封外唇506会挤压于尘盒滤网与容纳腔室200的出风口208的格栅外侧之间，从而密封所述尘盒滤网与风机支架的装配面，如图3a、3b所示，第一腔室201和第二腔室202连接的侧壁构成了所述风机支架的装配面，风机设置于第二腔室202下方，格栅式出风口208设置于第一腔室201和第二腔室202连接的侧壁。通过在软 胶框架501上设置的密封内唇507和密封外唇506，实现了尘盒滤网500内端面与尘盒出风口装配面之间，以及尘盒滤网500外端面与容纳腔室200的出风口格栅外表面的密封配合，省略了传统尘盒滤网需要在内外侧加装密封条以满足风路密封需求的繁琐步骤，且软胶框架501作为载体，同样具有一定柔性的密封内唇507和密封外唇506作为密封结构，使得接触密封配合更为紧密，贴合更充分，密封效果更强，保证了整个风路的气密性能，对清洁设备依赖负压实现的吸尘和排尘等功能起到了更好保障作用。
在一些实施例中，如图11和12所示，所述软胶框架还包括：台阶面503，沿所述软胶框架501的第二端面50115向外延伸，使得所述台阶面503与所述软胶框架501的侧壁形成台阶结构，配置为防止所述尘盒滤网装入尘盒过深。在装配过程中，尘盒滤网伸入尘盒装配开口时，台阶面503会抵靠到尘盒的装配外边缘，从而卡止于尘盒外边缘，避免尘盒滤网装入尘盒过深，如图14所示。
在一些实施例中，如图11所示，所述软胶框架还包括磁性元件安装孔504，设置于所述软胶框架501的第二端面50115，配置为装入磁性元件用以确保所述尘盒滤网安装到位，磁性元件可以为磁铁或其他电磁元气件；磁性元件安装孔504安装感应磁性元件，磁性元件安装孔504有足够的深度保证磁性元件可以安装在滤网内侧的固定位置，在整体滤网安装到固定位置时可以被霍尔传感器检查到，确保滤网安装到位。
在一些实施例中，如图11所示，所述软胶框架还包括第二筋位5041，环绕所述磁性元件安装孔的周边设置，配置为防止液体进入所述磁性元件安装孔。第二筋位5041在磁性元件安装孔504外侧紧密包裹磁性元件外端，可以防止磁性元件生锈失效。第二筋位5041可以为软胶材料，受挤压后进一步包裹磁性元件。
在一些实施例中，如图11所示，所述软胶框架还包括扣手505，设置于所述台阶面503向外延展的位置，配置为便于取出所述尘盒滤网。扣手505的形状结构不做限定，可以为半圆形、方形、矩形等。
在一些实施例中，如图12所示，所述软胶框架还包括镂空结构508，设置于所述框架的软胶框架第一侧壁和/或软胶框架第二侧壁上，配置为减轻框架的整体重量，镂空结构508可以为向内凹陷的多个盲孔，盲孔的结构不做限定，可以为圆形、方形、矩形、不规则形等。
以上实施例所述自动清洁设备，其中，尘盒滤网，由于采用了软胶框架设计，其在装配过程中可以直接挤压装配于尘盒开口，同时配合第一凸起、密封内唇和密封外唇等结构，在装配的同时能够使得滤网与装配面达到紧密密封的效果，避免了传统工艺装入滤网后再点胶粘接的手工装配部分，工序简化，组装零部件减少，同时降低了成本，且无胶水粘接，无异味，更加环保。
在一些实施例中，如图14所示，本实施方式还提供一种尘盒，包括如上任一些实施例所述的尘盒滤网。尘盒的结构参见如上一些实施例所述，在此不做赘述。
在一些实施例中，还提供一种自动清洁设备，包括如上任一些实施例所述的尘盒，自 动清洁设备的结构参见如上一些实施例所述，在此不做赘述。
自动清洁设备吸尘完毕后，可以进入集尘站自动集尘，自动清洁设备在自动集尘的时候，由于进入自动清洁设备的风路单一且风路受到机器结构的阻挡不够畅通，导致集尘站很难将尘盒中的垃圾全部吸入集尘站的垃圾袋中，为了尽可能的将尘盒中的垃圾处理干净，往往需要增大集尘站风机的功率，从而带来更大的噪音和更多的能耗。
为此，本公开实施例还提供一种具有集尘功能的自动清洁设备，通过改进自动清洁设备的风路结构，使得自动清洁设备在集尘过程中气流更容易进入尘盒，从而更容易将尘盒中的垃圾处理干净，本实施例同上述实施例相比简述了部分结构特征，相同的结构具有相同的技术效果，部分技术效果在此也不做赘述。具体的，根据本公开的具体实施方式，本公开提供一种具有集尘功能的自动清洁设备，包括移动平台100，所述移动平台100配置为在操作面上自动移动，移动平台100大致包括形成自动清洁设备外形的上壳体、下壳体、侧面壳体以及设置于前述壳体内部空间的结构及配件，具体的，移动平台100包括容纳腔室200及驱动轮组件141，容纳腔室200大致位于移动平台前进方向的后半部位置，容纳腔室200以向内形成凹陷的形式形成，驱动轮组件141如前所述，位于移动平台100的下壳体上，用于提供自动清洁设备前进的动力。移动平台100还包括清洁模组150，清洁模组150包括尘盒300及主刷模组153，所述尘盒300可拆卸的装配于所述容纳腔室200，尘盒300的部分结构如前述实施例所述，在此不做赘述，所述尘盒300还包括第一进风门3013和第二进风门3014，所述第一进风门3013和所述第二进风门3014分别位于所述尘盒的尘盒第一侧壁3015和尘盒第二侧壁3016，所述第一进风门3013和所述第二进风门3014配置为在集尘过程中提供两个不同方向的进气气流，有利于在集尘时在尘盒内形成气流漩涡，大幅降低尘盒内的垃圾残留，减少气流死角，提高集尘率，双进风门的设置也提高了进气速率，提高了气流漩涡的形成效率；其中，所述进气气流的来源至少包括以下之一：从所述移动平台100顶端间隙进入的气流I、从所述主刷模组153间隙进入的气流II、从移动平台后侧壁进入的气流III以及从所述驱动轮组件141间隙进入的气流Ⅳ。通过设置多组进气气流，提高自动清洁设备的进气量、进气速度，从而加大集尘站的集尘力度和集尘效率，进一步减少尘盒内气流死角，减少垃圾残留，提高集尘率。
当自动清洁设备吸尘完毕后，回到集尘站进行集尘操作时，集尘站风机会启动，抽吸尘盒当中的垃圾，在抽吸过程中，气流经多个渠道通过第一进风门3013和所述第二进风门3014进入尘盒，然后随着垃圾被集尘站从集尘口吸出。集尘状态下，自动清洁设备的清扫主刷随着集尘站风机的启动做反向运动，自动清洁设备处于“吐”尘状态，气流由自动清洁设备的外部通过自动清洁设备的壳体间缝隙进入尘盒内腔，气流在尘盒内腔会形成漩涡，将尘盒内腔内的垃圾旋转抛起，集尘站的集尘风机启动，通过一定气道联通到主刷处、尘盒的第一开口3011、尘盒内腔然后依靠吸力将尘盒内腔内的垃圾吸入集尘站内部的垃圾收纳容器或袋子里。
其中，进入尘盒的气流主要包括从所述移动平台100顶端间隙进入的气流I，如图16 所示，具体的，从所述移动平台100顶端间隙进入的气流I包括从罩盖940和所述移动平台100顶面之间的间隙进入、以及从罩盖940和位置确定元件1211之间的间隙进入的气流。本公开在组装罩盖940和位置确定元件1211时，会通过凸起等支撑结构在罩盖940和所述移动平台100顶面以及罩盖940和位置确定元件1211之间形成气流间隙，随着集尘站风机的吸附，与集尘站风机流体连通的尘盒300内形成负压，第一进风门3013和第二进风门3014向尘盒内打开引导尘盒外气流进入，移动平台内也形成负压，会自然的引导移动平台外的气体从罩盖940和所述移动平台100顶面以及罩盖940和位置确定元件1211之间形成气流间隙进入机器内部，相对于传统的密封结构，罩盖940和所述移动平台100顶面以及罩盖940和位置确定元件1211之间形成气流间隙能够增设更多的气流通道，进而保证足够的气流进入尘盒，进一步提高尘盒的进气量和进气速度，从而加大集尘站的集尘力度和集尘效率，同时减少尘盒内气流死角，减少垃圾残留，提高集尘率；更重要的是，引导气流从位置确定元件1211附近经过，有助于带走位置确定装置在工作工程中产生的多余热量，起到降温作用，有利于提高位置确定装置的工作稳定性，延长电子器件的寿命；此外，顶部气流相对于其他部位更加清洁，对机器内部风路来说更加安全友好。
