WO2023155470A1 - 底座、行走主体及清洁设备 - Google Patents

底座、行走主体及清洁设备 Download PDF

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WO2023155470A1
WO2023155470A1 PCT/CN2022/127390 CN2022127390W WO2023155470A1 WO 2023155470 A1 WO2023155470 A1 WO 2023155470A1 CN 2022127390 W CN2022127390 W CN 2022127390W WO 2023155470 A1 WO2023155470 A1 WO 2023155470A1
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Prior art keywords
receiving
signal
base
signal receiving
wall
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PCT/CN2022/127390
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English (en)
French (fr)
Inventor
冯煜湛
黄忠平
李健
李成开
雒千
袁钱兵
Original Assignee
珠海格力电器股份有限公司
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Publication of WO2023155470A1 publication Critical patent/WO2023155470A1/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
    • 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
    • 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
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor

Definitions

  • the present disclosure relates to the technical field of cleaning equipment, in particular to a base, a walking body and cleaning equipment.
  • Traditional cleaning equipment usually includes a walking body and a charging stand.
  • the walking body walks on the surface to be cleaned and performs cleaning operations.
  • the walking body receives the signal emitted by the charging seat and continuously adjusts itself according to the received signal. position so that you can return to where the charging stand was and charge it.
  • each main signal transmitter capable of transmitting near-field signals on the charging base
  • the near-field signal received by each signal receiving part is doped with the near-field signal emitted by the main signal transmitting part that does not correspond to it, so that the walking body cannot be accurately positioned, resulting in Charging of the walking body failed.
  • At least two signal receiving parts are arranged at intervals along the first direction on the base, and each of the signal receiving parts is configured to receive a near-field signal emitted by its corresponding main signal transmitting part;
  • the base body is configured such that at least two groups of receiving walls are arranged at intervals along the first direction; each group of receiving walls is located on the signal receiving side of each of the signal receiving parts, and is corresponding to it.
  • the signal receiving part provides a signal receiving channel;
  • any two adjacent signal receiving channels do not overlap in their respective signal receiving directions, and each group of receiving walls is also formed with a reflection structure, and the reflection structure is configured for The near-field signal emitted by the main signal transmitting element is reflected to the outside of the signal receiving channel.
  • each group of receiving walls includes a first receiving wall and a second receiving wall arranged at intervals along the first direction, and the first receiving wall and the second receiving wall are arranged along the The directions intersecting the first direction extend and define together to form the signal receiving channel.
  • each of the second receiving walls is set away from the adjacent signal receiving elements relative to the first receiving wall in the same group, and the reflective structure formed on the second receiving wall.
  • the reflective structure includes several steps continuously arranged along the extending direction of the second receiving wall.
  • the first receiving wall is a straight wall parallel to the center line of the corresponding signal receiving part
  • the second receiving wall is a slope inclined relative to the center line of the corresponding signal receiving part A wall, the distance between the straight facing wall and the inclined wall decreases gradually along the signal receiving direction of the corresponding signal receiving part.
  • the center line of each signal receiving element is located in the plane of the corresponding facing wall.
  • the seat body includes at least two first receiving plates, at least two second receiving plates and at least one blocking plate, one of the first receiving plates and one of the second receiving plates are combined to form a set of receiving walls;
  • first receiving board and the second receiving board in the same group are arranged at intervals along the first direction, each of the first receiving boards is adjacent to one end of the second receiving board that is grouped with it configured to form the first receiving wall, and one side of each of the second receiving plates adjacent to the grouped first receiving plate is configured to form the second receiving wall;
  • the blocking plate is blocked between two adjacent signal receiving elements.
  • it further includes an optical filter connected to the base, and the optical filter is configured to filter the near-field signal received by each of the signal receiving elements.
  • the optical filter covers the signal input port of each signal receiving channel.
  • a walking body comprising the base as described in any one of the above.
  • a cleaning device comprising:
  • a charging stand on which at least two main signal transmitting parts are arranged;
  • all the signal receiving parts are in one-to-one correspondence with all the main signal transmitting parts, and each of the signal receiving parts is configured to receive the corresponding main signal through the corresponding signal receiving channel The near-field signal emitted by the transmitter.
  • each group of receiving walls is also formed with a reflective structure, the reflective structure can be used to separate them from each other.
  • the near-field signal emitted by the corresponding main signal transmitter is reflected to the outside of the signal receiving channel, therefore, the interference of the non-corresponding main signal transmitter on the signal receiver can be eliminated, so that the walking body can be accurately positioned.
  • FIG. 1 is a cross-sectional view of a base in an embodiment of the present disclosure
  • Fig. 2 is an enlarged schematic diagram of a partial structure A in the base shown in Fig. 1;
  • Fig. 3 is a cross-sectional view of the mating of the base body and the filter element after the signal receiving element is removed from the base shown in Fig. 1 .
