WO2024041366A9 - 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
WO2024041366A9
WO2024041366A9 PCT/CN2023/111569 CN2023111569W WO2024041366A9 WO 2024041366 A9 WO2024041366 A9 WO 2024041366A9 CN 2023111569 W CN2023111569 W CN 2023111569W WO 2024041366 A9 WO2024041366 A9 WO 2024041366A9
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning device
mobile platform
automatic cleaning
circuit board
signal
Prior art date
Application number
PCT/CN2023/111569
Other languages
English (en)
French (fr)
Other versions
WO2024041366A1 (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 in particular to an automatic cleaning device and system.
  • cleaning robots are becoming more and more popular, bringing convenience to family life.
  • Automatic cleaning equipment such as sweeping robots, mopping robots, and sweeping and mopping robots, etc.
  • the functions and structures of cleaning robots are becoming more and more complex.
  • an automatic cleaning device comprising:
  • a circuit board arranged in the mobile platform, comprises:
  • the circuit board body has a middle area and an edge area surrounding the middle area;
  • the barrier rib is disposed between the interface device and the electronic device and is configured to prevent liquid and/or moisture from contacting the electronic device.
  • the retaining rib is in a semi-enclosed structure, which is arranged around the interface device.
  • the semi-enclosed structure has an opening, and the opening is arranged to face away from the middle area.
  • the retaining rib comprises:
  • a first sub-support rib disposed between the interface device and the electronic device, having a first end and a second end;
  • a second sub-supporting rib extending from the first end toward the edge region
  • a third sub-supporting rib extends from the second end portion toward the edge region
  • the second sub-supporting reinforcement and the third sub-supporting reinforcement gradually move away from each other.
  • the retaining ribs extend along the edge of the middle area and are disposed around the electronic device to form a fully enclosed structure.
  • the mobile platform comprises:
  • a mobile platform body, the circuit board is arranged on the mobile platform body, and
  • a platform cover body is detachably fastened to the mobile platform body to shield 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 buckled onto the mobile platform body, there is a gap between the retaining rib and the circuit board body, and the gap d satisfies 0 ⁇ d ⁇ 0.2 mm.
  • the retaining ribs and the platform cover are an integral structure.
  • the retaining rib presses against the circuit board body.
  • the material of the retaining rib is elastic material.
  • the retaining rib is disposed 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
  • the pile search module is arranged on one side of the mobile platform and is configured to receive the pile signal transmitted by the base station.
  • the stray light elimination structure is configured to eliminate the stray light when the pile-finding module receives the pile signal.
  • the interference signal of the pile signal is the interference signal of the pile 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 position of the signal window.
  • the stray light elimination structure is disposed around the signal window.
  • the stray light elimination structure is a slope surrounding the signal window, wherein the slope is a rough surface.
  • the stray light elimination structure is a slope surrounding the signal window, wherein the slope is black or semi-transparent black.
  • the stray light elimination structure is a slope surrounding the signal window, wherein the slope is provided with a light absorbing layer.
  • the stray light elimination structure is a slope surrounding the signal window, wherein the slope is provided with an extinction structure.
  • the matte structure includes micro protrusions disposed on the inclined surface.
  • the micro-protrusions include at least one of the following: arc-shaped protrusions, cone-shaped protrusions, or prismatic protrusions.
  • the stray light elimination structure is a vertical surface surrounding the signal window, wherein the vertical surface is perpendicular to the signal window.
  • the mobile platform includes a water tank, and the stray light elimination structure is integrally formed with the water tank or is separately formed with the water tank.
  • Some embodiments of the present disclosure further provide a cleaning system, comprising: a cleaning base station and a cleaning device as described in any one of the above items.
  • Shielding ribs are arranged in the mobile platform to prevent liquid and/or moisture from contacting the electronic components on the circuit board, thereby avoiding damage to the electronic components and ensuring the service life of the automatic cleaning device.