进入尘盒的气流还包括从所述主刷模组153间隙进入的气流II，如图17所示，气流II从移动平台100下壳体底面主刷模组153的装配间隙进入壳体的，其中，在设备组装时，也通过凸起或凹槽或自带的装配间隙，形成主刷模组153的边缘间隙和驱动轮组件141的边缘间隙，从而随着集尘站风机的吸附，移动平台内形成负压，会自然的引导移动平台外的气体从主刷模组153的边缘间隙进入机器内部，相对于传统的密封结构，主刷模组153的边缘间隙能够增设更多的气流通道，进而保证足够的气流进入尘盒，进一步提高尘盒的进气量和进气速度，从而加大集尘站的集尘力度和集尘效率，同时减少尘盒内气流死角，减少垃圾残留，提高集尘率；此外，气流II到达尘盒两处进风门的距离较短，风道较通畅，有利于进一步提高气流的补充速度，保障集尘效率。
在一些实施例中，所述移动平台100后侧壁设置有排气口204，如图3a所示，其中，多组进气气流还包括在集尘状态下从所述排气口204进入的气流Ⅲ，如图18a所示，排气口204在集尘状态下，随着集尘站风机的吸附，移动平台内形成负压，会自然的引导移动平台外的气体从排气口204进入机器内部，具体的，如图18b所示，气体从排气口204进入风机支架两侧，然后从风机支架两侧的密封挡板20114的进风缺口20115进入容纳腔室侧壁外侧，然后通过容纳侧壁外侧的进风孔20111进入尘盒，进而保证足够的气流进入尘盒，进一步提高尘盒的进气量和进气速度，从而加大集尘站的集尘力度和集尘效率，进一步减少尘盒内气流死角，减少垃圾残留，提高集尘率；在集尘过程中，移动平台100的后侧能够相对充分的暴露在环境中，由设置在此处的排气口作为气流入口，可以更为顺畅的补充气流，减少了外部与清洁设备接触或配合的器件或环境对于气流的干涉，气流补充更为安全高效。在一些实施例中，进风缺口20115设置在密封挡板20114的底部，以减少气流对其他部件的影响。
此外，如图18a所示，进入尘盒的气流还包括从驱动轮组件141的间隙进入的气流Ⅳ，驱动轮设置有进气通道，从驱动轮底部边缘间隙进入壳体的气流直接从驱动轮上部后侧的进气通道进入容纳腔室两侧，然后直接通过进风孔20111进入尘盒。从驱动轮组件141的间隙进入的气流Ⅳ路径更短，进入尘盒气流通道更简单，容易提供更多的进入气流。
如图18a所示，上述I-II、IV路气流进入移动平台100壳体内，大致分成两部分，第I和II路气流形成第一部分，第IV路气流形成第二部分。其中，第一部分气流中，第I路气流从所述罩盖940和所述移动平台顶面之间的间隙、以及所述罩盖940和所述位置确定元件1211之间的间隙进入直接到达容纳腔室200的前方，第II路气流从主刷和下壳缝隙进入，然后从主刷驱动电机周围的开口通过，到达容纳腔前壁，如图18a所示，由于容纳腔室200前侧壁2010的阻挡，气流不能直接到达容纳腔室200的侧面，而是通过前侧壁两侧的风道209进入容纳腔室200的侧面，具体的，如图19所示，在一些实施例中，所述容纳腔室200前侧壁上方外侧分别包括一个风道209，从所述移动平台100顶端间隙进入的气流I、从所述主刷模组153间隙进入的气流II，通过所述风道209到达容纳腔室200的侧面的所述多个进风孔20111，从所述多个进风孔20111进入容纳腔室200并通过第一进风门3013和所述第二进风门3014进入尘盒。第二部分气流Ⅳ，直接从驱动轮上部后侧的进气通道到达容纳腔室200的侧面的所述多个进风孔20111，从所述多个进风孔20111进入容纳腔室200并通过第一进风门3013和所述第二进风门3014进入尘盒。
如图18b所示，移动平台后侧包括风机支架20116和位于所述风机支架20116两侧的挡板20114，所述挡板20114连接壳体上下表面以及侧壁，挡板20114将风机支架20116封闭于移动平台后端，风机通过排风管道连接于移动平台后侧壁的部分排气口204，这些排气口可称为第一排气口；自动清洁设备清洁时，风机通过排风管道和与排风管道连通的部分排气口204也就是第一排气口排风，集尘时，通过风机上述部分排气口204周围的其他排气口204也就是第二排气口进气，也就是说，第二排气口实际上是和风机排风管道不直接连通的进气口，由于挡板20114上设置有进风缺口20115，第Ⅲ路气流从第二排气口204进入移动平台壳体内部后，从风机支架两侧的挡板20114的进风缺口20115到达容纳腔室200的侧面的所述多个进风孔20111，从所述多个进风孔20111进入容纳腔室200并通过第一进风门3013和所述第二进风门3014进入尘盒。
作为一种可选的实施方式，排气口204还包括设置于挡板20114的与所述第一排气口或第二排气口相反一侧的第三排气口，即图18b中目前可见的那些排气口204，第Ⅲ路气流从所述第三排气口进入，第Ⅲ路气流从第三排气口直接到达容纳腔室200的侧面的所述多个进风孔20111，从所述多个进风孔20111进入容纳腔室200并通过第一进风门3013和所述第二进风门3014进入尘盒，如此，可进一步提高补风效率。
在另外的一些实施例中，上述第三排气口为不开孔或仅为用于装饰作用而不打通的装饰孔，从而避免自动清洁设备内部与外部进行过多不必要连通，使自动清洁设备的进风可控。
在一些实施例中，如图20所示，所述容纳腔室200还包括与所述尘盒第一侧壁3015对应设置的第三侧壁2011，和与所述尘盒第二侧壁3016对应设置的第四侧壁2012，所述第三侧壁2011和第四侧壁2012分别包括多个进风孔20111，所述多个进风孔20111覆盖所述第一进风门3013和第二进风门3014的至少一部分。容纳腔室200的所述第三侧壁2011和第四侧壁2012外侧分别包括多个隔片20112，所述多个隔片20112形成多个风路。在一些实施例中，每个所述隔片20112顶端包括至少一个缺口20113，配置为连通所述多个风路。多个隔片20112形成的多个风路能够保证气流进入容纳腔室200的均匀性，避免部分气流到达进风孔20111外即进入容纳腔室200但又不能及时进入尘盒而造成气流损失，同时损失的气流与I-IV路气流形成对流，影响气流进入尘盒的效率。当设计多个隔片20112且形成连通结构后，多个风路能够更加均匀的通过多个进风孔20111到达容纳腔室200，进而高效的进入尘盒。
在一些实施例中，如图21所示，所述第一进风门3013和所述第二进风门3014分别位于所述尘盒第一侧壁3015和尘盒第二侧壁3016的非对称位置，以避免两边进入的气流直接对冲抵消，并使从两个不同方向进入的进气气流形成交错，有利于在集尘时在尘盒内更加快速地形成气流漩涡，提升气流进入所述尘盒后的回旋速度，大幅降低尘盒内的垃圾残留，减少气流死角，提高集尘率。在一些实施例中，所述第二进风门3014设置于临近所述第二侧壁3016下边缘的位置，且所述第二进风门3014下边缘低于所述第一进风门3013下边缘，进一步提升气流进入所述尘盒后的回旋速度。在一些实施例中，所述第二进风门3014临近所述尘盒的后侧壁设置，所述第一进风门3013临近所述尘盒的前侧壁设置，进一步提升气流进入所述尘盒后的回旋速度，其中，在装配状态下，所述尘盒的前侧壁为尘盒的朝向自动清洁设备前进方向的侧壁，所述尘盒的后侧壁为与所述前侧壁相对的朝向自动清洁设备尾部的侧壁。在一些实施例中，所述第一进风门3013大致绕第一转轴旋转，所述第二进风门3014大致绕第二转轴旋转，所述第一转轴与所述第二转轴大致垂直，进一步提升气流进入所述尘盒后的回旋速度，其中，第一转轴和第二转轴可以为第一进风门3013和第二进风门3014实际设置的旋转轴，也可以是通过弹性驱动件绕第一转轴和第二转轴所在的位置旋转。
