WO2024041366A1 - 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
WO2024041366A1
WO2024041366A1 PCT/CN2023/111569 CN2023111569W WO2024041366A1 WO 2024041366 A1 WO2024041366 A1 WO 2024041366A1 CN 2023111569 W CN2023111569 W CN 2023111569W WO 2024041366 A1 WO2024041366 A1 WO 2024041366A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile platform
cleaning equipment
automatic cleaning
circuit board
signal
Prior art date
Application number
PCT/CN2023/111569
Other languages
English (en)
French (fr)
Other versions
WO2024041366A9 (zh
Inventor
高利峰
赵德钢
于禄平
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202222205872.4U external-priority patent/CN218451585U/zh
Priority claimed from CN202222346054.6U external-priority patent/CN218500628U/zh
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 WO2024041366A1 publication Critical patent/WO2024041366A1/zh
Publication of WO2024041366A9 publication Critical patent/WO2024041366A9/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—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

Definitions

  • the present disclosure relates to the technical field of cleaning robots, and specifically to an automatic cleaning equipment and system.
  • an automatic cleaning device including:
  • a circuit board, installed in the mobile platform, includes:
  • circuit board body having a middle area and an edge area surrounding the middle area
  • An interface device is provided on the circuit board body and located in the edge area;
  • the blocking rib is disposed between the interface device and the electronic device, and is configured to block liquid and/or moisture from contacting the electronic device.
  • the blocking ribs are in the form of a semi-enveloping structure and are arranged around the interface device.
  • the semi-enclosing structure has an opening, and the opening is arranged facing away from the middle area.
  • the retaining ribs include:
  • a first sub-supporting rib is provided between the interface device and the electronic device, and has a first end and a second end;
  • a second sub-retaining rib extends from the first end toward the edge area
  • the third sub-retaining rib extends from the second end toward the edge area
  • the second sub-retaining rib and the third sub-retaining rib gradually move away from each other.
  • the blocking ribs extend along the edge of the middle area and are arranged around the electronic device to form a fully surrounding structure.
  • the mobile platform includes:
  • the circuit board is arranged on the mobile platform body, and
  • a platform cover that is detachably fastened to the mobile platform body to cover the circuit board
  • the retaining ribs are arranged on the surface of the platform cover facing the mobile platform body.
  • the platform cover when the platform cover is fastened to the mobile platform body, there is a gap between the retaining rib and the circuit board body, and the gap d satisfies 0 ⁇ d ⁇ 0.2mm.
  • the blocking rib and the platform cover are an integral structure.
  • the retaining ribs press against the circuit board body.
  • the material of the retaining rib is an elastic material.
  • the ribs are provided on the circuit board body.
  • Some embodiments of the present disclosure also provide a cleaning device, including:
  • a mobile platform configured to move on the operating surface
  • a pile-finding module is installed on one side of the mobile platform and is configured to receive pile information transmitted by the base station.
  • Stray light elimination structure configured to eliminate when the pile-finding module receives the pile signal.
  • the stub signal interferes with the signal.
  • the pile-finding module includes a signal window configured to receive the pile signal, wherein the stray light elimination structure is disposed at an edge of the signal window.
  • the stray light elimination structure is disposed around the signal window.
  • the stray light elimination structure is a bevel surrounding the signal window, wherein the bevel is a rough surface.
  • the stray light elimination structure is a bevel surrounding the signal window, wherein the bevel is black or semi-transparent black.
  • the stray light elimination structure is a bevel surrounding the signal window, wherein the bevel is provided with a light absorbing layer.
  • the stray light elimination structure is a bevel surrounding the signal window, wherein the bevel is provided with a light extinction structure.
  • the matting structure includes micro-protrusions disposed on the inclined surface.
  • the micro-protrusions include at least one of the following: arc-shaped protrusions, tapered protrusions, or prismatic protrusions.
  • the stray light elimination structure is a vertical plane surrounding the signal window, wherein the vertical plane is perpendicular to the signal window.
  • the mobile platform includes a water tank, and the stray light elimination structure is integrally or separately formed with the water tank.
  • Some embodiments of the present disclosure also provide a cleaning system, including: a cleaning base station and a cleaning device as described in any one of the above.
  • Figure 1 is a schematic structural diagram of an automatic cleaning device provided by some embodiments of the present disclosure
  • Figure 2 is a schematic diagram of the bottom structure of the automatic cleaning equipment provided by some embodiments of the present disclosure.
  • Figure 3 is a schematic structural diagram of the mobile platform body of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure
  • Figure 4 is an exploded schematic structural diagram of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure
  • Figure 5 is an exploded schematic structural diagram of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure
  • Figure 6 is a schematic structural diagram of the platform cover of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure
  • Figure 7 is an enlarged schematic diagram of area N in Figure 6;
  • Figure 8 is an exploded schematic structural diagram of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure.
  • Figure 9 is an exploded schematic structural view of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure.
  • Figure 10 is a schematic structural diagram of the platform cover of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure
  • Figure 11 is a schematic structural diagram of a signal window of an automatic cleaning device according to some embodiments of the present disclosure.
  • Figure 12 is a schematic three-dimensional structural diagram of a cleaning base station according to some embodiments of the present disclosure.
  • Figure 13 is a schematic structural diagram of a cleaning system according to some embodiments of the present disclosure.
  • first, second, third, etc. may be used to describe the embodiments of the present disclosure, these should not be limited to these terms. These terms are used only to differentiate.
  • the first may also be called the second, and similarly, the second may also be called the first.
  • the mobile platform of automatic cleaning equipment is usually equipped with a circuit board.
  • Various electronic devices and interface devices are provided on the circuit board.
  • the interface devices are electrically connected to various electronic control components in the mobile platform through connecting lines.
  • the electronic control components Components include, for example, a drive wheel component and the like.
  • the present disclosure provides an automatic cleaning equipment, including: a mobile platform; a circuit board disposed in the mobile platform, including: a circuit board body having a middle area and an edge area surrounding the middle area; an interface device disposed on the circuit on the board body and located in the edge area; and electronic components provided on the circuit board body and located in the middle area, and retaining ribs provided in the mobile platform configured to block liquid and /or moisture comes into contact with the electronic device.
  • ribs are provided in the mobile platform to block liquid and/or moisture from contacting the electronic devices on the circuit board, thereby avoiding damage to the electronic devices and ensuring the service life of the automatic cleaning equipment.
  • Figure 1 is a schematic structural diagram of an automatic cleaning equipment according to some embodiments of the present disclosure
  • Figure 2 is a schematic diagram of the bottom structure of an automatic cleaning equipment according to some embodiments of the present disclosure.
  • the automatic cleaning equipment can be a vacuum A floor vacuuming robot, a mopping/floor brushing robot, a window climbing robot, etc.
  • the automatic cleaning equipment may include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, Energy system 160 and human-computer interaction system 170.