  • Base 10. Base body; 11. Receiving wall; 112. First receiving wall; 114. Second receiving wall; 12. Signal receiving channel; 13. Reflecting structure; 14. First receiving board; 15. Second Receiving plate; 16, barrier plate; 17, filter element; 20, signal receiving element.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • a first feature being “on” or “under” a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the present disclosure provides a cleaning device.
  • the cleaning device can be a floor washing machine, a sweeping and mopping machine, a wet vacuum cleaner, etc., it can be a household cleaning device, an industrial cleaning device or a commercial cleaning device, and it can be a hand-held cleaning device. Cleaning equipment or automatic cleaning equipment, the specific application method is not limited.
  • the cleaning device includes a charging base and a walking body. When the walking body is separated from the charging base and walks on the surface to be cleaned, it can be set to perform cleaning operations on the surface to be cleaned. When the walking body is connected to the charging base, the charging base is set to Charge the walking body.
  • each main signal transmitter is configured to transmit a near-field signal
  • each auxiliary signal transmitter is configured to transmit a far-field signal.
  • “near field” means the range of the area closer to the charging stand
  • “far field” means the range of the area farther away from the charging stand.
  • the two main signal transmitters are symmetrically distributed on the left and right sides of the centerline of the charging stand, and the two auxiliary signal transmitters are symmetrically distributed in the center of the charging stand The left and right sides of the line, and distributed on both sides of all main signal transmitters.
  • the walking body includes a base 1, the base 1 includes a base 10 and at least two signal receiving parts 20, and all the signal receiving parts 20 are arranged at intervals along the first direction (as shown by arrow a in Figure 3 ) on the base 10, and are connected with There is a one-to-one correspondence between all main signal transmitters and all auxiliary signal transmitters.
  • Each signal receiving part 20 is configured to receive the near-field signal emitted by its corresponding main signal transmitting part.
  • the seat body 10 is configured such that at least two groups of receiving walls 11 are arranged at intervals along the first direction, and each group of receiving walls 11 is located on the signal receiving side of each signal receiving member 20 and is the corresponding signal receiving member 20 A signal receiving channel 12 is provided.
  • any two adjacent signal receiving channels 12 do not overlap in their respective signal receiving directions, and each group of receiving walls 11 is also formed with a reflective structure 13, and the reflective structure 13 is configured to transmit signals that do not correspond to it. The signal emitted by the group is reflected to the outside of the signal receiving channel 12 .
  • the two signal receiving parts 20 are symmetrically distributed on the left and right sides of the center line of the seat body 10, and the signal receiving part 20 arranged on the left side of the center line of the seat body 10 is set
  • the signal receiving unit 20 located on the right side of the center line of the seat body 10 is set to receive the main signal transmission located on the right side of the center line of the charging base.
  • Near-field signals emitted by components The following embodiments are described by taking two main signal transmitters, auxiliary signal transmitters and signal receivers as an example.
  • the near-field signals emitted by the two main signal transmitters can completely cover the near-field, and are received by the two signal receivers 20 on the walking body that walks to the near-field.
  • the far-field signals emitted by the two auxiliary signal transmitters can completely cover the far field, and are received by the two signal receivers 20 on the walking body that walks to the far field.
  • at least one signal receiving part 20 on the walking body in the far field can receive the remote signal emitted by the auxiliary signal transmitting part located on the left or right side of the center line of the seat body 10 through the corresponding signal receiving channel 12. field signal, so that the walking subject can adjust its position according to the far-field signal and keep approaching the charging stand.
  • the signal receiving part 20 located on the left side of the center line of the seat body 10 receives the near field signal emitted by the main signal transmitting part located on the left side of the center line of the charging seat through the signal receiving channel 12 corresponding thereto, and is located at The signal receiving part 20 on the right side of the center line of the seat body 10 receives the near-field signal emitted by the main signal transmitter located on the right side of the center line of the charging seat through the corresponding signal receiving channel 12, so that the walking body can adjust itself according to the near-field signal position, and eventually be able to return to where the charging stand was for charging. Since any two adjacent signal receiving channels 12 do not overlap in their respective signal receiving directions, the probability that two adjacent signal receiving channels 12 can receive near-field signals emitted by the same main signal transmitting part decreases.
  • each group of receiving walls 11 is further formed with a reflective structure 13, which is configured to reflect the near-field signal emitted by the main signal transmitter that does not correspond to it to the outside of the signal receiving channel 12, then The probability that each signal receiving part 20 can receive the near-field signal transmitted by the non-corresponding main signal transmitting part is further reduced, so the near-field signal emitted by the non-corresponding main signal transmitting part can be eliminated to the signal receiving part 20. interference. Therefore, each signal receiving part 20 can accurately receive the near-field signal emitted by its corresponding main signal transmitting part, and the positioning accuracy of the walking body is correspondingly improved.