本实施例所述的第一进风门3013和第二进风门3014指遮蔽尘盒第一侧壁和尘盒第二侧壁上开口的板面，实际集尘过程中，为了实现第一进风门3013和第二进风门3014的打开和闭合，还需要设置连接于第一进风门3013和第二进风门3014上的弹性件，以及固定于尘盒第一侧壁和尘盒第二侧壁外表面的固定结构，在此不做赘述。
在一些实施例中，所述第一进风门3013和所述第二进风门3014的形状为以下至少一种或组合：矩形、方形、圆形、椭圆形、长条形等，对此不做限定。在一些实施例中，所述第一进风门3013为矩形结构，所述第一进风门3013长边沿纵向设置；所述第二进风门3014为矩形结构，所述第二进风门3014长边沿横向设置，通过上述结构设置第一进风门3013和第二进风门3014，使气流产生一个竖直面涡流，一个水平面涡流，全方位多角度 吹起灰尘，有效提高集尘率，进一步提升气流进入所述尘盒后的回旋速度。此外，第一进风门3013和第二进风门3014为向内开启的结构，如图21所示，当第一进风门3013向内开启时，风门为半开启状态，风门开口朝向尘盒前侧壁，气流进来时直接吹向尘盒前侧壁方向；当第二进风门3014向内开启时，风门也为半开启状态，风门开口朝向尘盒底部，气流进来时直接吹向尘盒底部方向；两个风门进来的气流不会相互对吹，而是形成回旋气流，这样可以加速尘盒内垃圾的旋转，从而便于将垃圾快速循环至出尘口并送出尘盒。
在一些实施例中，所述尘盒300还包括第一开口3011和第二开口3012，所述第一开口3011配置为吸尘时的进尘口和集尘时的出尘口，吸尘时的进尘口和集尘时的出尘口设置为同一开口，减少端口数量，有效共用现有端口，可以减少漏气概率；第二开口3012上设置有滤网，具体结构及设置方式如上实施例所述，在此不做赘述，所述第一开口3011和所述第二开口3012大致位于所述自动清洁设备前后方向的中轴线上，该设计结构使得通过自动清洁设备风机吸尘时，风路为直线结构，避免气流的迂回，从而提高气路流畅性，如图22所示。
在一些实施例中，所述容纳腔室200包括在所述自动清洁设备的前进方向上按序前后相邻布设的第一腔室201和第二腔室202，所述第一腔室201前侧壁底部设置有吸尘口203，所述第一腔室201与第二腔室202连接处的后侧壁设置有出风口208，所述吸尘口203、所述出风口208、所述第一开口3011和所述第二开口3012均大致位于所述自动清洁设备前后方向的中轴线上。吸尘或集尘时，气流不经过曲折的风道或风路，使得风机功率、吸力损耗小，最大化的利用了风机的功效，节省了能耗，降低了噪音。
在一些实施例中，所述移动平台100还包括大致位于所述移动平台100前后方向的中轴线上的位置确定元件1211及罩设于所述位置确定元件1211上方的罩盖940。所述第二腔室202下方空间设置有风机，所述位置确定元件1211、罩盖940、风机、所述主刷模组153、所述吸尘口203、所述出风口208、所述第一开口3011和所述第二开口3012均大致位于所述自动清洁设备前后方向的中轴线上。相关技术中，当进风口为单个时，进气气流不对称，进尘口通常偏置，不美观，整个气路进气和出气通路为非直线，气流有阻碍损耗，同时会影响其他设备的布置，增加进风口后，上述风路结构设置于中轴线上，避免了现有集尘方式下，集尘率低，集尘有残留的缺陷。克服了现有技术下风路有偏移，风机功率、吸力经过曲折的风道有损失的技术缺陷，同时在设计美观上，部件放置空间上有较大改进。主刷模组153端口也置于中轴线上，保证了吸尘风路不受任何阻碍，减少损耗，提高效率。
根据本公开的具体实施方式，本公开提供一种自动清洁系统，包括：集尘站和如上任一项所述的自动清洁设备，其中，所述集尘站包括集尘端口，所述集尘端口与所述主刷模组的端口对接并集尘。
图23为本公开一些实施例提供的集尘站的结构示意图，集尘站700，配置为为自动清洁设备提供垃圾收集。
如图23所示，集尘站700包括集尘站底座710以及集尘站主体720。集尘站主体720 配置为收集自动清洁设备的尘盒内的垃圾，其设置在所述集尘站底座710上。集尘站底座710包括集尘端口711，集尘端口711配置为与自动清洁设备的主刷模组的端口对接，自动清洁设备的尘盒内垃圾经集尘端口711进入集尘站主体720内。在一些实施例中，如图22所示，集尘端口711周围还设置有密封胶垫714，用于将集尘端口711与自动清洁设备的主刷模组的端口对接后密封，防止垃圾泄露。
图24为本公开一些实施例提供的自动清洁设备返回集尘站后的场景示意图，如图24所示，当自动清洁设备的移动平台100，例如扫地机器人，在清扫完毕回到集尘站700后，自动清洁设备会沿X方向移动至集尘站底座710上，使得自动清洁设备的主刷模组的端口与集尘端口711对接，以将自动清洁设备的尘盒内的垃圾转移至集尘站的垃圾袋内。
本公开提供自动清洁设备及系统，该自动清洁设备具有自动集尘功能，通过在自动清洁设备的尘盒中非对称的设置两个风门，使得进入尘盒的气流形成对流，并在尘盒中形成涡流气旋，从而顺利的将尘盒中的垃圾吸入集尘站；此外，将主刷模组、吸尘口、出风口、第一开口和第二开口均大致设置于自动清洁设备前后方向的中轴线上，能够在吸尘时进一步增加气流流经尘盒的速度，提升吸尘效率，同时也能在集尘时更易将尘盒中的垃圾吸入集尘站。
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25所示，自动清洁设备包括设置在机架上的装配部800、装配结构900及位置确定元件1211，所述位置确定元件1211通过装配结构900装配于所述装配部800，装配部800通常为机架的一部分，并包括一个或多个螺孔，装配结构900包括一个或多个对应的螺孔，通过螺栓将位置确定元件1211装配于所述装配部800；自动清洁设备内用于装配所述装配结构900及位置确定元件1211的部位均可算作装配部800。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800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800，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26所示，所述装配结构900包括装配支架910；位置确定装置包括转子920、马 达930、罩盖940等，装配支架910通过支架周边的螺孔固定于装配部800，转子920和马达930设置于装配支架910内部，罩盖940罩设于转子920顶部，起到遮蔽和保护功能，转子920突出于自清洁设备顶面，转子920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27所示，装配支架910包括转子容纳部911和马达容纳部912，所述转子容纳部911包括第一弧形侧壁9111，第一弧形侧壁9111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27所示，第一弧形侧壁9111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912包括第二弧形侧壁9121，第二弧形侧壁9121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9111和所述马达容纳部的第二弧形侧壁9121平滑连接，如图27所示，大致在MN处分割为转子容纳部911和马达容纳部912，其中，所述第一弧形侧壁9111形成的开口面积大于所述第二弧形侧壁9121形成的开口面积。