  • the mobile platform 100 may be configured to automatically move along the target direction on the operating surface.
  • the operating surface may be a surface to be cleaned by an automatic cleaning device.
  • the automatic cleaning equipment can be a floor 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 floor of the building.
  • the outer surface of the glass works, and the glass is the operating surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface.
  • the following description in this disclosure takes a mopping robot as an example.
  • the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
  • the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but can execute established procedures or operate according to certain logic.
  • the target direction may be independently determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually.
  • the mobile platform 100 includes a forward portion 111 and a backward portion 110 .
  • the sensing system 120 includes a position determining 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, and an ultrasonic sensor ( Not shown in the figure), 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 sensing devices provide various position information and motion status information of the machine to the control system 130.
  • a position determining 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 in the figure
  • 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
  • the automatic 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: transverse axis Y, The front and rear axes X and the center vertical axis Z.
  • the forward driving direction along the front and rear axis X is labeled "forward”
  • the rearward driving direction along the front and rear axis X is labeled "rearward”.
  • the transverse axis Y substantially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the driving wheel assembly 141 .
  • the automatic cleaning equipment can rotate around the Y-axis.
  • the automatic cleaning equipment can rotate around the Z-axis. In the forward direction of the automatic cleaning equipment, when the automatic cleaning equipment tilts to the right side of the X-axis, it is a "right turn”, and when the automatic cleaning equipment tilts to the left side of the X-axis, it is a "left turn".
  • cliff sensors 123 are provided on the bottom of the mobile platform 100 and in front and behind the driving wheel assembly 141 .
  • the cliff sensors are used to prevent the automatic cleaning equipment from falling when it retreats, thereby preventing the automatic cleaning equipment from being damaged. damage.
  • the aforementioned "front” refers to the side with respect to the same direction of travel of the automatic cleaning equipment, and the aforementioned “rear” refers to the side opposite to the direction of movement of the automatic cleaning equipment.
  • position determining device 121 include but are not limited to cameras and laser ranging devices (LDS).
  • LDS laser ranging devices
  • Each component in the sensing system 120 can operate independently or together to achieve the intended function more accurately.
  • the surface to be cleaned is identified through 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 ranging devices, etc. for more accurate determination.
  • an 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 equipment to perform carpet mode cleaning.
  • the forward portion 111 of the mobile platform 100 is provided with a buffer 122.
  • the driving wheel assembly 141 propels the automatic cleaning equipment to walk on the ground.
  • the buffer 122 detects the driving path of the automatic cleaning equipment via a sensor system, such as an infrared sensor.
  • One or more events (or objects) the automatic cleaning device can pass the event (or object) detected by the buffer 122, such as obstacles, walls, and control the driving wheel assembly 141 to cause the automatic cleaning device to respond to the event (or object) responds by, for example, moving away from an obstacle.
  • the control system 130 is provided on the circuit motherboard in the mobile platform 100 and includes a computing processor, such as a central processing unit, an application processor, and an application processor that communicate with 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 plurality of sensors from the sensing system 120, and use positioning algorithms, such as SLAM (Simultaneous Localization and Mapping, real-time positioning and map construction) according to the obstacle information fed back by the position determination device.
  • SLAM Simultaneous Localization and Mapping, real-time positioning and map construction
  • control system 130 may also decide whether to activate the cleaning module 150 to perform a cleaning operation based on the environmental information and the environmental map.
  • the control system 130 can comprehensively determine the distance information and speed information fed back by the buffer 122, the cliff sensor 123, and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively determine the current location of the sweeper. What kind of working status, such as crossing a threshold, getting on the carpet, being on a cliff, being stuck above or below, being filled with dust bins, being picked up, etc., will also provide specific next action strategies for different situations to enable automatic cleaning. The work of the device is more in line with the owner's requirements 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.
  • the drive system 140 may execute drive commands based on specific distance and angle information, such as x, y, and ⁇ components, to maneuver the automatic cleaning device across the ground.
  • 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.
  • the drive system 140 includes a left drive wheel assembly and a right drive wheel respectively. components.
  • the left and right driving wheel assemblies are symmetrically arranged along the transverse axis defined by the mobile platform 100 .
  • the automatic cleaning equipment can include one or more steering components 142.
  • the steering components 142 can be driven wheels or driving wheels, and their structural form Including but not limited to caster wheels, the steering assembly 142 may be located in front of the driving wheel assembly 141 .
  • Energy system 160 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries.
  • the rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit.
  • the charging control circuit, battery pack charging temperature detection circuit, and battery under-voltage monitoring circuit are then connected to the microcontroller control circuit.
  • the host is charged by connecting to the base station (or charging pile) through charging electrodes arranged on the side or below the fuselage.
  • the human-computer interaction system 170 includes buttons on the host panel, which allow the user to select functions; it may also include a display screen and/or indicator lights and/or a speaker.
  • the display screen, indicator lights, and speaker show the user the current status of the machine or Function options; can also include mobile client programs.
  • the mobile client can show users a map of the environment where the equipment is located, as well as the location of the machine, and provide users with richer and more user-friendly functions.
  • the cleaning module 150 may include a dry cleaning module 151 .
  • the dry cleaning module 151 includes a roller brush, a dust box, and a fan.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and carries it to the front of the 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 passing through the dust box.
  • Sweeper dust removal performance Power can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency).
  • the cleaning efficiency DPU is affected by the wind utilization rate of the air duct composed of the vacuum inlet, dust box, fan, air outlet and the connecting parts between the four. The influence of fan type and power is a complex system design issue.
  • the dry cleaning module may also include a side brush 152 having a rotating axis at an angle relative to the ground for moving debris into the roller brush area of the cleaning module 150 .
  • the automatic cleaning equipment may also include a wet cleaning module configured to clean at least a portion of the operating surface in a wet cleaning manner; wherein the wet cleaning module includes a water tank 400, a cleaning head, 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 operating surface under the driving of the driving unit.
  • a wet cleaning module configured to clean at least a portion of the operating surface in a wet cleaning manner
  • the wet cleaning module includes a water tank 400, a cleaning head, 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 operating surface under the driving of the driving unit.
  • Figure 3 is a schematic structural diagram of the mobile platform body of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure.
  • Figure 4 is an exploded schematic structural view of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure, in which the mobile platform body is not shown.
  • Figure 5 is an exploded schematic structural view of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure, in which the mobile platform body is not shown.
  • Figure 6 is a schematic structural diagram of the platform cover of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure, showing the position of the interface device.
  • FIG. 7 is an enlarged schematic diagram of area N in FIG. 6 .
  • some embodiments of the present disclosure provide an automatic cleaning device.
  • the automatic cleaning device is, for example, a vacuum robot, a mopping/brushing robot, a window climbing robot, etc., including a mobile platform. 100.
  • the circuit board 20 provided in the corresponding platform and the retaining rib 30 provided in the mobile platform.