  • each group of receiving walls 11 includes a first receiving wall 112 and a second receiving wall 114 arranged at intervals along the first direction, and the first receiving wall 112 and the second receiving wall 114 both extend along a direction intersecting the first direction and They are jointly defined to form a signal receiving channel 12 .
  • the structure of the signal receiving channel 12 defined by the first receiving wall 112 and the second receiving wall 114 is simpler, which is convenient to reduce the installation difficulty of the base 1 .
  • the extension directions of the first receiving wall 112 and the second receiving wall 114 may be the same or different.
  • the first receiving wall 112 and the second receiving wall 114 respectively form boundaries on two sides of the signal receiving element 20 in the horizontal direction.
  • each group of receiving walls 11 may also include third receiving walls 11 and fourth receiving walls 11 arranged at intervals along the second direction perpendicular to the first direction, the third receiving walls 11 and the fourth receiving walls 11 respectively form boundaries on both sides of the signal receiving member 20 in the direction of gravity.
  • each second receiving wall 114 is set away from the adjacent signal receiving member 20 relative to the first receiving wall 112 in the same group, and the reflective structure 13 is formed on the second receiving wall 114 on.
  • the signal receiving part 20 and the signal receiving channel 12 both located on the right side of the seat body 10 (the left side and the right side described in the present disclosure are both illustrated with the left side and the right side in FIG.
  • the signal receiving part 20 on the right side as the right side signal receiving part
  • the signal receiving channel 12 on the right side is the right side signal receiving channel
  • the first receiving wall 112 on the right side is the first receiving wall on the right side, which is located on the right side
  • the second receiving wall 114 is the second receiving wall on the right side.
  • the second receiving wall 114 on the side is the second receiving wall on the left side.
  • the first receiving wall on the right close to the centerline of the seat body 10 receives the near-field signal emitted by the main signal transmitter located on the right side of the centerline of the charging stand
  • the second receiving wall on the right which is farther away from the center line of the seat body 10 than the first receiving wall on the right, may receive the near-field signal emitted by the main signal transmitter located on the left side of the charging stand.
  • the second receiving wall on the right reflects the received near-field signal emitted by the main signal transmitter located on the left side of the charging stand to the receiver on the right, resulting in a decrease in the receiving accuracy of the receiver on the right.
  • the second receiving wall on the left may also reflect the received near-field signal emitted by the main signal transmitter located on the right side of the center line of the charging stand to the receiver on the left, resulting in a decrease in the receiving accuracy of the receiver on the left .
  • the walking subject cannot be accurately positioned.
  • the reflective structure 13 on the right side of the seat body 10 can transmit the received main signal transmitter located on the left side of the centerline of the charging stand.
  • the near-field signal is reflected to the outside of the right signal receiving channel, and the reflection structure 13 located on the left side of the seat body 10 can reflect the received near-field signal emitted by the main signal transmitter located on the right side of the center line of the charging seat to the left signal. outside the receiving channel, so that each signal receiving element 20 has better receiving accuracy.
  • the reflective structure 13 includes several steps continuously arranged along the extending direction of the second receiving wall 114 . Compared with other reflective structures 13 , this reflective structure 13 is relatively easy to install, which is convenient to reduce the manufacturing difficulty of the base 1 .
  • the first receiving wall 112 is a straight wall parallel to the center line of the corresponding signal receiving part 20
  • the second receiving wall 114 is an inclined wall inclined relative to the center line of the corresponding signal receiving part 20, and the straight wall and the center line of the corresponding signal receiving part 20 are inclined.
  • the distance between the inclined walls decreases gradually along the signal receiving direction of the corresponding signal receiving member 20 . Therefore, the near-field signal received by each signal receiving channel 12 can be aggregated under the guidance of the straight wall and the inclined wall and received by the signal receiving part 20, so that the signal intensity received by the signal receiving part 20 is relatively large, so it can effectively improve The detection accuracy of each signal receiving element 20 .
  • first receiving wall 112 and the second receiving wall 114 may also both be inclined walls that are inclined relative to the center line of the corresponding signal receiving member 20 .
  • each signal receiving element 20 is located in the plane of the corresponding straight wall. In this way, the area of each signal receiving element 20 located on one side of its center line and away from the adjacent signal receiving element 20 is configured to receive the near-field signal of the corresponding main signal emitting element. In this way, the distance between the areas capable of receiving near-field signals between two adjacent signal receiving elements 20 is relatively large, and the distance between two adjacent signal receiving channels 12 is also relatively large.
  • the area where the right signal receiving part on the right side of the centerline of the seat body 10 receives near-field signals and the distance to the right of the right signal receiving channel are larger, and are located on the left side of the centerline of the seat body 10
  • the area where the left signal receiving part receives near-field signals and the distance that the left signal receiving channel deviates to the left are also larger. Therefore, it is more difficult for the right signal receiving channel to receive the near-field signal emitted by the main signal transmitting part located on the left side of the centerline of the charging stand and reflect the signal to the right signal receiving part. Similarly, it is more difficult for the left signal receiving channel to receive the signal emitted by the signal transmitter located on the right side of the center line of the charging stand and reflect the signal to the left signal receiver, so that the walking body can be accurately positioned.