所述位置确定元件1211包括转子920，转子920的转轴大致设置于所述转子容纳部911的几何中心，当第一弧形侧壁9111为圆弧形侧壁时，转子容纳部911的几何中心与所述第一弧形侧壁9111所在圆的圆心相当，当第一弧形侧壁9111为多个不同曲率弧形组合结构时，转子容纳部911的几何中心与具有最大弧度圆弧所在圆的圆心相当，如图27中所示的A处，转子920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920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9111的距离更远，但仍然装配于转子容纳部911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1211包括马达930，马达930的输出轴大致设置于所述转子容纳部911和马达容纳部912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27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9111和所述第二弧形侧壁9121平滑连接处的中心，即大致位于MN连线上。当第二弧形侧壁9121为圆弧形侧壁时，马达容纳部912的几何中心与所述第二弧形侧壁9121所在圆的圆心相当，当第二弧形侧壁9121为多个不同曲率弧形组合结构时，马达容纳部912的几何中心与具有最大弧度圆弧所在圆的圆心相当，如图27中所示的C处。马达930配置为通过传输结构932例如皮带与所述转子连接以为转子提供驱动力。其中，马达930通过马达滚轮931及传输结构932对转子920进行驱动，传输结构932可以为皮带、金属带、有机材料带等，马达930的转轴与马达滚轮931硬连接，马达滚轮931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27所示，所述马达容纳部912还包括：开口一9122，位于所述马达容纳部912的底面9124，配置为容纳所述马达930；第一支撑筋9123，沿所述马达容纳部侧壁9121内侧向内延伸至所述开口一9122的边缘；其中，所述开口一9122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，开口一9122的几何中心B大致位于开口一9122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9121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920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930靠近转子进行装配，此时马达930和转子920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910的稳定性和刚性，需要增设第一支撑筋9123，特别是距离马达越远的距离，第一支撑筋9123越长。
在一些实施例中，如图27所示，所述转子容纳部911还包括：开口二9112，位于所述转子容纳部911的底面9114，配置为容纳所述转子920；第二支撑筋9113，沿所述转子容纳部侧壁9111内侧向内延伸至所述开口二9112的边缘，第二支撑筋9113可以增强装配支架910的稳定性和刚性；其中，所述开口二9112的几何中心与所述转子容纳部911的几何中心相当，大致位于转子容纳部侧壁9111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27所示，所述开口二与所述开口一连通，且所述开口二面积大于所述开口一面积。开口二与所述开口一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输结构驱动转子转动。
在一些实施例中，如图28所示，所述位置确定装置还包括罩盖940，罩设于所述转子920顶部，罩盖940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940配置枢转结构后还可以对悬垂障碍物进行避障。罩盖940包括圆形顶面941、底部圆环942以及连接所述圆形顶面941与所述底部圆环942的多个连接件943，在一些实施例中，所述底部圆环942具有自其底部水平延伸的底板，底部圆环942和底板固定连接或一体成型，底板用于罩盖940与移动平台顶面的枢转连接，所述底部圆环942与所述转子920外周面间形成第一间隙，多个连接件943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940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940包括圆形顶面941、底部圆环942以及连接所述圆形顶面941与所述底部圆环942的多个连接件943，所述底部圆环942具有自其底部水平延申的底板，底部圆环942和底板固定连接或一体成型，底板用于罩盖940与移动平台顶面的枢转连接，所述底部圆环942与所述转子920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942尽量靠近转子920外周面，例如1-5mm间距。
如图29-图31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900还包括环形遮挡件950，贴合设置于所述底部圆环942内侧，所述环形遮挡件950与所述转子920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950尽量靠近转子920外周面，例如1-5mm间距。
在一些实施例中，如图30所示，所述环形遮挡件950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950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950沿轴向延伸的高度可以便于将环形遮挡件950装配于底部圆环942内侧。
在一些实施例中，如图30所示，所述环形遮挡件950包括与所述连接件943适配的插接件951，所述插接件951插接于所述连接件943后使所述环形遮挡件950贴合设置于所述底部圆环942内侧，插接件951与连接件943一一对应设置，所述第三插槽9433设置于所述连接件943下方，T型凸起9512设置于所述插接件951下方。所述插接件951插入所述连接件943内侧壁后，增加了连接件943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920内。
在一些实施例中，如图29所示，所述连接件943内壁包括第一插槽9431，所述插接件951外壁包括与所述第一插槽9431适配的凸梁9511，所述凸梁9511插入所述第一插槽9431后使所述环形遮挡件950贴合设置于所述底部圆环942内侧，凸梁9511插入所述第一插槽9431后保证了环形遮挡件950周向的稳定性。在一些实施例中，如图29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9432，以及位于所述底部圆环942内表面的第三插槽9433，所述第二插槽9432与所述第三插槽9433连通；如图31所示，所述环形遮挡件950包括沿所述环形遮挡件950外壁向外凸出的T型凸起9512，所述T型凸起9512插入所述第三插槽9433后使所述环形遮挡件950贴合设置于所述底部圆环942内侧，装配环形遮挡件950时使T型凸起9512先沿第二插槽9432底部插入，再向上推抵使T型凸起9512插入第三插槽9433，进一步稳定了环形遮挡件950沿周向和径向的稳定性。