  • the mobile platform 100 may be configured to automatically move in a target direction on an operating surface, which may be a surface to be cleaned by the automatic cleaning device.
  • the circuit board 20 is arranged in the mobile platform 100.
  • the control center of the automatic cleaning equipment can be arranged on the circuit board 20 to control and interact with each component of the automatic cleaning equipment.
  • the circuit board 20 includes a circuit board body 21 and an interface device 22 and an electronic device 23 provided on the circuit board body.
  • the circuit board body 21 is, for example, a printed circuit board, which has a middle area MA and an edge area PA surrounding the middle area.
  • the interface device 22 is provided on the circuit board body 21 and is located in the edge area PA. It is connected to other components of the automatic cleaning equipment, such as the sensing system 120 and the driving system, through connecting lines, such as wires, etc. 140. Cleaning module 150, energy system 160 and human-computer interaction system 170, etc., to realize data communication between the control center of the mobile cleaning equipment and other components.
  • the electronic device 23 is disposed on the circuit board body 21 and located in the middle area MA, forming a control center of the cleaning equipment, such as a control system 130 .
  • the blocking ribs 30 are disposed in the mobile platform 100 between the interface device 22 and the electronic device 23 , and are configured to prevent liquid and/or moisture from contacting the electronic device 23 , for example, to prevent liquid and/or moisture from reaching the electronic device 23 along a connecting line.
  • the liquid and/or moisture from the interface device invades the electronic devices in the middle area, thereby preventing damage to the electronic devices and ensuring the service life of the automatic cleaning equipment.
  • the retaining ribs 30 are, for example, in a semi-enveloping structure and are arranged around the interface device 22 .
  • the semi-enveloping structure has an opening 34 , and the opening 34 is located behind the interface device 22 . Set towards the middle area MA.
  • the retaining ribs 30 include first sub-retaining ribs 31 , second sub-retaining ribs 32 and third sub-retaining ribs 33 .
  • the first sub-supporting rib 31 is disposed between the interface device 22 and the electronic device 23 and has a first end and a second end.
  • the first sub-supporting rib 31 is, for example, in the shape of a straight strip.
  • the second sub-supporting rib 22 extends from the first end toward the edge area PA, and the third sub-supporting rib 23 extends from the second end toward the edge area PA.
  • the second sub-retaining rib 22 and the third sub-retaining rib 23 are also in the shape of straight strips, for example.
  • the second sub-retaining rib 32 and the third sub-retaining rib 33 gradually move away from each other.
  • the first sub-retaining rib 31, the second sub-retaining rib 32 and the third sub-retaining rib 33 form, for example, an open trapezoid, and its longer bottom is open.
  • Figure 8 is an exploded schematic structural view of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure, in which the mobile platform body is not shown.
  • Figure 9 is an exploded schematic structural diagram of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure, in which the mobile platform body is not shown.
  • Figure 10 is a schematic structural diagram of the platform cover of the mobile platform of the automatic cleaning equipment provided by some embodiments of the present disclosure, which shows the position of the interface device.
  • FIGS. 3 to 10 there are multiple interface devices 22 , all of which are arranged in the edge area PA.
  • the aforementioned semi-surrounding structure can be provided correspondingly to any one of the multiple interface devices 22 . of ribs.
  • the number of electronic devices 23 provided in the middle area MA is also plural.
  • the ribs 30 may extend along the edge of the middle area MA and be arranged around the electronic device 23 to form a fully enclosed structure.
  • a plurality of electronic devices 23 located in the middle area MA are isolated from a plurality of interface devices 22 located in the peripheral area PA. Prevent liquid from reaching the interface device 22 along the connection line And/or moisture enters the intermediate area MA and contacts the electronic device 23 .
  • the mobile platform 100 includes a mobile platform body 102 and a platform cover 101 .
  • the circuit board 20 is disposed on the mobile platform body 102
  • the platform cover 101 is detachably fastened on the mobile platform body 102 to cover various components on the mobile platform body 102 , such as the circuit board 20 . It plays a role of shielding and protecting various components on the mobile platform body 102 .
  • the retaining ribs 30 are provided on the surface of the platform cover 101 facing the mobile platform body 102 .
  • the blocking ribs 30 are located between the interface device 22 and the electronic device 23 to prevent liquid and/or moisture from intruding into the electronic device 23 .
  • the gap d when the platform cover 101 is fastened to the mobile platform body 102, there is a gap between the retaining rib 30 and the circuit board body 21, and the gap d satisfies 0 ⁇ d ⁇ 0.2mm. That is, the distance between the end surface of the retaining rib 30 away from the platform cover 101 and the circuit board body 21 is greater than 0 and less than or equal to 0.2 mm.
  • a liquid such as water
  • the ribs 30 can be made of hard material. This gap can also allow a certain installation tolerance when the platform cover 101 is assembled to the mobile platform body 102 to prevent the hard ribs from abutting the circuit board 20. causing damage to the circuit board 20.
  • the retaining rib 30 and the platform cover 101 are an integral structure, and both can be integrally injection molded using the same material.
  • the retaining ribs 30 press against the circuit board body 21 .
  • the retaining rib 30 is made of elastic material, such as foam cotton.
  • the ribs 30 can also be directly provided on the circuit board body 21 .
  • the ribs 30 are away from the circuit board body.
  • the end of 21 is in contact with the surface of the platform cover 101 facing the circuit board 20, or the distance between the end of the rib 30 away from the circuit board body 21 and the surface of the platform cover 101 facing the circuit board 20 is greater than 0 and less than or equal to 0.2 mm to prevent liquid and/or moisture that reaches the interface device 22 along the connection line from entering the middle area MA and contacting the electronic device 23 .
  • the automatic cleaning equipment After cleaning or during the cleaning process, the automatic cleaning equipment needs to return to the base station for garbage collection or charging. During this process, the automatic cleaning equipment needs to accurately find the pile signal sent by the base station.
  • the automatic cleaning equipment communicates with the base station, it automatically The cleaning equipment serves as a signal receiving end to receive signals from the base station, and the automatic cleaning equipment is aligned with the base station. During the process, the automatic cleaning equipment does not want to receive too many stray interference signals.
  • the automatic cleaning equipment is on the side of the base station, and the signal is reflected through the edge of the signal receiving window to the receiving end in the window, the automatic cleaning equipment will Entering the base station diagonally from the side will cause the charging port to be misaligned or the garbage collection port to be misaligned after entering the base station, making it impossible to complete the task of returning to the base station.
  • a cleaning equipment including: a mobile platform 100 configured to automatically move on an operating surface; a pile-seeking module 200 disposed on one side of the mobile platform and configured to receive pile signals. Identify the location of the base station; the stray light elimination structure 300 is configured to eliminate the interference signal of the pile signal when the pile finding module 200 receives the pile signal.