  • FIG1 is a schematic diagram of the structure of an automatic cleaning device provided in some embodiments of the present disclosure.
  • FIG2 is a schematic diagram of a bottom structure of an automatic cleaning device provided in some embodiments of the present disclosure.
  • FIG3 is a schematic structural diagram of a mobile platform body of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure
  • FIG4 is a schematic diagram of an exploded structure of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure
  • FIG5 is a schematic diagram of an exploded structure of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure
  • FIG6 is a schematic structural diagram of a platform cover of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure
  • FIG7 is an enlarged schematic diagram of area N in FIG6 ;
  • FIG8 is a schematic diagram of an exploded structure of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure
  • FIG9 is a schematic diagram of an exploded structure of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure.
  • FIG10 is a schematic structural diagram of a platform cover of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure
  • FIG. 11 is a schematic diagram of a signal window structure of an automatic cleaning device according to some embodiments of the present disclosure.
  • FIG. 12 is a schematic diagram of the three-dimensional structure of a cleaning base station according to some embodiments of the present disclosure.
  • FIG. 13 is a schematic diagram of the structure of a cleaning system according to some embodiments of the present disclosure.
  • first, second, third, etc. may be used to describe in the disclosed embodiments, these should not be limited to these terms. These terms are only used to distinguish.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • a circuit board is usually provided inside the mobile platform of the automatic cleaning device, and 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 wires, and the electronic control components include, for example, drive wheel components, etc.
  • the automatic cleaning device is working in a humid environment or a water-wading environment, moisture or water may invade the interior of the mobile platform and contact the electronic devices on the circuit board.
  • the drive wheel may throw water into the interior of the mobile platform, and the water moves along the connecting wire to the interface device, and then invades the circuit board and contacts the electronic devices. This will cause damage to the electronic devices and cause the automatic cleaning device to fail to work properly.
  • the present disclosure provides an automatic cleaning device, comprising: a mobile platform; a circuit board, arranged in the mobile platform, comprising: a circuit board body, having a middle area and an edge area surrounding the middle area; an interface device, arranged on the circuit board body and located in the edge area; and an electronic device, arranged on the circuit board body and located in the middle area, and a retaining rib, arranged in the mobile platform, configured to prevent liquid and/or moisture from contacting the electronic device.
  • the present disclosure arranges retaining ribs in the mobile platform to prevent liquid and/or moisture from contacting the electronic device on the circuit board, thereby avoiding damage to the electronic device and ensuring the service life of the automatic cleaning device.
  • Figure 1 is a schematic diagram of the structure of the automatic cleaning device of some embodiments of the present disclosure
  • Figure 2 is a schematic diagram of the bottom structure of the automatic cleaning device of some embodiments of the present disclosure.
  • the automatic cleaning device can be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc.
  • the automatic cleaning device can include a mobile platform 100, a perception system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160 and a human-computer interaction system 170.
  • the mobile platform 100 may be configured to automatically move along a target direction on an operating surface.
  • the operating surface may be a surface to be cleaned by an automatic cleaning device.
  • the automatic cleaning device may be a mopping robot, in which case the automatic cleaning device works on the ground, and the ground is the operating surface;
  • the automatic cleaning device may also be a window cleaning robot, in which case the automatic cleaning device works on the outer glass surface of a building, and the glass is the operating surface;
  • the automatic cleaning device may also be a pipe cleaning robot, in which case the automatic cleaning device works on the inner surface of a pipe, and the inner surface of the pipe is the operating surface.
  • the mobile platform 100 can 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 adaptively make operational decisions based on unexpected environmental inputs, but can execute established programs or operate according to certain logic.
  • the target direction can be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually.
  • the mobile platform 100 includes a forward part 111 and a backward part 110.
  • the perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located on the forward part 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and ultrasonic sensors (not shown in the figure), infrared sensors (not shown in the figure), magnetometers (not shown in the figure), accelerometers (not shown in the figure), gyroscopes (not shown in the figure), odometers (not shown in the figure) and other sensing devices, which provide the control system 130 with various position information and motion status information of the machine.