在一些实施例中，如图29所示，所述底部圆环943还包括设置于所述底部圆环943内表面的限位凹槽9434，所述限位凹槽9434对称的设置于所述第三插槽9433两侧；所 述环形遮挡件950还包括设置于所述T型凸起9512两侧的限位凸起9513，当所述环形遮挡件950贴合设置于所述底部圆环942内侧时，所述限位凸起9513适配于所述限位凹槽9434。限位凸起9513与限位凹槽9434的配合进一步限定了环形遮挡件950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。
相关技术中，自动清洁设备由于顶部并非是完全封闭的，其存在内部进水的风险，例如用户不小心将水遗洒在自动清洁设备上，水可能会通过自动清洁设备顶盖上的缝隙，例如为位置确定装置处的缝隙，进入自动清洁设备内部，可能威胁到电路板等元件，导致自动清洁设备的损坏。本公开提供一种自动清洁设备，包括：移动平台，包括收容腔；位置确定装置，其至少一部分设置在所述收容腔中；电路板，设置在所述移动平台中，与所述收容腔相邻设置；以及挡水支架，设置在电路板与所述收容腔之间，以防止液体流入所述电路中。其中，所述位置确定装置包括：位置确定元件以及罩盖，所述位置确定装置可以为摄像装置、激光测距装置等，本公开实施例具体以激光测距装置为例进行描述说明，对应的，所述位置确定元件为激光测距单元。
图32为本公开一些实施例提供的移动平台中移动平台本体的示意性俯视图；图33为本公开一些实施例提供的装配在所述移动平台本体上部的平台盖体的示意性仰视图；图34为本公开一些实施例提供的装配在所述移动平台本体上的平台底板的示意性俯视图。所述自动清洁设备包括：
移动平台100、位置确定装置121、电路板105以及挡水支架104。移动平台100包括收容腔1011；位置确定装置121的至少一部分设置在所述收容腔中；电路板105设置在所述移动平台100中，用于承载自动清洁设备的各种电子元件，与所述收容腔1011相邻设置；挡水支架104设置在电路板105与所述收容腔1011之间，以防止液体流入所述电路板105中，避免电路板105上的电子元件损坏。
具体地，所述移动平台100包括移动平台本体101、平台盖体102以及平台底板103；所述平台盖体102以及所述平台底板103的结构均与所述移动平台本体101的结构相适配，具体根据实际产品设置。其中，所述移动平台本体101能够带动所述自动清洁设备移动及执行各种清洁工作，所述移动平台本体101中设置有收容腔1011，该收容腔1011用于容纳所述位置确定装置121的至少部分结构。
所述收容腔1011为一中空腔体，所述中空腔体内设置有挡水壁10111，引导进入所述收容腔内的液体流向所述收容腔内底部，以防止外溅。在一些实施例中，如后续的图35所示，所述挡水壁10111为所述收容腔1011的部分侧壁。
所述收容腔1011的底部设置有排液孔10112，使得收集至所述收容腔的液体流出收容腔。在一些实施例中，所述排液孔10112数量为多个，分别设置于所述收容腔底部边缘的不同位置，所述挡水壁10111与收容腔底部形成水路，使进入所述收容腔内液体基本全 部流入所述排液孔10112中。
所述移动平台本体101还具有一容纳空间，该容纳空间用于容置所述清洁模组150中的尘盒300。
所述平台盖体102为所述自动清洁设备的顶部，具有开孔1021，响应于所述平台盖体102扣合在所述移动平台本体101上，所述平台盖体102基本上覆盖所述位置确定装置121，所述位置确定装置的部分结构穿过所述开孔1021暴露在外部环境中。
所述平台盖体102面向所述移动平台本体101的一侧还设置有朝向所述移动平台本体凸起的挡水筋1022。响应于所述平台盖体102扣合在所述移动平台本体101上，所述挡水筋1022位于所述电路板105与收容腔1011之间，且位于所述挡水支架104远离所述电路板105的一侧。所述挡水筋1022能够对自动清洁设备内可能出现的水汽上升冷凝后在上壳内表面形成的冷凝水进行有效引导，防止其沿着所述平台盖体102面向所述移动平台本体的表面移动，从上方越过挡水支架104而流入所述电路板105上方并滴落，造成电路板105上的电子元件损坏。
所述平台盖体102还具有一取放口1023，配置为将尘盒300通过所述取放口1023插入或取出，所述取放口1023在所述移动平台中的正投影落在所述容纳空间内。响应于所述尘盒插入所述容纳空间后，所述尘盒在远离所述平台底板的表面与所述平台盖体共面，也就是说，所述尘盒的上表面作为所述自动清洁设备的上表面的一部分。如此，无需设置上翻盖，简化设备结构，进一步提高了自动清洁设备外观的科技感和美感。
所述平台底板103扣合在所述移动平台本体101底部，与所述平台盖体102相对设置。所述平台底板103上设置有容置槽1031，配置为收集所述排液孔10112排出的液体，所述排液孔10112在所述平台底板103上的正投影落入所述容置槽1031内，使所述排液孔10112流出的液体能够自然掉落至所述容置槽1031内。所述容置槽1031的侧壁上进一步设置有排液口1032，所述容置槽1031内的液体通过所述排液口1032排出，可对液体的具体流出方位起到精准引导作用，避免对清洁任务产生干扰。在一些实施例中，所述容置槽1031的大小及数量与所述排液孔10112的位置及数量相适配。
所述平台底板103还包括一第三开口1033，该第三开口1033配置为暴露所述自动清洁设备的干式清洁模组的至少一部分，使得与所述移动平台本体101相连通。所述第三开口1033与所述容置槽1031相邻设置，所述排液口1032引导所述容置槽1031内的液体经所述第三开口1033流出所述自动清洁设备。
所述移动平台100上的挡水支架104，至少部分围绕所述位置确定装置121设置，图35为本公开一些实施例提供的挡水支架的结构示意图；如图35所示，所述挡水支架104设置于电路板105与所述收容腔1011之间，以防止液体流入所述电路板105中。所述电路板105为所述自动清洁设备内的电路元件，一般位于所述位置确定装置靠近自动清洁设备前向部分的一侧。
本公开中，由于外部液体，例如为水，会通过所述位置确定装置与平台盖体102之间 的缝隙流入自动清洁设备内部，所述挡水支架104可用于阻挡液体从位置确定装置所在位置流入所述电路板中，因此所述挡水支架设置于所述收容腔与所述电路板之间，能够实现防水。在一些实施例中，所述挡水支架104的至少一部分位于所述电路板105远离平台底板103的表面的一侧的边缘。
具体的，所述挡水支架104包括：底壁1041，设置在所述电路板靠近所述收容腔的第一端部处，沿所述第一端部的边缘的至少一部分延伸；支架侧壁1042，自所述底壁靠近所述电路板的边缘沿基本上垂直于所述底壁的方向延伸，所述侧壁远离所述底壁的自由端相较于所述电路板更加远离所述移动平台的底面。
所述底壁1041为具有一定宽度的平板结构，该宽度为所述底壁从靠近所述电路板的一端与向所述收容腔延伸的长度。