  • the cleaning equipment is set up separately from the base station. When the cleaning equipment needs to be charged or dumped garbage, it is connected to the base station. When the cleaning equipment is cleaning, it is separated from the base station for cleaning operations.
  • the base station includes an infrared transmitting device for transmitting infrared signals. It is understandable that when the cleaning equipment needs to return to the base station, the cleaning equipment needs to receive the infrared signal emitted by the base station to perform operations such as positioning, pile finding, and pile installation.
  • a stray light elimination structure is arranged around the signal transceiver window of the automatic cleaning equipment.
  • the stray light elimination structure can eliminate the interference signal of the pile signal, so that the automatic cleaning equipment can receive it more accurately.
  • the signal emitted by the base station is accurately identified, so that the base station can be accurately returned to the base station for self-cleaning or charging.
  • the cleaning equipment includes a pile-finding module 200.
  • the pile-finding module 200 is disposed on one side of the mobile platform. As shown in Figure 1, for example, it is disposed on the front side or rear of the moving platform 100 in the forward direction. Side or oblique side, etc., used to receive infrared signals emitted by the base station.
  • the controller controls the pile-finding module 200 to search for infrared signals near the base station, and when the pile-finding module 200 receives the infrared signal, it guides the cleaning equipment to dock with the base station according to the infrared signal. After the equipment is docked with the base station, the cleaning equipment can conduct two-way communication with the base station.
  • the pile-finding module 200 includes a signal window.
  • an infrared receiving unit and an infrared transmitting unit are provided in the signal window for receiving and transmitting infrared signals.
  • the received infrared signals may be transmitted from a base station.
  • the light source that emits the infrared signal can be an infrared LED, a line light source, etc.
  • the one that receives the infrared signal can be an infrared sensor, such as an infrared CCD. It can be understood that it is not limited to infrared signals, it can be a visible light signal or other radio frequency signal, as long as it can Just achieve communication.
  • the signal window may be formed by an optical lens or a highly transparent material that transmits the required wavelength signal.
  • the stray light elimination structure 300 is disposed at the edge of the signal window, for example, surrounding the signal window. The surround may be fully enclosed. Surrounding or semi-surrounding or any local surrounding, usually, the signal window is surrounded by the stray light elimination structure 300 to form a concave window structure for transmitting and receiving signals.
  • the stray light elimination structure 300 is a bevel surrounding the signal window, and the bevel can A slope with an inclination in the range of 70-90 degrees is used to collect signals emitted by the base station.
  • the optical signals of unnecessary wavelengths are filtered through the signal window, and the signals emitted by the base station can be sensed by the normal incident signal window, achieving Matching communication between the cleaning equipment and the base station.
  • the pile signal is emitted into the slope surrounding the signal window, the pile signal light will be reflected to the signal window and will also be sensed by the sensor in the signal window, thereby causing the cleaning equipment to know the position of the base station.
  • the inclined surface can be set as a rough surface. After the pile signal is injected into the rough inclined surface, diffuse reflection occurs. The diffusely reflected light signal will be emitted in all directions, which will inevitably reduce the intensity entering the signal window, thereby being lower than The threshold value is sensed, so that it will not be considered as a valid pile signal, and the controller will not control the cleaning equipment to dock according to this signal.
  • the stray light elimination structure 300 is a bevel surrounding the signal window, wherein the bevel is black or semi-transparent black. Since black has a larger absorption coefficient for optical signals, pile signals are emitted into the black. Or behind the semi-transparent black slope, total reflection will not occur, or the reflectivity is extremely low. Therefore, the intensity entering the signal window will be lower than the perceived threshold, so it will not be considered a valid stake signal.
  • the controller The cleaning equipment will be controlled to connect according to this signal.
  • the stray light elimination structure 300 is a bevel surrounding the signal window, wherein the bevel is provided with a light-absorbing layer, such as painting with light-absorbing material or pasting a light-absorbing layer, and the signal is incident on a light-absorbing layer. After the slope, most of the light is absorbed without reflection, or the reflectivity is extremely low. Therefore, the intensity entering the signal window will be lower than the perceived threshold, so it will not be considered a valid pile signal. Control The controller will not control the cleaning equipment to connect according to this signal.
  • the stray light elimination structure 300 is a bevel surrounding the signal window, wherein the bevel is provided with a light extinction structure.
  • the matting structure includes micro-protrusions disposed on the inclined surface.
  • the micro-protrusions include at least one of the following: arc-shaped protrusions, tapered protrusions, or prismatic protrusions. Setting up multiple micro-protruding matting structures on the slope will also greatly reduce the reflectivity of the pile signal on the slope. Therefore, the intensity entering the signal window will be lower than the perceived threshold, so it will not be considered an effective pile. signal, the controller will control the cleaning equipment to connect according to the signal.
  • the stray light elimination structure 300 is a vertical surface surrounding the signal window, wherein the vertical surface is perpendicular to the signal window.
  • the structure surrounding the signal window is set to be a vertical plane perpendicular to the window plane, the energy of the pile signal emitted from the side of the cleaning equipment entering the signal window will be greatly reduced. Therefore, the intensity entering the signal window will be lower than the perceived threshold, so it will not be considered a valid stub signal, and the controller will not control the cleaning equipment to dock according to this signal.
  • the mobile platform 100 includes a water tank 400 for containing clean water.
  • the water tank 400 is often disposed on the rear side of the mobile platform 100.
  • the water tank 400 and the mobile platform 100 are detachable structures or Integrated structure, the stray light elimination structure 300 and the water tank 400 are formed integrally or separately, that is, the stray light elimination structure 300 can be integrally formed into a surrounding inclined surface or a vertical surface when the water tank 400 is made, or it can be formed in the signal There is no limitation on setting inclined or vertical surfaces around the window by pasting or snapping them together.
  • a stray light elimination structure is provided around the signal transceiver window, which can be one or a combination of the above embodiments.
  • the stray light elimination structure It can eliminate the interference signal of the pile signal, such as the pile signal injected in an oblique direction, so that the automatic cleaning equipment can more accurately receive the signal in the correct direction emitted by the base station, and accurately identify the location of the base station based on the signal in the correct direction. Thus, it can accurately return to the base station for self-cleaning or charging.
  • the present disclosure provides a cleaning system, including: a cleaning base station and a cleaning device as described in any one of the above.
  • Figure 12 is a schematic structural diagram of a cleaning base station provided by some embodiments of the present disclosure.
  • the cleaning base station 700 is configured to provide garbage collection and/or automatic charging for automatic cleaning equipment.
  • the cleaning base station 700 includes a cleaning base station base 710 and a cleaning base station body 720 .
  • the cleaning base station body 720 is configured to collect garbage in the dust box of the automatic cleaning equipment, and is disposed on the cleaning base station base 710 .
  • the cleaning base station base 710 includes a dust collection port 711 and a conductive sheet.
  • the dust collection port 711 is configured to connect with the port of the main brush module of the automatic cleaning equipment.