  • the seat body 10 includes at least two first receiving plates 14, at least two second receiving plates 15 and at least one blocking plate 16, and a first receiving plate 14 and a second receiving plate 15 are combined to form a Group reception wall 11 .
  • the first receiving plate 14 and the second receiving plate 15 in the same group are arranged at intervals along the first direction, and each first receiving plate 14 is adjacent to one end of the second receiving plate 15 grouped with it to form a first receiving wall 112 , each second receiving plate 15 is configured to form a second receiving wall 114 adjacent to one side of the first receiving plate 14 that is grouped with it.
  • the blocking plate 16 blocks between two adjacent signal receiving elements 20 .
  • the arrangement of the first receiving plate 14 and the second receiving plate 15 makes the formation of the receiving wall 11 simpler and more convenient.
  • the setting of the blocking plate 16 can block two adjacent signal receiving channels 12, so that the near-field signals received by two adjacent signal receiving elements 20 do not interfere with each other.
  • the shaping method of the signal receiving wall 11 is not limited to the above one.
  • Each first sub-board in the same first receiving plate 14 is adjacent to one end of the second receiving plate 15 that is grouped with it to form a first receiving wall 112, and each second receiving plate 15 in the same second receiving plate
  • One end of the sub-board adjacent to the grouped first receiving board 14 is jointly configured to form a second receiving wall 114 .
  • the base 1 further includes an optical filter 17 coupled to the base body 10 , and the optical filter 17 is configured to filter the near-field signal received by each signal receiving element 20 .
  • the near-field signal emitted by each main signal transmitter passes through the external environment where the cleaning device is located, the near-field signal will be mixed with the stray light of the external environment and received by the corresponding signal through the corresponding signal receiving channel 12 Receiver 20 receives.
  • the filter 17 By setting the filter 17, the stray light in the near-field signal can be filtered. In this way, it is helpful to improve the accuracy of signal reception by each signal receiving member 20, thereby further improving the positioning accuracy of the walking body.
  • the optical filter 17 covers the signal input port of each signal receiving channel 12 .