所述支架侧壁1042包括第一支架侧壁10421、相对设置于所述第一支架侧壁两端的第二支架侧壁10422和第三支架侧壁10423、与所述第二侧壁远离所述第一支架侧壁的一端连接的第四支架侧壁10424、以及与所述第三侧壁远离所述第一支架侧壁的一端连接的第五支架侧壁10425。所述第一支架侧壁10421设置在所述电路板靠近所述收容腔的第一端部处，所述第四侧壁与第五侧壁分别位于所述挡水支架104的两端，其末端为自由端，所述第四侧壁与第五侧壁在所述平台底板103上的正投影落入所述收容腔内，配置为引导所述挡水支架阻挡的液体从自由端处落入所述收容腔内。一些实施例中，所述第一支架侧壁、第二支架侧壁、第三支架侧壁均为平面。
所述挡水支架104还包括一枢转轴1043，配置为枢转连接所述位置确定装置121，使所述位置确定装置的至少部分元件相对于所述挡水支架104运动。所述枢转轴1043所在方向与所述第一支架侧壁10421平行且间隔设置，所述枢转轴1043的两端分别固定于所述第二支架侧壁10422及第三支架侧壁10423。
所述挡水支架104还包括安装孔1044，所述安装孔1044用于定位所述挡水支架104的位置并将所述挡水支架固定在所述移动平台100中。
图36为本公开一些实施例提供的自动清洁设备中位置确定装置的结构示意图；图37为图36所示位置确定装置与移动平台的装配结构示意图。如图36-37所示，所述位置确定装置121至少一部分设置在所述移动平台本体101的收容腔中。具体的，所述位置确定装置121包括：位置确定元件1211，以及罩盖940。所述位置确定元件1211穿过所述平台盖体的开孔1201暴露在外部，所述位置确定元件1211相对所述移动平台100可旋转，用于测量自动清洁设备在周向上与障碍物的水平距离。
所述罩盖940扣设在所述位置确定元件1211上，用来保护所述位置确定元件不受损坏。图38示出了图36所述位置确定装置中罩盖的结构示意图；图39示出了图38所述罩盖的另一视角的结构示意图，如图38-39所示，具体的，所述罩盖940包括：底板1221，以及自所述底板凸出的扣合盖1222，所述底板1221与所述扣合盖1222的交界处设置有导液孔1223。所述导液孔1223的数量为一个或多个，当为多个时，间隔分布于所述交界 处。使滴落在底板1221的液体的一部分通过导液孔1223进入收容腔1011中。
所述底板1221为一平板结构，该底板1221上开设有敞口12210，所述扣合盖1222自所述底板的敞口12210向远离所述平台底板103的一侧凸出，用于容置位置确定元件1211。所述底板1221一端部靠近平台底板103的表面设有枢转结构1224，该枢转结构1224与所述枢转轴1043相适配，使所述底板1221与所述挡水支架104通过所述枢转轴1043枢转连接。
所述底板1221的至少一部分与所述挡水支架104的底壁重叠设置，所述底板1221靠近所述挡水支架104的边缘与所述挡水支架的侧壁之间形成导液槽1225，配置为将落在所述底板1221上的液体导引至所述收容腔内。也就是说，所述导液槽1225用于收集原本流向电路板的液体并引导流出。
需要说明的是，本公开中设置导液孔1223和导液槽1225，从位置确定装置121缝隙进入的外部液体落到所述底板1221的表面，并向四周扩散流动时，部分液体通过所述导液孔1223直接流落至收容腔内，部分液体流向电路板时，会直接流入所述导液槽1225，该导液槽1225内的部分液体顺着所述第一支架侧壁10421、第三支架侧壁10423及第五支架侧壁10425流入所述收容腔内，部分液体顺着所述第一支架侧壁10421、第二支架侧壁10422及第四支架侧壁10424流入所述收容腔内。
所述扣合盖1222为凹槽结构，配置为容置所述位置确定元件的至少一部分，所述扣合盖1222的具体形状与所述位置确定元件的结构相适配，在一些实施例中，所述凹槽结构为中空圆柱体。所述凹槽结构倒扣于所述底板的敞口12210上，所述凹槽远离凹槽底部的边缘与所述底板的敞口边缘交合，具体方式可以为固定交合，亦可以为可拆卸式交合。所述凹槽结构的侧壁周围设有多个窗口12220，位于所述扣合盖1222内的位置确定元件通过所述窗口12220发射激光并接收返回的激光信号。
响应于所述移动平台100、位置确定装置121、挡水支架104组装完毕，从所述位置确定装置121与平台盖体102的开孔之间的缝隙进入的液体落到所述位置确定装置的底板1221表面，部分通过所述导液孔1223流入所述收容腔，部分通过所述导液槽1225流入所述收容腔；和/或，当自动清洁设备内产生水蒸汽时，水蒸汽聚集于所述平台盖体102内表面形成冷凝水，所述挡水筋1022引导冷凝水流到所述位置确定装置的底板表面，并分别通过导液孔和导液槽流入所述收容腔；之后聚集于收容腔1011的液体通过所述收容腔底部的排液孔10112落入所述平台底板103的容置槽1031内，该容置槽内的液体经过排液口1032和第三开口1033流出自动清洁设备，避免由于意外泼溅或者冷凝水造成电路板的损坏，该自动清洁设备具有防水功能。
本公开提供的自动清洁设备，通过在电路板与收容腔之间设置挡水支架，能够阻止外部流入的液体进入电路板中，避免电路元件损坏；取消原有自动清洁设备中上翻盖设计，简化设备结构，提高自动清洁设备的科技感与美感。
本公开另一实施例提供一种自动清洁设备，该实施例中所述自动清洁设备与上述实施 例中所述自动清洁设备的区别在于，本实施例中所述自动清洁设备还包括一触发系统180，该触发系统180包括触发凸起181和触发组件182。图40为本公开一些实施例提供的移动平台、位置确定装置与触发组件的装配结构示意图；图41为图40所示装配结构的部分结构示意图；图42为图41所示触发组件的爆炸结构示意图。
如图39所示，所述触发凸起181设置于所述底板1221远离所述挡水支架104的另一端部的底面。所述触发凸起为硬质结构，配置为向所述触发组件施加压力，具体形状不限。
如图40-42所示，所述触发组件182，设置在所述移动平台100，具体的，所述触发组件182设置于所述移动平台100的容纳槽1012中，该容纳槽1012设置于所述自动清洁设备的后向部分。具体地，所述触发组件182包括：触发按钮1821和弹性板件1822，所述触发按钮1821配置为被所述触发凸起按压使得所述自动清洁设备执行防卡动作；所述弹性板件1822，设置在所述容纳槽1012中，与所述容纳槽底部基本平行且间隔设置。所述弹性板件可以为一平面板，在外力的作用下会发生弯曲。在一些实施例中，所述弹性板件1822由柔性材料例如碳纳米管薄膜、聚酯薄膜等制成。
所述弹性板件1822包括一固定端部18221和自由端部18222，在一些实施例中，所述弹性板件1822为“T”型结构，所述固定端部18221为长条状结构，所述自由端部18222为方状结构，该自由端部的一端与所述固定端部的一端连接，所述固定端部18221固定连接在所述容纳槽1012的侧壁上，使所述长条状结构卡接于所述容纳槽侧壁的卡口10121处；所述自由端部悬空设置。所述触发按钮1821设置在所述弹性板件上，且位于所述自由端部18222处，响应于所述罩盖940安装于所述移动平台上，所述触发按钮1821面向所述触发凸起181，且两者相距一定距离。
所述触发组件182还包括防上翘卡扣1823以及定位柱1824，所述防上翘卡扣1823配置为阻挡所述弹性板件在施压之后向远离所述容纳槽1012底部的方向回弹。所述防上翘卡扣1823位于所述容纳槽1012远离所述弹性板件固定端部18221的侧壁上，当所述弹性板件1822处于未施压状态时，所述防上翘卡扣1823的自由端尽可能靠近所述弹性板件远离所述容纳槽1012底部的表面。
所述定位柱1824的一端固定于所述容纳槽1012的底部，并沿垂直与所述容纳槽底部的方向向上延伸，且穿过所述弹性板件，以固定所述弹性板件。