  • the garbage in the dust box of the automatic cleaning equipment enters the cleaning base station main body 720 through the dust collection port 711.
  • the conductive sheet is configured to charge the cleaning equipment entering the cleaning base station base 710 .
  • a sealing rubber pad 714 is also provided around the dust collection port 711, which is used to seal the dust collection port 711 after docking with the port of the main brush module of the automatic cleaning device to prevent garbage from leaking.
  • the main body 720 of the cleaning base station is provided with a signal transmitting port 721, which is used to transmit pile signals to the outside for communication after capture by the cleaning equipment, so as to achieve accurate docking of the cleaning equipment and the base station.
  • Figure 13 is a schematic diagram of the scene after the automatic cleaning equipment returns to the cleaning base station according to some embodiments of the present disclosure. As shown in Figure 13, when the mobile platform 100 of the automatic cleaning equipment, such as a sweeping robot, returns to the cleaning base station 700 after cleaning, The automatic cleaning equipment will move to the cleaning base station base 710 along the In the bag, or make the charging conductive sheet of the base station dock with the charging interface of the cleaning device and then charge.
  • the mobile platform 100 of the automatic cleaning equipment such as a sweeping robot

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

一种自动清洁设备，包括：移动平台；电路板，设置在所述移动平台中，包括：电路板本体，具有中间区域以及围绕中间区域的边缘区域；接口器件，设置在所述电路板本体上，且位于所述边缘区域中；以及电子器件，设置在所述电路板本体上，且位于所述中间区域中，以及挡筋，设置在所述接口器件与所述电子器件之间，配置为阻隔液体和/或湿气接触所述电子器件。

Description

自动清洁设备及系统
本申请要求2022年8月22日提交的中国专利申请号202222205872.4以及2022年9月2日提交的中国专利申请号202222346054.6的优先权，这些中国专利申请以其整体通过引用并入本文。
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
随着科技的不断发展，清洁机器人越来越普及，为家庭生活带来了便利，自动清洁设备，例如包括扫地机器人、拖地机器人以及扫拖一体机器人等，随着自动清洁设备的普及，清洁机器人的功能及结构也越来越复杂。
自动清洁设置在湿度较大的环境中(例如厨房、卫生间等等)工作时，存在机器内部进水的风险，从而会威胁到电路板等元件，导致器件的损坏，进而损坏自动清洁设备。
发明内容
本公开一些实施例提供一种自动清洁设备，包括：
移动平台；
电路板，设置在所述移动平台中，包括：
电路板本体，具有中间区域以及围绕中间区域的边缘区域；
接口器件，设置在所述电路板本体上，且位于所述边缘区域中；以及
电子器件，设置在所述电路板本体上，且位于所述中间区域中，以及
挡筋，设置在所述接口器件与所述电子器件之间，配置为阻隔液体和/或湿气接触所述电子器件。
在一些实施例中，所述挡筋呈半包围结构，围绕所述接口器件设置，所述半包围结构具有敞口，所述敞口背向所述中间区域设置。
在一些实施例中，所述挡筋包括：
第一子支挡筋，设置在所述接口器件与所述电子器件之间，具有第一端部和第二端部；
第二子支挡筋，自所述第一端部朝向所述边缘区域延伸；以及
第三子支挡筋，自所述第二端部朝向所述边缘区域延伸，
在自所述第一子支挡筋至所述敞口的方向上，所述第二子支挡筋和所述第三子支挡筋相互逐渐远离。
在一些实施例中，所述挡筋沿所述中间区域的边缘延伸，围绕所述电子器件设置，呈全包围结构。
在一些实施例中，所述移动平台包括：
移动平台本体，所述电路板设置在所移动平台本体上，以及
平台盖体，可拆卸地扣合在所述移动平台本体上以遮蔽所述电路板，
所述挡筋设置在所述平台盖体面向所述移动平台本体的表面上。
在一些实施例中，当所述平台盖体扣合在所述移动平台本体上时，所述挡筋与所述电路板本体之间存在间隙，所述间隙d满足0＜d≤0.2mm。
在一些实施例中，所述挡筋与所述平台盖体为一体结构。
在一些实施例中，当所述平台盖体扣合在所述移动平台本体上时，所述挡筋抵压在所述电路板本体上。
在一些实施例中，所述挡筋的材料为弹性材料。
在一些实施例中，所述挡筋设置在所述电路板本体上。
本公开一些实施例还提供一种清洁设备，包括：
移动平台，配置为在操作面上移动；
寻桩模组，设置于所述移动平台一侧，配置为接收基站发射的桩信
号以识别所述基站的位置；
杂散光消除结构，配置为当所述寻桩模组接收所述桩信号时，消除
所述桩信号的干扰信号。
在一些实施例中，所述寻桩模组包括信号窗口，配置为接收所述桩信号，其中，所述杂散光消除结构设置于所述信号窗口的边缘位置。
在一些实施例中，所述杂散光消除结构环绕所述信号窗口设置。
在一些实施例中，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面为粗糙面。
在一些实施例中，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面为黑色或者半透黑色。
在一些实施例中，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面设置有吸光层。
在一些实施例中，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面设置有消光结构。