  • Such an optical filter 17 is not only simple in structure, but also ensures that stray light cannot enter each signal receiving channel 12 , thereby reducing the manufacturing difficulty of the base 1 and improving the accuracy of signal reception of the base 1 .
  • the filter 17 can also be set to include at least two filter units, all the filter units correspond to all the signal receiving channels 12 one by one, and each filter unit is arranged in the corresponding signal receiving channel 12 , and block the signal receiving side of the corresponding signal receiving element 20 .
  • the reflection structure 13 can It is set to reflect the near-field signal emitted by the non-corresponding main signal transmitting part to the outside of the signal receiving channel 12, so that the interference of the non-corresponding main signal transmitting part to the signal receiving part 20 can be eliminated, so that the walking subject can accurately position.

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Abstract

一种底座（1）、行走主体及清洁设备。底座（1）包括：座体（10）；至少两个信号接收件（20），沿第一方向间隔布设于座体（10）上，每个信号接收件（20）用于接收与其对应的主信号发射件发射的近场信号；其中，座体（10）上被构造为沿第一方向间隔布设有至少两组接收墙（11）；每组接收墙（11）位于每个信号接收件（20）的信号接收侧，并为与之对应的信号接收件（20）提供信号接收通道（12）；任意相邻的两条信号接收通道（12）在各自的信号接收方向上均不重合，且每组接收墙（11）上还形成有反射结构（13），反射结构（13）被构造为用于将与其不对应的主信号发射件发射的近场信号反射至信号接收通道（12）外。底座（1）、行走主体及清洁设备能够精准地定位。

Description

底座、行走主体及清洁设备
本公开要求于2022年02月15日提交中国专利局、申请号为202210138317.6、发明名称为“底座、行走主体及清洁设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及清洁设备技术领域，特别是涉及一种底座、行走主体及清洁设备。
背景技术
传统的清洁设备通常包括行走主体及充电座，行走主体行走于待清洁面并执行清洁操作，当行走主体的能量不足时，行走主体通过接收充电座发射的信号，并根据接收的信号不断调整自身的位置，以便于能够回到充电座所在的位置并进行充电。
具体地，充电座上具有多个能够发射近场信号的主信号发射件，行走主体上具有与每个主信号发射件一一对应的信号接收件，每个信号接收件用于接收与其对应的主信号发射件发射的近场信号。
然而，在回充的过程中，每个信号接收件接收的近场信号中掺杂有与其不对应的主信号发射件发射的近场信号，如此，导致行走主体无法精准地进行定位，进而造成行走主体充电失败。
发明内容
基于此，有必要针对上述行走主体无法精准地进行定位的问题，提供一种能够精准定位的底座、行走主体及清洁设备。
座体；
至少两个信号接收件，沿第一方向间隔布设于所述座体上，每个所述信号接收件被设置为接收与其对应的主信号发射件发射的近场信号；
其中，所述座体上被构造为沿所述第一方向间隔布设有至少两组接收墙；每组所述接收墙位于每个所述信号接收件的信号接收侧，并为与之对应的所述信号接收件提供信号接收通道；
任意相邻的两条所述信号接收通道在各自的信号接收方向上均不重合，且每组所述接收墙上还形成有反射结构，所述反射结构被构造为用于将与其不对应的所述主信号发射件发射的近场信号反射至所述信号接收通道外。
在其中一实施例中，每组所述接收墙包括沿所述第一方向间隔布设的第一接收墙及第二接收墙，所述第一接收墙与所述第二接收墙均沿与所述第一方向相交的方向延伸并共同界定形成所述信号接收通道。
在其中一实施例中，所述信号接收件为两个，每个所述第二接收墙相对同组内的所述第一接收墙远离相邻的所述信号接收件设置，所述反射结构形成于所述第二接收墙上。
在其中一实施例中，所述反射结构包括若干个沿所述第二接收墙的延伸方向连续设置的台阶。
在其中一实施例中，所述第一接收墙为与对应的所述信号接收件的中心线平行的直面墙，所述第二接收墙为相对对应所述信号接收件的中心线倾斜的斜面墙，所述直面墙与所述斜面墙之间的距离沿与其对应的所述信号接收件的信号接收方向逐渐减小。
在其中一实施例中，每个所述信号接收件的中心线位于与之对应的所述直面墙所在的平面内。
在其中一实施例中，所述座体包括至少两个第一接收板、至少两个第二接收板及至少一个阻隔板，一个所述第一接收板及一个所述第二接收板组合形成一组接收墙；