自动清洁设备在执行清洁工作的过程中，当出现由于上方障碍物阻挡而自动清洁设备卡住的情况时，所述位置确定装置121绕枢转轴1043发生枢转，底板向靠近触发组件182的方向运动，位于底板上的触发凸起181触发所述触发按钮1821，触发按钮1821被触发后会产生并向控制系统130传递防卡控制信号，随后控制系统130可以产生相应控制命令使清洁设备执行防卡动作，包括但不限于停止、后退、转向等；触发按钮1821具有一定的按压行程，通常情况下，上方障碍物使底板1221产生的动作幅度小于或等于触发按钮1821的按压行程，可以安全地产生防卡控制信号，当清洁设备行驶过快，上方障碍物高度刚好过低时，可能使位置确定装置121枢转幅度过大，导致底板1221带动触发凸起181 的运动幅度超过触发按钮1821的按压行程，这可能造成触发按钮的损坏，而当将触发按钮1821设置于弹性板件1822的自由端部18222的情况下，过量行程带来的按压力作用于自由端部，使得触发按钮1821随自由端部18222一起向下继续运动，通过这一缓冲动作避免了触发按钮1821的损坏，延长了防卡元件的使用寿命，提高了清洁设备的安全系数。同时，当自动清洁设备离开上方障碍物后，所述弹性板件1822产生远离所述容纳槽底部的反作用力而回弹，所述弹性板件在防上翘卡扣1823的阻挡作用下，最终与所述容纳槽底部所在平面保持平行，准备好进行下一次可能的防卡控制信号触发流程。弹性板件1822的设置保证了触发按钮1821的工作安全性，同时减少了弹簧等其他额外元件的使用，使设备结构更简洁，容易维护或更换元件，减少位置确定元件受到可能由周围金属元件产生的干扰。
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，本公开实施例提供一种无翻盖的自动清洁设备，简化了自动清洁设备按键组件不必要的元件的同时，增大了按键组件下方到电路板上方之间的空间，可以使得在该空间内布置更多的电子元器件，同时增加了按键组件的弹性力，更加容易实施按压。具体的，本公开提供一种自动清洁设备，如图43所示，根据本公开的具体实施方式，本公开提供一种自动清洁设备，包括：移动平台100，配置为在操作面上自动移动，移动平台100包括盖板1000，所述盖板1000构成所述移动平台顶面的至少一部分；按键组件400，供人工操作按压以控制自动清洁设备的运行，按键组件400包括键帽410和支架420，装配于所述盖板1000，其中，所述盖板1000包括一按键安装孔1002，按键组件400包括一按压主体部411，所述按压主体部411装配于所述按键安装孔1002，使得所述按压主体部顶面与所述盖板顶面大致齐平，用户操作时直接通过按压主体施加作用力即可，不需设置额外的装饰件；在一些实施例中，按压主体部顶面略低于或略高于盖板顶面，使得用户仅凭触感即可容易找到按键组件的位置。其中，按键组件400可以应用于任何需要机械按键的设备外壳，包括但不限于扫地机器人、拖地机器人、扫拖机器人、手持机器人、洒水机器人等，按键组件通常设置于机械设备的外壳上表面，也可以设置于机械设备外壳的侧面，对此不作限定。机械设备的外壳通常由硬质塑料、树脂、金属或合金材料形成，对此不作限定。
具体的，如图43-图47所示，所述按键组件400包括键帽410和支架420，键帽410通常为软胶不透光材质，以提供过盈装配时的密封性、防水性和遮光性，支架420通常为硬胶材质，以提供键帽装配过程中的支撑作用，同时与硬质的盖板配合固定键帽。如图 43所示，在装配过程中，软胶键帽先自下而上与盖板相装配，至少使得按压主体部411装配于相应的按键安装孔1002中，然后硬胶支架装配在软胶键帽下方，通过盖板1000上的定位柱体1001和支架420上的定位孔425实现固定，形成按键组件，按键支架上的两个圆形定位孔425，与盖板上的具有卡扣结构的定位柱体1001同时起到定位作用，从而使得所述键帽410装配于所述支架420和盖板之间。
在一些实施例中，如图45所示，所述支架420包括沿周向延伸的台阶结构430，在装配状态下所述台阶结构为由外向内或由内向外连续上升式台阶，相比整体上较为平齐规整的支架，台阶结构中升高的部分可以给其他部件提供布设空间和设计自由度，有效利用了支架上部空间，具体的，可以根据其他部件的空间需求来设计台阶的走向，可选的，在装配状态下所述台阶结构为由外向内连续上升式台阶，由外向内连续上升式台阶不但增加了额外空间，而且增加的额外空间在中间，有利于使按压主体部对应的下方布设实现按压动作所需的足够空间，合理设置按压行程和恢复弹性，增强用户使用体验。台阶结构430的每一层台阶平行于支架420的整体外周轮廓形状周向环绕延伸，形成闭合结构，例如形成环绕的闭合椭圆形、圆形、方形、矩形等，对此不做限定。台阶结构430由外向内连续上升式台阶形成一种大致锥形的台阶结构，由外圈台阶向内圈台阶向上延伸，具体的台阶数量不做限定，例如2-5阶，作为举例，例如2-3阶，如图44-图45所示，每一阶的宽度和高度不做限定，可以为等宽等高，也可以为不等宽不等高的台阶。支架420沿周向延伸的台阶结构430使得支架下方具有更大的悬空的空间，由于支架下方为对接的电路板105，如图48所示，此时悬空的空间相对于密闭的空间，能够给电路板增加设计元器件的便利，使得原本被支架下部占据的空间可以用来布设更多的电子元器件。此外，支架420沿周向延伸的台阶结构430使得支架下方具有更大的悬空的空间，增加了硬质支架的弹性，当施加于按键组件的按压作用力传递到硬质支架后，支架更容易产生弹性形变且产生弹性形变后更容易复位，给按键组件带来了更好的触控手感，增加了器件按压接触的便利。
在一些实施例中，如图44所示，所述支架420包括沿所述支架420外边缘周向连续延伸的支架第一侧壁421和沿所述支架420内部周向连续延伸的支架第二侧壁422，其中，所述支架第一侧壁421和支架第二侧壁422之间形成第一装配部423，所述支架第二侧壁422内形成第二装配部424。支架第一侧壁421和支架第二侧壁422平行于支架420的整体外周轮廓形状周向环绕延伸，形成闭合结构，例如形成环绕的闭合椭圆形、圆形、方形、矩形等，对此不做限定。闭合延伸的支架第一侧壁421和支架第二侧壁422形成了容纳键帽第一凸起部412和所述第二凸起部413的第一装配部423、第二装配部424，对键帽整体起到了固定和支撑作用。
具体的，在一些实施例中，所述台阶结构的至少一部分位于所述第一装配部423，且所述台阶结构的另外一部分位于所述第二装配部424。例如第一装配部423至少包括一个台阶结构，第二装配部424包括台阶结构的最高台阶面。支架第一侧壁421和支架第二侧壁422实质上随着台阶结构430的上升也形成了高低结构，例如，支架第二侧壁422高于 支架第一侧壁421，使得对键帽的支撑更加稳定，密封更彻底。
在一些实施例中，所述支架420的两端分别包括一个定位孔425，所述盖板下表面与所述定位孔425对应的设置有定位柱体1001，所述定位柱体1001穿过所述定位孔425实现所述支架420的固定，可选的，所述定位柱体1001侧壁包括至少一个凸起，使得定位柱体1001与定位孔425过盈装配，从而将支架420牢固的固定到盖板下表面，同时提供向上的压紧力，固定键帽410。
在一些实施例中，所述支架420还包括通过至少一个弹性臂426连接的按键板427，所述按键板配置为在外力作用下向下移动以实施按压功能，所述弹性臂426配置为使所述按键板427复位。如图44所示，按键板427通常位于支架的内部，包括对称设置的一对，按键板427包括与键帽抵顶部4171接触的按键板头部4271和与电路板105的元器件按压接触的按键板尾部4272，通常，按键板头部4271宽度大于按键板尾部4272的宽度，按键板头部4271宽度大便于接收按压作用力，按键板尾部4272小便于精准接触按压元件，避免错误按压。按键板427通过细长的弹性臂426连接于支架420内部边缘，一个或多个细长的弹性臂426环绕所述按键板427设置，给按键板427提供足够的按压及复位弹力。