在一些实施例中，所述消光结构包括设置于所述斜面的微型凸起。
在一些实施例中，所述微型凸起包括以下至少之一：弧形凸起、锥形凸起或棱型凸起。
在一些实施例中，所述杂散光消除结构为环绕所述信号窗口的垂直面，其中，所述垂直面垂直所述信号窗口。
在一些实施例中，所述移动平台包括水箱，所述杂散光消除结构与所述水箱一体成型或分体成型。
本公开一些实施例还提供一种清洁系统，包括：清洁基站和如上任一项所述的清洁设备。
本公开实施例具有如下的技术效果：
在移动平台中设置挡筋，阻隔液体和/或湿气接触电路板上的电子器件，避免电子器件损坏，保证自动清洁设备的使用寿命。
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提供的自动清洁设备的结构示意图；
图2为本公开的一些实施例提供的的自动清洁设备底部结构的示意图；
图3为本公开一些实施例提供的自动清洁设备的移动平台的移动平台本体的结构示意图；
图4为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图；
图5为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图；
图6为本公开一些实施例提供的自动清洁设备的移动平台的平台盖体的结构示意图；
图7为图6中区域N的放大示意图；
图8为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图；
图9为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图；
图10为本公开一些实施例提供的自动清洁设备的移动平台的平台盖体的结构示意图；
图11为本公开的一些实施例的自动清洁设备信号窗口结构示意图。
图12为本公开的一些实施例的清洁基站的立体结构示意图。
图13为本公开的一些实施例的清洁系统的结构示意图。
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。
相关技术中，自动清洁设备的移动平台内部通常设置有电路板，电路板上设置有各种电子器件以及接口器件，接口器件通过连接线与移动平台内的各种电控组件电连接，电控组件例如包括驱动轮组件等。当自动清洁设备在潮湿环境、或者涉水环境中工作时，湿气或水可能会侵入所述移动平台内部，接触电路板上的电子器件。例如，在涉水环境中，自动清洁设备在行走过程中，驱动轮可能将水甩入移动平台内部，水沿着连接线移动至接口器件处，进而侵入电路板中，接触电子器件。这样会造成电子器件损坏，导致自动清洁设备不能正常工作。
本公开提供一种自动清洁设备，包括：移动平台；电路板，设置在所述移动平台中，包括：电路板本体，具有中间区域以及围绕中间区域的边缘区域；接口器件，设置在所述电路板本体上，且位于所述边缘区域中；以及电子器件，设置在所述电路板本体上，且位于所述中间区域中，以及挡筋，设置在所述移动平台中，配置为阻隔液体和/或湿气接触所述电子器件。本公开在移动平台中设置挡筋，阻隔液体和/或湿气接触电路板上的电子器件，避免电子器件损坏，保证自动清洁设备的使用寿命。
下面结合附图详细说明本公开的可选实施例。
图1为本公开的一些实施例的自动清洁设备的结构示意图；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，如图1至图2所示，自动清洁设备可以是真空吸地机器人、也可以是拖地/刷地机器人、也可以是爬窗机器人等等，该自动清洁设备可以包含移动平台100、感知系统120、控制系统130、驱动系统140、清洁模组150、能源系统160和人机交互系统170。
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。
如图1至图2所示，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(Simultaneous Localization and Mapping，即时定位与地图构建)，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基站(或称为充电桩)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。所述干式清洁模组151包括滚刷、尘盒、风机。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400、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。
图3为本公开一些实施例提供的自动清洁设备的移动平台的移动平台本体的结构示意图。图4为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图，其中未示出移动平台本体。图5为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图，其中未示出移动平台本体。图6为本公开一些实施例提供的自动清洁设备的移动平台的平台盖体的结构示意图，其中示出了接口器件的位置。图7为图6中区域N的放大示意图。
如图1至图6所述所示，本公开的一些实施例提供一种自动清洁设备，自动清洁设备例如为真空吸地机器人、拖地/刷地机器人、爬窗机器人等等，包括移动平台100、设置在对应平台中的电路板20、以及设置在移动平台中的挡筋30。
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。电路板20设置在所述移动平台100中，自动清洁设备的控制中枢，可以设置在电路板20上，对自动清洁设备的各组件进行控制及数据交互。
电路板20包括电路板本体21以及设置在电路板本体上的接口器件22以及电子器件23。电路板本体21，例如为印刷电路板，其具有中间区域MA以及围绕中间区域的边缘区域PA。接口器件22设置在所述电路板本体21上，且位于所述边缘区域PA中，其通过连接线，例如为电线等，连接至自动清洁设备的其他组件，例如为感知系统120、驱动系统 140、清洁模组150、能源系统160和人机交互系统170等，以实现动清洁设备的控制中枢与其他组件的数据通讯。电子器件23设置在所述电路板本体21上，且位于所述中间区域MA中，组成清洁设备的控制中枢，例如为控制系统130。
挡筋30设置在所述移动平台100中，位于所述接口器件22与所述电子器件23之间，配置为阻隔液体和/或湿气接触所述电子器件23，例如防止沿着连接线到达接口器件的液体和/湿气侵入中间区域的电子器件，进而避免电子器件损坏，从而保证自动清洁设备的使用寿命。
在一些实施例中，如图3至图6所示，所述挡筋30例如呈半包围结构，围绕所述接口器件22设置，所述半包围结构具有敞口34，所述敞口34背向所述中间区域MA设置。
在一些实施例中，如图3至图6所示，所述挡筋30包括第一子支挡筋31、第二子支挡筋32以及第三子支挡筋33。第一子支挡筋31设置在所述接口器件22与所述电子器件23之间，具有第一端部和第二端部，第一子支挡筋31例如呈直条状。第二子支挡筋22自所述第一端部朝向所述边缘区域PA延伸，第三子支挡筋23自所述第二端部朝向所述边缘区域PA延伸。第二子支挡筋22和第三子支挡筋23亦例如呈直条状。在自所述第一子支挡筋31至所述敞口34的方向上，所述第二子支挡筋32和所述第三子支挡筋33相互逐渐远离。第一子支挡筋31、第二子支挡筋32以及第三子支挡筋33例如为形成一个敞口梯形，其较长的下底处为敞口。
采用该种设计，液体和/或湿气沿着连接线到达接口器件22后，它们会被挡筋30阻挡，液体或者也有湿气凝结的水或自敞口处流出，避免液体和/或湿气接触电路板上的电子器件，对电路板中间区域MA的电子器件形成保护。