  • the automatic cleaning device can move on the ground by various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis Y, the front-to-back axis X, and the central vertical axis Z.
  • the forward drive direction along the front-to-back axis X is marked as "forward”
  • the rearward drive direction along the front-to-back axis X is marked as "rearward”.
  • the lateral axis Y essentially extends between the right wheel and the left wheel of the automatic cleaning device along the axis defined by the center point of the drive wheel assembly 141.
  • the automatic cleaning device can rotate around the Y axis.
  • the automatic cleaning device can rotate around the Z axis.
  • the automatic cleaning device In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right side of the X axis, it is “right turn”, and when the automatic cleaning device is tilted to the left side of the X axis, it is "left turn”.
  • cliff sensors 123 are provided on the bottom of the mobile platform 100 and in front and rear of the driving wheel assembly 141.
  • the cliff sensors are used to prevent the automatic cleaning device from falling when it moves backward, thereby preventing the automatic cleaning device from being damaged.
  • the aforementioned “front” refers to the side with the same direction of travel of the automatic cleaning device, and the aforementioned “rear” refers to the side opposite to the direction of travel of the automatic cleaning device.
  • the position determination device 121 include, but are not limited to, a camera and a laser distance measuring device (LDS).
  • LDS laser distance measuring device
  • Each component in the perception system 120 can operate independently or together to achieve the intended function more accurately.
  • the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including the surface material, cleanliness, etc., and can be combined with a camera, a laser rangefinder, etc. for more accurate judgment.
  • an ultrasonic sensor may 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 material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
  • the forward portion 111 of the mobile platform 100 is provided with a buffer 122.
  • the buffer 122 detects one or more events (or objects) in the driving path of the automatic cleaning device via a sensor system, such as an infrared sensor.
  • the automatic cleaning device can control the driving wheel assembly 141 to respond to the event (or object), such as an obstacle or a wall, detected by the buffer 122, so that the automatic cleaning device can move away from the obstacle.
  • the control system 130 is arranged on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, which communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory.
  • a computing processor such as a central processing unit
  • an application processor which communicates with a non-temporary memory, such as a hard disk, a flash memory, and a random access memory.
  • the application processor is configured to receive the environmental information sensed by the multiple sensors transmitted by the perception system 120, and use a positioning algorithm, such as SLAM (Simultaneous Localization and Mapping) according to the obstacle information fed back by the position determination device, to draw a real-time map of the environment in which the automatic cleaning device is located, and according to The environmental information and the environmental map autonomously determine the driving path, and then control the driving system 140 to perform forward, backward and/or steering operations according to the autonomously determined driving path. Further, the control system 130 can also determine whether to start the cleaning module 150 for cleaning operations according to the environmental information and the environmental map.
  • SLAM Simultaneous Localization and Mapping
  • control system 130 can combine the distance information and speed information fed back by the buffer 122, cliff sensor 123 and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensor devices to comprehensively judge the current working state of the sweeper, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., and will also give specific next action strategies for different situations, so that the work of the automatic cleaning device is more in line with the owner's requirements and has a better user experience.
  • 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 the automatic cleaning device.
  • the drive system 140 can execute a drive command based on specific distance and angle information, such as x, y and ⁇ components, to manipulate the automatic cleaning device to travel 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 assembly respectively.
  • the left and right drive wheel assemblies are symmetrically arranged along the horizontal axis defined by the mobile platform 100.
  • the automatic cleaning device may include one or more steering assemblies 142.
  • the steering assembly 142 may be a driven wheel or a driving wheel. Its structural form includes but is not limited to a universal wheel.
  • the steering assembly 142 may be located in front of the driving wheel assembly 141.
  • the energy system 160 includes a rechargeable battery, such as a nickel-metal hydride battery and a lithium battery.
  • the rechargeable battery can be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are further connected to the single-chip control circuit.