在一些实施例中，如图46和图47所示，所述键帽410包括大致位于键帽410中心的按压主体部411和环绕所述按压主体部411向下延伸的第一凸起部412和第二凸起部413，第一凸起部412和第二凸起部413平行于按压主体部411的轮廓形状周向环绕延伸，形成闭合结构，其中，当所述键帽410装配于所述支架420时，所述第一凸起部412和所述第二凸起部413分别与所述第一装配部423和所述第二装配部424适配。为了配合第一装配部423和第二装配部424内部的台阶结构，向下延伸的第一凸起部412长度大于向下延伸的第二凸起部413的长度。第一凸起部412和所述第二凸起部413可以分别过盈的装配于第一装配部423和第二装配部424，以增加键帽装配的稳定性和密封性。
在一些实施例中，如图46所示，所述键帽410上表面中包括连接所述第一凸起部412和所述第二凸起部413的环绕所述按压主体部411向上延伸的第三凸起部414。第三凸起部414平行于按压主体部411的轮廓形状周向环绕延伸，形成闭合结构。所述键帽410还包括沿所述第三凸起部414两侧环绕延伸的第一凹槽415和第二凹槽416，其中第一凹槽415的深度大于第二凹槽416的深度。如图49-图50所示，图50为图49盖板D处仰视图的放大图，盖板1000包括一按键安装孔1002，所述按压主体部411装配于所述按键安装孔1002，此时，按键安装孔1002的边缘环绕设置有向下延伸的边沿部1004，该边沿部随着按压主体部411由下自上插入按键安装孔1002，而顺势插入按压主体部411周围的第二凹槽416。边沿部1004构成盖板1000的防水筋之一，边沿部1004侧壁可以包括至少一个凸点，使得按压主体部411与按键安装孔1002过盈装配，实现密封连接，起到防水、防漏光的效果，进一步的，在一些实施例中，所述盖板1000还包括环绕所述按键安装孔1002向下延伸的防水筋1003，所述防水筋1003装配于所述第一凹槽415，防水筋1003侧壁可以包括至少一个凸点，使得防水筋1003过盈装配于所述第一凹槽415。随着按压 主体部411插入按键安装孔1002，按键安装孔1002边沿部插入按压主体部411周围的第二凹槽416，防水筋1003也过盈插入第一凹槽415，且防水筋1003向下延伸的长度大于按键安装孔1002边沿部长度，进一步使得按压主体部411与按键安装孔1002更加密封连接，起到更加良好的防水、防漏光的效果。
在一些实施例中，如图47-图48所示，其中，图48为图1中沿AB线的剖面图，所述第二凸起部413内包括两个间隔设置的凹陷417，在装配状态下，所述凹陷417配置为容纳所述按键板427。凹陷417顶端设置有抵顶部4171，当键帽与支架装配完毕后，按键板头部4271与抵顶部4171紧密抵顶，便于接受按压作用力。
在一些实施例中，如图47-图48所示，所述两个间隔设置的凹陷417中间设置有向下延伸的遮光臂418。遮光臂418为不透光材料制作，也可以通过涂抹不透明材料形成，可以防止位于两侧的按键板427按压电路板105上的元器件后，与按压操作相关联的光学元件之间形成光学干扰，影响用户对于光学提示信息的获取。遮光臂418与键帽可以一体成型也可以后期通过粘结、卡接等方式加工合成，对此不做限定。
本公开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，按键组件包括软胶键帽和硬胶支架，所述键帽装配于所述支架，所述支架包括沿周向延伸的台阶结构，在装配状态下所述台阶结构为由外向内连续上升式台阶，该连续上升式台阶结构为按键组件下侧提供了足够的空间，能够容纳更多的元器件，同时增加了支架的弹性力，使得按键组件更加容易在按压后恢复至原位，进一步增加了顶盖的防水筋可以设置的长度，增强了按键组件的防水效果。
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 (14)

  1. 一种具有集尘功能的自动清洁设备，其特征在于，包括：
    移动平台，包括容纳腔室，所述移动平台配置为在操作面上自动移动；
    清洁模组，包括尘盒及主刷模组，所述尘盒可拆卸的装配于所述容纳腔室；所述尘盒包括第一进风门和第二进风门，所述第一进风门和所述第二进风门分别位于所述尘盒的第一侧壁和第二侧壁，所述第一进风门和所述第二进风门配置为在集尘过程中提供不同方向的进气气流。
  2. 根据权利要求1所述的自动清洁设备，其特征在于，所述第一进风门和所述第二进风门分别位于所述第一侧壁和第二侧壁的非对称位置。
  3. 根据权利要求2所述的自动清洁设备，其特征在于，所述第二进风门设置于临近所述第二侧壁下边缘的位置，且所述第二进风门下边缘低于所述第一进风门下边缘。
  4. 根据权利要求2所述的自动清洁设备，其特征在于，所述第二进风门临近所述尘盒的后侧壁设置，所述第一进风门临近所述尘盒的前侧壁设置。
  5. 根据权利要求2所述的自动清洁设备，其特征在于，所述第一进风门大致绕第一转轴旋转，所述第二进风门大致绕第二转轴旋转，所述第一转轴与所述第二转轴大致垂直。
  6. 根据权利要求3-5任意一项所述的自动清洁设备，其特征在于，所述第一进风门和所述第二进风门的形状为以下至少一种或组合：矩形、方形、圆形、椭圆形、长条形。
  7. 根据权利要求6所述的自动清洁设备，其特征在于，所述第一进风门为矩形结构，所述第一进风门长边沿纵向设置；所述第二进风门为矩形结构，所述第二进风门长边沿横向设置。
  8. 根据权利要求1所述的自动清洁设备，其特征在于，所述尘盒还包括第一开口和第二开口，所述第一开口配置为吸尘时的进尘口和集尘时的出尘口，所述第一开口和所述第二开口大致位于所述自动清洁设备前后方向的中轴线上。
  9. 根据权利要求8所述的自动清洁设备，其特征在于，所述容纳腔室包括在所述自动清洁设备的前进方向上按序前后相邻布设的第一腔室和第二腔室，所述第一腔室前侧壁底部设置有吸尘口，所述第一腔室与第二腔室连接处的后侧壁设置有出风口，所述吸尘口、所述出风口、所述第一开口和所述第二开口均大致位于所述自动清洁设备前后方向的中轴线上。
  10. 根据权利要求9所述的自动清洁设备，其特征在于，所述第二腔室下方空间设置有风机，所述风机、所述主刷模组、所述吸尘口、所述出风口、所述第一开口和所述第二开口均大致位于所述自动清洁设备前后方向的中轴线上。
  11. 根据权利要求10所述的自动清洁设备，其特征在于，所述移动平台还包括位置确定装置及罩设于所述位置确定装置上方的罩盖，所述位置确定装置、所述罩盖、所述主刷模组、所述吸尘口、所述出风口、所述第一开口和所述第二开口均大致位于所述自动清洁设备前后方向的中轴线上。
  12. 根据权利要求11所述的自动清洁设备，其特征在于，所述不同方向的进气气流来源于以下至少之一：从所述移动平台顶端间隙进入的气流、从所述主刷模组间隙进入的气流以及从所述移动平台后侧壁进入的气流。
  13. 根据权利要求12所述的自动清洁设备，其特征在于，所述从所述移动平台顶端间隙进入的气流包括：从所述罩盖和所述移动平台顶面之间的间隙、以及所述罩盖和所述位置确定装置之间的间隙进入的气流。
  14. 一种自动清洁系统，其特征在于，包括：集尘站和权利要求1-13中任一项所述的自动清洁设备，其中，所述集尘站包括集尘端口，所述集尘端口与所述主刷模组的端口对接并集尘。
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