图8为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图，其中未示出移动平台本体。图9为本公开一些实施例提供的自动清洁设备的移动平台的结构爆炸示意图，其中未示出移动平台本体。图10为本公开一些实施例提供的自动清洁设备的移动平台的平台盖体的结构示意图，其中示出了接口器件的位置。
在一些实施例中，结合图3至图10所示，接口器件22的数量为多个，均设置在边缘区域PA中，对于多个接口器件22的任一个均可以对应设置前述的半包围结构的挡筋。设置在中间区域MA的电子器件23的数量亦为多个。
在一些实施例中，如图3至图10所示，所述挡筋30可以沿所述中间区域MA的边缘延伸，围绕所述电子器件23设置，呈全包围结构。将位于中间区域MA的多个电子器件23与位于周边区域PA的多个接口器件22隔离。阻止顺着连接线到达接口器件22的液体 和/或湿气进入中间区域MA接触电子器件23。对位于中间区域MA的电子器件进行防湿防潮保护。
在一些实施例中，如图1至图10所示，所述移动平台100包括移动平台本体102以及平台盖体101。所述电路板20设置在所移动平台本体102上，平台盖体101可拆卸地扣合在所述移动平台本体102上以遮蔽移动平台本体102上的各种部件、例如所述电路板20。对移动平台本体102上的各种部件起到遮蔽保护的作用。
在一些实施例中，所述挡筋30设置在所述平台盖体101面向所述移动平台本体102的表面上。所述平台盖体101扣合在所述移动平台本体102上时，挡筋30位于接口器件22和电子器件23之间，阻止液体和/或湿气侵入电子器件23。
在一些实施例中，当所述平台盖体101扣合在所述移动平台本体102上时，所述挡筋30与所述电路板本体21之间存在间隙，所述间隙d满足0＜d≤0.2mm。即挡筋30远离所述平台盖体101的端面与电路板本体21之间的距离大于0且小于等于0.2mm。液体，例如水在到达该间隙时，由于其张力的作用，液体不会穿过该间隙进入中间区域MA。此时挡筋30可以采用硬质材料制成，该间隙还可以使得平台盖体101装配至所述移动平台本体102时允许一定的安装容差，避免硬质的挡筋抵接电路板20，对电路板20造成损坏。
在一些实施例中，所述挡筋30与所述平台盖体101为一体结构，两者可以采用相同材料一体注塑成型。
在一些实施例中，当所述平台盖体101扣合在所述移动平台本体102上时，所述挡筋30抵压在所述电路板本体21上。所述挡筋30的材料为弹性材料，例如为泡沫棉等材料。当所述平台盖体101扣合在所述移动平台本体102上时，挡筋30被挤压变型，形成密封结构，阻止顺着连接线到达接口器件22的液体和/或湿气进入中间区域MA接触电子器件23。
在一些实施例中，所述挡筋30还可以直接设置在所述电路板本体21上，当所述平台盖体101扣合在所述移动平台本体102上时，挡筋30远离电路板本体21的端部抵接在平台盖体101面向电路板20的表面，或者，挡筋30远离电路板本体21的端部与在平台盖体101面向电路板20的表面的距离大于0且小于等于0.2mm，阻止顺着连接线到达接口器件22的液体和/或湿气进入中间区域MA接触电子器件23。
清洁完毕或清洁过程中，自动清洁设备需要回到基站进行垃圾回收或充电，在此过程中，自动清洁设备需要准确的寻找到基站发出的桩信号，自动清洁设备和基站进行通信的时候，自动清洁设备作为信号接受端接受来自基站发出的信号，自动清洁设备和基站对准 的过程中，自动清洁设备不希望接受太多杂散的干扰信号，例如，如果自动清洁设备在基站的侧边，信号通过信号接收窗口的边缘反射到窗口内的接受端，自动清洁设备就会从基站侧边斜着进入基站，导致进入基站后充电端口不能对准或垃圾回收口不能对准，导致不能完成回到基站的任务。
根据本公开的具体实施方式，提供一种清洁设备，包括：移动平台100，配置为在操作面上自动移动；寻桩模组200，设置于所述移动平台一侧，配置为接收桩信号后识别基站的位置；杂散光消除结构300，配置为当所述寻桩模组200接收所述桩信号时，消除所述桩信号的干扰信号。
清洁设备与基站分离设置，当清洁设备需要进行充电或者倾倒垃圾时，与基站对接，当清洁设备进行清扫时，与基站分离进行清扫操作。基站包括红外发射装置，用于发射红外信号。可以理解的是，在清洁设备需要回到基站时，清洁设备需要接收基站发射的红外信号，以进行定位、寻桩和上桩等操作。
该自动清洁设备信号收发窗口周围设置杂散光消除结构，当所述寻桩模组接收所述桩信号时，杂散光消除结构能够消除桩信号的干扰信号，从而使得自动清洁设备能够更加准确的接收的基站发射出来的信号，并准确的识别基站的位置，从而准确的回到基站进行自清洁或充电。
如图11所示，清洁设备包括寻桩模组200，寻桩模组200设置于所述移动平台一侧，如图1所示，例如，设置于移动平台100的前进方向的前侧面或后侧面或斜向侧面等，用于接收基站发射的红外信号。当清洁设备需要回到基站时，控制器控制寻桩模组200在基站附近搜索红外信号，并在寻桩模组200接收到红外信号时，根据红外信号引导清洁设备与基站进行对接，在清洁设备与基站对接后，清洁设备可以与基站进行双向通讯。
在一些实施例中，所述寻桩模组200包括信号窗口，例如，信号窗口内设置红外接收单元和红外发射单元，用于接收和发射红外信号，其中接收的红外信号可以为从基站发射的信号，发射红外信号的光源可以为红外LED、线光源等，接收红外信号的可以为红外传感器，例如红外CCD，可以理解的，不局限于红外信号，可以为可见光信号或其它射频信号，只要能实现通讯即可。信号窗口可以由透过需求波长信号的光学镜片或高透光材料形成，所述杂散光消除结构300设置于所述信号窗口的边缘位置，例如环绕信号窗口设置，所述环绕可以为全包围式环绕或半包围式环绕或任意局部的环绕，通常，信号窗口由杂散光消除结构300环绕形成内凹的窗口结构，用于信号的收发。
在一些实施例中，所述杂散光消除结构300为环绕所述信号窗口的斜面，所述斜面可 以为倾斜70-90度范围内的斜面，用于收集基站发射的信号，通常情况下，不需要的波长的光信号通过信号窗口过滤，而基站发射的信号能够正入射信号窗口被感测，实现清洁设备和基站的匹配通讯，但是，当桩信号射入环绕信号窗口的斜面时，会将桩信号光反射到信号窗口，也会被信号窗口内的传感器感知，从而使得清洁设备对基站的位置进行定位，但由于感知的是斜面的反射光信号，必然会使定位偏移，导致定位的不准确，不能实现清洁设备和基站的完全对准，因此，需要消除经斜面反射的桩信号，作为一种实施方式，所述斜面可以设置为粗糙面，桩信号射入粗糙的斜面后，发生漫反射，漫反射的光信号会向各个方向发射，必然会减少进入信号窗口的强度，从而低于被感知的阈值，这样就不会被认为是有效的桩信号，控制器就不会控制清洁设备按照该信号进行对接。
在一些实施例中，所述杂散光消除结构300为环绕所述信号窗口的斜面，其中，所述斜面为黑色或者半透黑色，由于黑色对光信号的吸收系数较大，桩信号射入黑色或者半透黑色的斜面后，不会发生全反射，或者反射率极低，因此，进入信号窗口的强度就会低于被感知的阈值，这样就不会被认为是有效的桩信号，控制器就不会控制清洁设备按照该信号进行对接。
在一些实施例中，所述杂散光消除结构300为环绕所述信号窗口的斜面，其中，所述斜面设置有吸光层，例如涂刷吸光材料或贴覆吸光层，桩信号射入具有吸光层的斜面后，大部分光线被吸收而不会发生反射，或者反射率极低，因此，进入信号窗口的强度就会低于被感知的阈值，这样就不会被认为是有效的桩信号，控制器就不会控制清洁设备按照该信号进行对接。