其中，同组内的所述第一接收板及所述第二接收板沿所述第一方向间隔设置，每个所述第一接收板邻近与之成组的所述第二接收板的一端构造形成所述第一接收墙，每个所述第二接收板邻近与之成组的所述第一接收板的一侧构造形成所述第二接收墙；
所述阻隔板阻隔于相邻的两个所述信号接收件之间。
在其中一实施例中，还包括配接于所述座体的滤光件，所述滤光件被构造为用于过滤每个所述信号接收件接收的近场信号。
在其中一实施例中，所述滤光件覆盖于每个所述信号接收通道的信号输入口。
一种行走主体，包括如上述任意一项所述的底座。
一种清洁设备，包括：
充电座，其上设置有至少两个主信号发射件；以及
如上述行走主体，所有所述信号接收件与所有所述主信号发射件一一对应，每个所述信号接收件被构造为用于通过对应的所述信号接收通道接收对应的所述主信号发射件发射的近场信号。
上述底座、行走主体及清洁设备，由于任意相邻的两条信号接收通道在各自的信号接收方向上均不重合，且每组接收墙上还形成有反射结构，反射结构 能够用于将与其不对应的主信号发射件发射的近场信号反射至信号接收通道外，因此，可排除不对应的主信号发射件对信号接收件的干扰，从而使得行走主体能够精准地进行定位。
附图说明
图1为本公开一实施例中底座的剖面图；
图2为图1所示的底座中局部结构A的放大示意图；
图3为图1所示的底座中去掉信号接收件后座体与滤光件配合的剖面图。
附图标号：
1、底座；10、座体；11、接收墙；112、第一接收墙；114、第二接收墙；12、信号接收通道；13、反射结构；14、第一接收板；15、第二接收板；16、阻隔板；17、滤光件；20、信号接收件。
具体实施方式
为使本公开的上述目的、特征和优点能够更加明显易懂，下面结合附图对本公开的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本公开。但是本公开能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本公开内涵的情况下做类似改进，因此本公开不受下面公开的具体实施例的限制。
在本公开的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于 附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本公开的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本公开中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
在本公开中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右” 以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
请参阅图1，本公开提供一种清洁设备，清洁设备可以为洗地机、扫拖一体机、湿式吸尘器等等，可以为家用清洁设备、工用清洁设备或商用清洁设备，可以为手持式清洁设备或自动式清洁设备，具体应用方式不限制。示例中，清洁设备包括充电座以及行走主体，行走主体与充电座分离并行走于待清洁面上时可被设置为对待清洁面执行清洗操作，行走主体与充电座连接时，充电座被设置为为行走主体充电。
请一并参阅图2及图3，其中，充电座上设置有至少两个主信号发射件及至少两个辅助信号发射件，所有主信号发射件以及所有辅助信号发射件均沿第一方向间隔设置，每个主信号发射件被设置为发射近场信号，每个辅助信号发射件被设置为发射远场信号。其中，“近场”表示距离充电座较近的区域范围，“远场”表示距离充电座较远的区域范围。
在一些实施方式中，主信号发射件及辅助信号发射件均为两个，两个主信号发射件对称分布于充电座中心线的左右两侧，两个辅助信号发射件对称分布于充电座中心线的左右两侧，且分布于所有主信号发射件的两侧。
行走主体包括底座1，底座1包括座体10及至少两个信号接收件20，所有信号接收件20沿第一方向(如图3中箭头a所示)间隔布设于座体10上，且与所有主信号发射件及所有辅助信号发射件一一对应。每个信号接收件20被设置为接收与其对应的主信号发射件发射的近场信号。其中，座体10上被构造为沿第一方向间隔布设有至少两组接收墙11，每组接收墙11位于每个信号接收件20的信号接收侧，并为与之对应的信号接收件20提供信号接收通道12。任意相邻的两条信号接收通道12在各自的信号接收方向上均不重合，且每组接收墙11上还形成有反射结构13，反射结构13被构造为用于将与其不对应的信号发 射组发射的信号反射至信号接收通道12外。
在一些实施方式中，信号接收件20也为两个，两个信号接收件20对称分布于座体10中心线的左右两侧，设于座体10中心线左侧的信号接收件20被设置为接收设于充电座中心线左侧的主信号发射件发射的近场信号，设于座体10中心线右侧的信号接收件20被设置为接收位于充电座中心线右侧的主信号发射件发射的近场信号。以下实施例均以主信号发射件、辅助信号发射件及信号接收件均为两个为例进行说明。
两个主信号发射件发射的近场信号能够完全覆盖近场，并被行走至近场的行走主体上的两个信号接收件20接收。两个辅助信号发射件发射的远场信号能够完全覆盖远场，并被行走至远场的行走主体上的两个信号接收件20接收。当行走主体需要充电时，位于远场的行走主体上的至少一个信号接收件20通过与其对应的信号接收通道12可接收位于座体10中心线左侧或者右侧的辅助信号发射件发射的远场信号，以使得行走主体能够根据远场信号调整自身的位置，并不断靠近充电座。当行走主体行走至近场时，位于座体10中心线左侧的信号接收件20通过与其对应的信号接收通道12接收位于充电座中心线左侧的主信号发射件发射的近场信号，且位于座体10中心线右侧的信号接收件20通过与其对应的信号接收通道12接收位于充电座中心线右侧的主信号发射件发射的近场信号，以使得行走主体能够根据近场信号调整自身的位置，并最终能够回到充电座所在的位置进行充电。而由于任意相邻的两条信号接收通道12在各自的信号接收方向上均不重合，则相邻的两条信号接收通道12能够接收同一主信号发射件发射的近场信号的概率减小。