  • the host is connected to a base station (or charging pile) through a charging electrode arranged on the side or below the fuselage for charging.
  • the human-machine interaction system 170 includes buttons on the host panel for users to select functions; it may also include a display screen and/or indicator lights and/or speakers, which display the current state of the machine or function selection items to the user; it may also include a mobile client program.
  • the mobile client can show the user a map of the environment where the equipment is located and the location of the machine, which can provide users with more abundant and humanized function items.
  • 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 which has a certain interference with the ground, sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then the suction gas generated by the fan and passing through the dust box is sucked into the dust box.
  • the power can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency).
  • the cleaning efficiency DPU is affected by the wind power utilization rate of the air duct formed by the dust suction port, dust box, fan, air outlet and the connecting parts between the four, and is affected by the type and power of the fan.
  • the dry cleaning module may also include a side brush 152 with a rotating shaft, and the rotating shaft is at a certain angle relative to the ground to move debris to the roller brush area of the cleaning module 150.
  • the automatic cleaning device may also include a wet cleaning module, which is configured to clean at least a portion of the operating surface using a wet cleaning method; wherein the wet cleaning module includes a water tank 400, a cleaning head, a driving unit, etc., wherein the water in the water tank flows along the water path to the cleaning head, and the cleaning head cleans at least a portion of the operating surface under the drive of the driving unit.
  • a wet cleaning module includes a water tank 400, a cleaning head, a driving unit, etc., wherein the water in the water tank flows along the water path to the cleaning head, and the cleaning head cleans at least a portion of the operating surface under the drive of the driving unit.
  • Figure 3 is a schematic diagram of the structure of the mobile platform body of the mobile platform of the automatic cleaning device provided in some embodiments of the present disclosure.
  • Figure 4 is a schematic diagram of the structure explosion of the mobile platform of the automatic cleaning device provided in some embodiments of the present disclosure, in which the mobile platform body is not shown.
  • Figure 5 is a schematic diagram of the structure explosion of the mobile platform of the automatic cleaning device provided in some embodiments of the present disclosure, in which the mobile platform body is not shown.
  • Figure 6 is a schematic diagram of the structure of the platform cover of the mobile platform of the automatic cleaning device provided in some embodiments of the present disclosure, in which the position of the interface device is shown.
  • Figure 7 is an enlarged schematic diagram of area N in Figure 6.
  • an automatic cleaning device such as a vacuum robot, a mopping/brushing robot, a window climbing robot, etc., including a mobile platform 100, a circuit board 20 arranged in the corresponding platform, and a retaining rib 30 arranged in the mobile platform.
  • the mobile platform 100 can be configured to automatically move along a target direction on an operating surface, and the operating surface can be a surface to be cleaned by the automatic cleaning device.
  • the circuit board 20 is arranged in the mobile platform 100, and the control center of the automatic cleaning device can be arranged on the circuit board 20 to control and exchange data with various components of the automatic cleaning device.
  • the circuit board 20 includes a circuit board body 21, an interface device 22 and an electronic device 23 arranged on the circuit board body.
  • the circuit board body 21, for example, is a printed circuit board, which has a middle area MA and an edge area PA surrounding the middle area.
  • the interface device 22 is arranged on the circuit board body 21 and is located in the edge area PA. It is connected to other components of the automatic cleaning device, such as the sensing system 120, the drive system 120, etc., through a connecting line, such as an electric wire. 140, cleaning module 150, energy system 160 and human-machine interaction system 170, etc., to realize data communication between the control center of the dynamic cleaning equipment and other components.
  • the electronic device 23 is arranged on the circuit board body 21 and is located in the middle area MA, constituting the control center of the cleaning equipment, such as the control system 130.
  • the retaining rib 30 is disposed in the mobile platform 100, between the interface device 22 and the electronic device 23, and is configured to prevent liquid and/or moisture from contacting the electronic device 23, for example, preventing liquid and/or moisture that reaches the interface device along the connecting line from invading the electronic device in the middle area, thereby avoiding damage to the electronic device, thereby ensuring the service life of the automatic cleaning equipment.