在一些实施例中，所述杂散光消除结构300为环绕所述信号窗口的斜面，其中，所述斜面设置有消光结构。在一些实施例中，所述消光结构包括设置于所述斜面的微型凸起。在一些实施例中，所述微型凸起包括以下至少之一：弧形凸起、锥形凸起或棱型凸起。在斜面设置多个微型凸起的消光结构，同样会大大降低桩信号在斜面的反射率，因此，进入信号窗口的强度就会低于被感知的阈值，这样就不会被认为是有效的桩信号，控制器就不会控制清洁设备按照该信号进行对接。
在一些实施例中，所述杂散光消除结构300为环绕所述信号窗口的垂直面，其中，所述垂直面垂直所述信号窗口。当设置环绕信号窗口的结构为垂直于窗口平面的垂直面时，会大大减少从清洁设备侧面射来的桩信号进入信号窗口的能量。因此，进入信号窗口的强度就会低于被感知的阈值，这样就不会被认为是有效的桩信号，控制器就不会控制清洁设备按照该信号进行对接。
在一些实施例中，如图11所示，所述移动平台100包括水箱400，用于容纳清洁用水，水箱400往往设置于移动平台100的后侧，水箱400与移动平台100为可拆卸结构或一体式结构，所述杂散光消除结构300与所述水箱400一体成型或分体成型，即杂散光消除结构300可以在制作水箱400时一体形成环绕式倾斜面或垂直面，也可以是在信号窗口周围通过粘贴或卡接的方式设置倾斜面或垂直面，对此不做限定。
本公开提供的自动清洁设备，信号收发窗口周围设置杂散光消除结构，可以为上述实施方式的一种或几种的结合，当所述寻桩模组接收所述桩信号时，杂散光消除结构能够消除桩信号的干扰信号，例如倾斜方向射入的桩信号，从而使得自动清洁设备能够更加准确的接收到基站发射出来的正确方向的信号，并基于正确方向的信号准确的识别基站的位置，从而准确的回到基站进行自清洁或充电。
根据本公开的具体实施方式，本公开提供一种清洁系统，包括：清洁基站和如上任一项所述的清洁设备。
图12为本公开一些实施例提供的清洁基站的结构示意图，清洁基站700，配置为为自动清洁设备提供垃圾收集和/或自动充电。
如图12所示，清洁基站700包括清洁基站底座710以及清洁基站主体720。清洁基站主体720配置为收集自动清洁设备的尘盒内的垃圾，其设置在所述清洁基站底座710上。清洁基站底座710包括集尘端口711和导电片，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进入清洁基站主体720内，导电片配置为给进入清洁基站底座710的清洁设备进行充电。在一些实施例中，如图12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。清洁基站主体720上设置有信号发射口721，用于向外发射桩信号，供清洁设备捕获后通讯，以实现清洁设备和基站的准确对接。
图13为本公开一些实施例提供的自动清洁设备返回清洁基站后的场景示意图，如图13所示，当自动清洁设备的移动平台100，例如扫地机器人，在清扫完毕回到清洁基站700后，自动清洁设备会沿X方向移动至清洁基站底座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清洁基站的垃圾袋内，或者，使得基站的充电导电片与清洁设备的充电接口对接后充电。
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 (22)

  1. 一种自动清洁设备，其特征在于，包括：
    移动平台；
    电路板，设置在所述移动平台中，包括：
    电路板本体，具有中间区域以及围绕中间区域的边缘区域；
    接口器件，设置在所述电路板本体上，且位于所述边缘区域中；以及
    电子器件，设置在所述电路板本体上，且位于所述中间区域中，以及
    挡筋，设置在所述接口器件与所述电子器件之间，配置为阻隔液体和/或湿气接触所述电子器件。
  2. 根据权利要求1所述的自动清洁设备，其中，所述挡筋呈半包围结构，围绕所述接口器件设置，所述半包围结构具有敞口，所述敞口背向所述中间区域设置。
  3. 根据权利要求2所述的自动清洁设备，其中，所述挡筋包括：
    第一子支挡筋，设置在所述接口器件与所述电子器件之间，具有第一端部和第二端部；
    第二子支挡筋，自所述第一端部朝向所述边缘区域延伸；以及
    第三子支挡筋，自所述第二端部朝向所述边缘区域延伸，
    在自所述第一子支挡筋至所述敞口的方向上，所述第二子支挡筋和所述第三子支挡筋相互逐渐远离。
  4. 根据权利要求1所述的自动清洁设备，其中，所述挡筋沿所述中间区域的边缘延伸，围绕所述电子器件设置，呈全包围结构。
  5. 根据权利要求1至4中任一项所述的自动清洁设备，其中，所述移动平台包括：
    移动平台本体，所述电路板设置在所移动平台本体上，以及
    平台盖体，可拆卸地扣合在所述移动平台本体上以遮蔽所述电路板，
    所述挡筋设置在所述平台盖体面向所述移动平台本体的表面上。
  6. 根据权利要求5所述的自动清洁设备，其中，当所述平台盖体扣合在所述移动平台本体上时，所述挡筋与所述电路板本体之间存在间隙，所述间隙d满足0＜d≤0.2mm。
  7. 根据权利要求6所述的自动清洁设备，其中，所述挡筋与所述平台盖体为一体结构。
  8. 根据权利要求5所述的自动清洁设备，其中，当所述平台盖体扣合在所述移动平台本体上时，所述挡筋抵压在所述电路板本体上。
  9. 根据权利要求8所述的自动清洁设备，其中，所述挡筋的材料为弹性材料。
  10. 根据权利要求1至4中任一项所述的自动清洁设备，其中，所述挡筋设置在所述电路板本体上。
  11. 一种清洁设备，其特征在于，包括：
    移动平台，配置为在操作面上移动；
    寻桩模组，设置于所述移动平台一侧，配置为接收基站发射的桩信
    号以识别所述基站的位置；
    杂散光消除结构，配置为当所述寻桩模组接收所述桩信号时，消除
    所述桩信号的干扰信号。
  12. 根据权利要求11所述的清洁设备，其特征在于，所述寻桩模组包括信号窗口，配置为接收所述桩信号，其中，所述杂散光消除结构设置于所述信号窗口的边缘位置。
  13. 根据权利要求12所述的清洁设备，其特征在于，所述杂散光消除结构环绕所述信号窗口设置。
  14. 根据权利要求13所述的清洁设备，其特征在于，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面为粗糙面。
  15. 根据权利要求13所述的清洁设备，其特征在于，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面为黑色或者半透黑色。
  16. 根据权利要求13所述的清洁设备，其特征在于，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面设置有吸光层。
  17. 根据权利要求13所述的清洁设备，其特征在于，所述杂散光消除结构为环绕所述信号窗口的斜面，其中，所述斜面设置有消光结构。
  18. 根据权利要求17所述的清洁设备，其特征在于，所述消光结构包括设置于所述斜面的微型凸起。
  19. 根据权利要求18所述的清洁设备，其特征在于，所述微型凸起包括以下至少之一：弧形凸起、锥形凸起或棱型凸起。
  20. 根据权利要求13所述的清洁设备，其特征在于，所述杂散光消除结构为环绕所述信号窗口的垂直面，其中，所述垂直面垂直所述信号窗口。
  21. 根据权利要求11所述的清洁设备，其特征在于，所述移动平台包括水箱，所述杂散光消除结构与所述水箱一体成型或分体成型。
  22. 一种清洁系统，其特征在于，包括：清洁基站和权利要求11-21中任一项所述的清洁设备。
PCT/CN2023/111569 2022-08-22 2023-08-07 自动清洁设备及系统 WO2024041366A1 (zh)

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