在一些实施方式中，每组接收墙11上还形成有反射结构13，反射结构13被构造为用于将与其不对应的主信号发射件发射的近场信号反射至信号接收通 道12外，则每个信号接收件20能够接收到的不对应的主信号发射件发射的近场信号的概率进一步减小，故能够排除不对应的主信号发射件发射的近场信号对信号接收件20造成的干扰。因此，每个信号接收件20均能够精准地接收与其对应的主信号发射件发射的近场信号，则行走主体的定位精准度也相应提高。
具体地，每组接收墙11包括沿第一方向间隔布设的第一接收墙112及第二接收墙114，第一接收墙112与第二接收墙114均沿与第一方向相交的方向延伸并共同界定形成信号接收通道12。可以理解地，由第一接收墙112及第二接收墙114界定形成的信号接收通道12结构更简单，便于降低底座1的设置难度。可以理解地，第一接收墙112与第二接收墙114的延伸方向可以相同，也可以不同。第一接收墙112及第二接收墙114分别形成信号接收件20在水平方向上的两侧的边界。
当然，每组接收墙11的具体方式不限于上述一种。在其他一些实施例中，每组接收墙11还可以包括沿与第一方向垂直的第二方向间隔布设的第三接收墙11及第四接收墙11，第三接收墙11及第四接收墙11分别形成信号接收件20在重力方向上的两侧的边界。
在一些实施方式中，信号接收件20为两个，每个第二接收墙114相对同组内的第一接收墙112远离相邻的信号接收件20设置，反射结构13形成于第二接收墙114上。以均位于座体10右侧(本公开中所述的左侧及右侧均与图3中的左侧及右侧为例进行说明)的信号接收件20及信号接收通道12为例，并定义右侧的信号接收件20为右侧信号接收件，位于右侧的信号接收通道12为右侧信号接收通道，位于右侧的第一接收墙112为右侧第一接收墙，位于右侧的第二接收墙114为右侧第二接收墙。同时定义左侧的信号接收件20为左侧信号接收件，位于左侧的信号接收通道12为左侧信号接收通道，位于左侧的第一接 收墙112为左侧第一接收墙，位于左侧的第二接收墙114为左侧第二接收墙。
受右侧第一接收墙及右侧第二接收墙设置结构的限制，靠近座体10中心线的右侧第一接收墙接收位于充电座中心线右侧的主信号发射件发射的近场信号，而相对右侧第一接收墙远离座体10中心线的右侧第二接收墙则有可能接收到位于充电座左侧的主信号发射件发射的近场信号。进而，右侧第二接收墙将接收到的位于充电座左侧的主信号发射件发射的近场信号反射至右侧接收件，导致右侧接收件的接收精准度下降。同理，左侧第二接收墙也存在可能将接收到的位于充电座中心线右侧的主信号发射件发射的近场信号反射至左侧接收件，导致左侧接收件的接收精准度下降。进而造成行走主体无法精准地进行定位。
而在本公开中，通过在每个第二接收墙114上形成反射结构13，则位于座体10右侧的反射结构13能够将接收到的位于充电座中心线左侧的主信号发射件发射的近场信号反射至右侧信号接收通道外，位于座体10左侧的反射结构13能够将接收到的位于充电座中心线右侧的主信号发射件发射的近场信号反射至左侧信号接收通道外，从而使得每个信号接收件20具有较优的接收精准度。
在一些实施方式中，反射结构13包括若干个沿第二接收墙114的延伸方向连续设置的台阶。相较于其他反射结构13来说，该种反射结构13设置难度较为简单，便于降低底座1的制作难度。
在一实施例中，第一接收墙112为与对应的信号接收件20的中心线平行的直面墙，第二接收墙114为相对对应信号接收件20的中心线倾斜的斜面墙，直面墙与斜面墙之间的距离沿与其对应的信号接收件20的信号接收方向逐渐减小。因此，被每个信号接收通道12接收的近场信号能够在直面墙与斜面墙的引导下聚合并被信号接收件20接收，从而使得信号接收件20接收的信号强度较 大，故能够有效提升每个信号接收件20的检测精准度。
当然，在其他一些实施例中，第一接收墙112及第二接收墙114也可以均为相对对应的信号接收件20的中心线倾斜设置的斜面墙。
在一些实施方式中，每个信号接收件20的中心线位于与之对应的直面墙所在的平面内。这样，每个信号接收件20位于自身中心线一侧并偏离相邻的信号接收件20的区域被构造为用于接收对应的主信号发射件的近场信号。如此，相邻的两个信号接收件20之间能够接收近场信号的区域之间的间隔较大，且相邻的两个信号接收通道12之间的间距也较大。在该种实施例下，位于座体10中心线右侧的右侧信号接收件接收近场信号的区域以及右侧信号接收通道向右偏离的距离均更大，位于座体10中心线左侧的左侧信号接收件接收近场信号的区域以及左侧信号接收通道向左偏离的距离亦更大。因此，右侧信号接收通道接收位于充电座中心线左侧的主信号发射件发射的近场信号并将该信号反射至右侧信号接收件的难度更大。同理，左侧信号接收通道接收位于充电座中心线右侧的信号发射件发射的信号并将该信号反射至左侧信号接收件的难度更大，从而使得行走主体能够进行精准定位。
在一实施例中，座体10包括至少两个第一接收板14、至少两个第二接收板15及至少一个阻隔板16，一个第一接收板14及一个第二接收板15组合形成一组接收墙11。其中，同组内的第一接收板14及第二接收板15沿第一方向间隔设置，每个第一接收板14邻近与之成组的第二接收板15的一端构造形成第一接收墙112，每个第二接收板15邻近与之成组的第一接收板14的一侧构造形成第二接收墙114。阻隔板16阻隔于相邻的两个信号接收件20之间。第一接收板14及第二接收板15的设置，使得接收墙11的形成方式更简单方便。而阻隔板16的设置，可将相邻的两个信号接收通道12进行阻隔，从而使得相邻的两个信 号接收件20接收的近场信号互不干扰。