  • the retaining rib 30 is, for example, in a semi-enclosed structure, disposed around the interface device 22 , and the semi-enclosed structure has an opening 34 , and the opening 34 is disposed facing away from the middle area MA.
  • the retaining rib 30 includes a first sub-support retaining rib 31, a second sub-support retaining rib 32, and a third sub-support retaining rib 33.
  • the first sub-support retaining 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-support retaining rib 31 is, for example, in the shape of a straight bar.
  • the second sub-support retaining rib 22 extends from the first end toward the edge area PA, and the third sub-support retaining rib 23 extends from the second end toward the edge area PA.
  • the second sub-support retaining rib 22 and the third sub-support retaining rib 23 are also, for example, in the shape of a straight bar. In the direction from the first sub-support retaining rib 31 to the opening 34, the second sub-support retaining rib 32 and the third sub-support retaining rib 33 gradually move away from each other.
  • the first sub-support retaining rib 31, the second sub-support retaining rib 32, and the third sub-support retaining rib 33 for example, form an open trapezoid, the longer lower bottom of which is open.
  • FIG8 is a schematic diagram of an exploded structure of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure, wherein the mobile platform body is not shown.
  • FIG9 is a schematic diagram of an exploded structure of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure, wherein the mobile platform body is not shown.
  • FIG10 is a schematic diagram of the structure of a platform cover of a mobile platform of an automatic cleaning device provided in some embodiments of the present disclosure, wherein the position of the interface device is shown.
  • FIG. 3 to FIG. 10 there are multiple interface devices 22, all of which are arranged in the edge area PA, and the aforementioned semi-enclosed structure retaining ribs can be arranged correspondingly for any of the multiple interface devices 22.
  • the retaining 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.
  • the plurality of electronic devices 23 located in the middle area MA are isolated from the plurality of interface devices 22 located in the peripheral area PA. Liquids that follow the connection lines to the interface devices 22 are prevented from entering the interface devices 22. And/or moisture enters the middle area MA and contacts the electronic device 23.
  • the electronic device located in the middle area MA is protected from moisture and humidity.
  • 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, and the platform cover 101 is detachably buckled on the mobile platform body 102 to shield various components on the mobile platform body 102, such as the circuit board 20.
  • the various components on the mobile platform body 102 are shielded and protected.
  • the retaining ribs 30 are disposed on the surface of the platform cover 101 facing the mobile platform body 102. When the platform cover 101 is buckled onto the mobile platform body 102, the retaining ribs 30 are located between the interface device 22 and the electronic device 23 to prevent liquid and/or moisture from invading the electronic device 23.
  • the gap d when the platform cover 101 is buckled onto 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 face 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 0.2mm.
  • a liquid such as water
  • the retaining rib 30 can be made of a hard material, and the gap can also allow a certain installation tolerance when the platform cover 101 is assembled to the mobile platform body 102, thereby preventing the hard retaining rib from abutting against the circuit board 20 and causing damage to the circuit board 20.
  • the retaining rib 30 and the platform cover 101 are an integral structure, and the two can be integrally injection molded using the same material.
  • the retaining rib 30 when the platform cover 101 is buckled onto the mobile platform body 102, the retaining rib 30 is pressed against the circuit board body 21.
  • the retaining rib 30 is made of an elastic material, such as foam.
  • the retaining rib 30 is squeezed and deformed to form a sealing structure, preventing 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 retaining rib 30 can also be directly arranged on the circuit board body 21.
  • the end of the retaining rib 30 away from the circuit board body 21 abuts against the surface of the platform cover 101 facing the circuit board 20, or the distance between the end of the retaining 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, thereby preventing liquid and/or moisture that reaches the interface device 22 along the connecting line from entering the middle area MA and contacting the electronic device 23.