当然，信号接收墙11的成型方式不限于上述一种。在其他一些实施例中，也可以设置第一接收板14包括若干个第一子板，若干个第一子板沿信号接收方向间隔设置，和/或第二接收板15包括若干个第二子板，若干个第二子板沿信号接收方向间隔设置。同一个第一接收板14中的每个第一子板邻近与之成组的第二接收板15的一端共同构造形成第一接收墙112，同一个第二接收板15中的每个第二子板邻近与之成组的第一接收板14的一端共同构造形成第二接收墙114。
在一实施例中，底座1还包括配接于座体10的滤光件17，滤光件17被构造为用于过滤每个信号接收件20接收的近场信号。可以理解地，在每个主信号发射件发射的近场信号经过清洁设备所在的外部环境的过程中，近场信号将与外部环境的杂光混合并经对应的信号接收通道12被对应的信号接收件20接收。通过设置滤光件17，可过滤近场信号中的杂光。如此，有助于提升每个信号接收件20信号接收的精准度，从而能够进一步提升行走主体的定位精准度。
在一些实施方式中，滤光件17覆盖于每个信号接收通道12的信号输入口。这样的滤光件17不仅设置结构简单，且还可保证杂光无法进入至每条信号接收通道12，从而能够在降低底座1的制造难度的同时还可提升底座1信号接收的精准度。
当然，滤光件17的设置结构不限于上述一种。在其他一些实施例中，也可以设置滤光件17包括至少两个滤光单元，所有滤光单元与所有信号接收通道12一一对应，每个滤光单元设于对应的信号接收通道12内，并阻挡于对应的信号接收件20的信号接收侧。
上述底座1、行走主体及清洁设备，由于任意相邻的两条信号接收通道12 在各自的信号接收方向上均不重合，且每组接收墙11上还形成有反射结构13，反射结构13能够被设置为将与其不对应的主信号发射件发射的近场信号反射至信号接收通道12外，因此，可排除不对应的主信号发射件对信号接收件20的干扰，从而使得行走主体能够精准地进行定位。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本公开的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本公开构思的前提下，还可以做出若干变形和改进，这些都属于本公开的保护范围。因此，本公开专利的保护范围应以所附权利要求为准。

Claims (11)

  1. 一种底座(1)，所述底座(1)包括：
    座体(10)；
    至少两个信号接收件(20)，沿第一方向间隔布设于所述座体(10)上，每个所述信号接收件(20)被设置为接收与其对应的主信号发射件发射的近场信号；
    其中，所述座体(10)上被构造为沿所述第一方向间隔布设有至少两组接收墙(11)；每组所述接收墙(11)位于每个所述信号接收件(20)的信号接收侧，并为与之对应的所述信号接收件(20)提供信号接收通道(12)；
    任意相邻的两条所述信号接收通道(12)在各自的信号接收方向上均不重合，且每组所述接收墙(11)上还形成有反射结构(13)，所述反射结构(13)被构造为用于将与其不对应的所述主信号发射件发射的近场信号反射至所述信号接收通道(12)外。
  2. 根据权利要求1所述的底座(1)，其中，每组所述接收墙(11)包括沿所述第一方向间隔布设的第一接收墙(112)及第二接收墙(114)，所述第一接收墙(112)与所述第二接收墙(114)均沿与所述第一方向相交的方向延伸并共同界定形成所述信号接收通道(12)。
  3. 根据权利要求2所述的底座(1)，其中，所述信号接收件(20)为两个，每个所述第二接收墙(114)相对同组内的所述第一接收墙(112)远离相邻的所述信号接收件(20)设置，所述反射结构(13)形成于所述第二接收墙(114)上。
  4. 根据权利要求3所述的底座(1)，其中，所述反射结构(13)包括若干个沿所述第二接收墙(114)的延伸方向连续设置的台阶。
  5. 根据权利要求2所述的底座(1)，其中，所述第一接收墙(112)为与 对应的所述信号接收件(20)的中心线平行的直面墙，所述第二接收墙(114)为相对对应所述信号接收件(20)的中心线倾斜的斜面墙，所述直面墙与所述斜面墙之间的距离沿与其对应的所述信号接收件(20)的信号接收方向逐渐减小。
  6. 根据权利要求5所述的底座(1)，其中，每个所述信号接收件(20)的中心线位于与之对应的所述直面墙所在的平面内。
  7. 根据权利要求2所述的底座(1)，其中，所述座体(10)包括至少两个第一接收板(14)、至少两个第二接收板(15)及至少一个阻隔板(16)，一个所述第一接收板(14)及一个所述第二接收板(15)组合形成一组接收墙(11)；
    其中，同组内的所述第一接收板(14)及所述第二接收板(15)沿所述第一方向间隔设置，每个所述第一接收板(14)邻近与之成组的所述第二接收板(15)的一端构造形成所述第一接收墙(112)，每个所述第二接收板(15)邻近与之成组的所述第一接收板(14)的一侧构造形成所述第二接收墙(114)；
    所述阻隔板(16)阻隔于相邻的两个所述信号接收件(20)之间。
  8. 根据权利要求1所述的底座(1)，其中，还包括配接于所述座体(10)的滤光件(17)，所述滤光件(17)被构造为用于过滤每个所述信号接收件(20)接收的近场信号。
  9. 根据权利要求8所述的底座(1)，其中，所述滤光件(17)覆盖于每个所述信号接收通道(12)的信号输入口。
  10. 一种行走主体，包括如上述权利要求1至9任意一项所述的底座(1)。
  11. 一种清洁设备，包括：
    充电座，其上设置有至少两个主信号发射件；以及
    如上述权利要求10所述的行走主体，所有所述信号接收件(20)与所有所述主信号发射件一一对应，每个所述信号接收件(20)被构造为用于通过对应的所述信号接收通道(12)接收对应的所述主信号发射件发射的近场信号。
PCT/CN2022/127390 2022-02-15 2022-10-25 底座、行走主体及清洁设备 WO2023155470A1 (zh)

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