  • the automatic cleaning device After cleaning or during cleaning, the automatic cleaning device needs to return to the base station for garbage collection or charging. During this process, the automatic cleaning device needs to accurately find the pile signal sent by the base station.
  • the automatic cleaning device communicates with the base station, the automatic cleaning device acts as a signal receiving end to receive the signal sent by the base station.
  • the automatic cleaning device and the base station are aligned.
  • the automatic cleaning device does not want to receive too many stray interference signals. For example, if the automatic cleaning device is on the side of the base station, the signal is reflected by the edge of the signal receiving window to the receiving end in the window.
  • the automatic cleaning device will enter the base station obliquely from the side of the base station, resulting in the charging port not being able to be aligned or the garbage collection port not being able to be aligned after entering the base station, resulting in the failure to complete the task of returning to the base station.
  • a cleaning device including: a mobile platform 100, configured to automatically move on an operating surface; a pile-finding module 200, arranged on one side of the mobile platform, configured to identify the position of a base station after receiving a pile signal; and a stray light elimination structure 300, configured to eliminate an interference signal of the pile signal when the pile-finding module 200 receives the pile signal.
  • the cleaning device is set separately from the base station. When the cleaning device needs to be charged or dumped, it docks with the base station. When the cleaning device is cleaning, it is separated from the base station for cleaning operations.
  • the base station includes an infrared transmitter for transmitting infrared signals. It is understandable that when the cleaning device needs to return to the base station, the cleaning device needs to receive the infrared signal transmitted by the base station to perform operations such as positioning, pile search and pile placement.
  • a stray light elimination structure is arranged around the signal transceiver window of the automatic cleaning device.
  • the stray light elimination structure can eliminate the interference signal of the pile signal, so that the automatic cleaning device can more accurately receive the signal transmitted by the base station and accurately identify the location of the base station, so as to accurately return to the base station for self-cleaning or charging.
  • the cleaning device includes a pile-finding module 200, which is disposed on one side of the mobile platform, as shown in FIG1 , for example, on the front side, rear side, or oblique side of the mobile platform 100 in the forward direction, and is 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, the controller guides the cleaning device to dock with the base station according to the infrared signal. After the cleaning device docks with the base station, the cleaning device can communicate with the base station in two directions.
  • the pile-finding module 200 includes a signal window.
  • an infrared receiving unit and an infrared transmitting unit are arranged in the signal window for receiving and transmitting infrared signals, wherein the received infrared signal may be a signal transmitted from a base station, and the light source for transmitting the infrared signal may be an infrared LED, a linear light source, etc., and the infrared signal may be received by an infrared sensor, such as an infrared CCD. It can be understood that it is not limited to infrared signals, and may be a visible light signal or other radio frequency signal, as long as communication can be achieved.
  • the signal window may be formed by an optical lens or a highly transparent material that transmits the required wavelength signal, and the stray light elimination structure 300 is arranged at the edge of the signal window, such as surrounding the signal window, and the surrounding may be a fully surrounded surrounding, a semi-enclosed surrounding, or any local surrounding.
  • the signal window is surrounded by the stray light elimination structure 300 to form a concave window structure for receiving and sending signals.
  • the stray light elimination structure 300 is a slope surrounding the signal window, and the slope can be The inclined plane with an inclination range of 70-90 degrees is used to collect the signals transmitted by the base station. Normally, the optical signals of unnecessary wavelengths are filtered through the signal window, while the signals transmitted by the base station can be sensed by being incident on the signal window, thereby realizing the matching communication between the cleaning equipment and the base station. However, when the pile signal is emitted into the inclined plane 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, so that the cleaning equipment can locate the position of the base station.
  • the inclined plane can be set to a rough surface. After the pile signal is emitted into the rough inclined plane, 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 perceived threshold. In this way, it will not be considered as a valid pile signal, and the controller will not control the cleaning equipment to dock according to the signal.
  • the stray light elimination structure 300 is a slope surrounding the signal window, wherein the slope is black or semi-transparent black. Since black has a larger absorption coefficient for light signals, when the pile signal enters the black or semi-transparent black slope, no total reflection will occur, or the reflectivity will be extremely low. Therefore, the intensity entering the signal window will be lower than the perceived threshold, and thus it will not be considered as a valid pile signal, and the controller will not control the cleaning equipment to dock according to the signal.
  • the stray light elimination structure 300 is a slope surrounding the signal window, wherein the slope is provided with a light absorbing layer, such as a light absorbing material coated or covered with a light absorbing layer. After the pile signal is incident on the slope with the light absorbing layer, 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, and thus it will not be considered as a valid pile signal, and the controller will not control the cleaning equipment to dock according to the signal.
  • a light absorbing layer such as a light absorbing material coated or covered with a light absorbing layer.
  • the stray light elimination structure 300 is a slope surrounding the signal window, wherein the slope is provided with an extinction structure.
  • the extinction structure includes micro-protrusions provided on the slope.
  • the micro-protrusions include at least one of the following: arc-shaped protrusions, conical protrusions, or prism-shaped protrusions. The extinction structure having multiple micro-protrusions provided 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 as a valid pile signal, and the controller will not control the cleaning equipment to dock according to the signal.
  • the stray light elimination structure 300 is a vertical plane surrounding the signal window, wherein the vertical plane is perpendicular to the signal window.
  • the structure surrounding the signal window is set as a vertical plane perpendicular to the window plane, the energy of the pile signal emitted from the side of the cleaning device 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 as a valid pile signal, and the controller will not control the cleaning device to dock according to the 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 structures.
  • the stray light elimination structure 300 and the water tank 400 are integrally formed or separately formed, that is, the stray light elimination structure 300 can be integrally formed with a surrounding inclined surface or vertical surface when manufacturing the water tank 400, or an inclined surface or vertical surface can be provided around the signal window by gluing or snapping, and there is no limitation on this.
  • the automatic cleaning device provided by the present disclosure has a stray light elimination structure arranged around the signal transceiver window, which may be one or a combination of the above-mentioned embodiments.
  • the stray light elimination structure can eliminate the interference signal of the pile signal, such as the pile signal emitted from an oblique direction, so that the automatic cleaning device can more accurately receive the signal in the correct direction emitted by the base station, and accurately identify the position of the base station based on the signal in the correct direction, so as to accurately return to the base station for self-cleaning or charging.
  • the present disclosure provides a cleaning system, comprising: a cleaning base station and a cleaning device as described in any one of the above items.
  • FIG12 is a schematic diagram of the structure of a cleaning base station provided in some embodiments of the present disclosure, wherein the cleaning base station 700 is configured to provide garbage collection and/or automatic charging for an automatic cleaning device.
  • 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 device, and is arranged 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 dock with the port of the main brush module of the automatic cleaning device.
  • the garbage in the dust box of the automatic cleaning device enters the cleaning base station body 720 through the dust collection port 711.
  • the conductive sheet is configured to charge the cleaning device 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 leakage.
  • a signal transmitting port 721 is provided on the cleaning base station body 720, which is used to transmit a pile signal outward for the cleaning device to communicate after capturing, so as to achieve accurate docking between the cleaning device and the base station.
  • Figure 13 is a schematic diagram of a scene after the automatic cleaning device provided by some embodiments of the present disclosure returns to the cleaning base station.
  • the automatic cleaning device when the mobile platform 100 of the automatic cleaning device, such as a sweeping robot, returns to the cleaning base station 700 after cleaning, the automatic cleaning device will move along the X direction to the cleaning base station base 710, so that the port of the main brush module of the automatic cleaning device is docked with the dust collection port 711 to transfer the garbage in the dust box of the automatic cleaning device to the garbage bag of the cleaning base station, or the charging conductive sheet of the base station is docked with the charging interface of the cleaning device for charging.

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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。
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