Self-moving robot

Abstract

The present application relates to the technical field of electrical equipment, and provides a self-propelled robot, including a main body, equipped with an optical sensor device; a striker, movably connected to the main body; a flexible seal, arranged between the main body and the striker, and the flexible seal defines a sealed space, and the sealed space is configured to accommodate at least a portion of the optical sensor device; wherein the flexible seal can be extended and retracted following the movement of the striker. The present application can significantly improve the dustproof effect on the basis of ensuring the obstacle avoidance function of the self-propelled robot to protect the optical sensor device.

Description

Technical Field

[0001] The present invention relates to the technical field of electrical equipment, and in particular to a self-moving robot. Background Art

[0002] A robot is a machine that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated by artificial intelligence technology. A robot can replace humans in some dangerous environments or manufacturing processes, or replace humans in appearance, behavior or cognition.

[0003] With the development of the industrial era and the improvement of mechanical technology, automation equipment and remote control technology have become increasingly mature. Many self-propelled robots have the ability to autonomously plan their moving paths and are used in a variety of sub-sectors, such as sweeping robots used in homes and AVG carts used in industry.

[0004] In order to realize the function of planning the moving path, such self-moving robots are often provided with a self-moving robot body, on which an optical sensor device or other types of sensors are installed to serve as the "eyes" of the self-moving robot to realize the obstacle avoidance function. In order to prevent the self-moving robot from damaging the main body due to collision with obstacles during movement, such self-moving robots are often also provided with a collision plate for absorbing collision energy, and the collision plate is also used for collision detection of surrounding obstacles.

[0005] However, since the positions of the optical sensor device and the collision plate are often highly overlapped, they are easily obstructed by each other, thereby reducing the obstacle avoidance function of the self-propelled robot. Summary of the invention

[0006] The present application proposes a self-moving robot which solves the above problems or at least partially solves the above problems.

[0007] In one embodiment of the present application, a self-moving robot is provided, comprising:

[0008] A main body, equipped with an optical sensing device;

[0009] A striker plate, movably connected to the main body;

[0010] a flexible seal disposed between the body and the striker plate, wherein the flexible seal defines a sealed space configured to accommodate at least a portion of the optical sensing device;

[0011] The flexible sealing member can be extended and retracted following the movement of the striker plate.

[0012] Compared with the prior art, the present application provides a sealed space so that the collision plate can be completely set at the front end of the self-propelled robot, and can move along the central axis of the optical sensor device under the action of external force, and compress or stretch the flexible seal to achieve the functions of obstacle avoidance and collision prevention. The collision plate can produce a slight displacement relative to the main body, serving as a buffer for the impact. In addition, the sealed space formed can isolate dust, prevent dust from damaging the optical sensor device, and increase the service life of the optical sensor device.

[0013] Optionally, the flexible seal has a first end face connected to the striker plate and a second end face connected to the body, and the cross-sectional area of ​​the first end face is greater than the cross-sectional area of ​​the second end face. The cross-sectional area of ​​the first end face of the flexible seal is greater than the cross-sectional area of ​​the second end face, so that when the striker plate strikes an obstacle, the reaction force on the obstacle is small, thereby reducing the impact of the striker plate on the obstacle.

[0014] Optionally, the flexible seal comprises:

[0015] A first surrounding portion, the first surrounding portion is connected to the striker plate, and a cross-sectional area of ​​the first surrounding portion is substantially equal to a cross-sectional area of ​​the first end surface;

[0016] a second surrounding portion, the second surrounding portion being connected to the main body, and the cross-sectional area of ​​the second surrounding portion being substantially equal to the cross-sectional area of ​​the second end surface;

[0017] A neck portion connects the first surrounding portion and the second surrounding portion.

[0018] The first surrounding part is connected to the impact plate, and the second surrounding part is connected to the main body, which further ensures the dustproof effect of the sealed space and improves reliability. Since the cross-sectional area of ​​the first surrounding part is substantially equal to the cross-sectional area of ​​the first end face, and the cross-sectional area of ​​the second surrounding part is substantially equal to the cross-sectional area of ​​the second end face, a step-shaped flexible seal can be formed, and when the impact plate hits an obstacle, a better buffer can be formed.

[0019] Optionally, the thickness of the neck portion gradually increases from the side close to the first surrounding portion to the side close to the second surrounding portion. Since the side of the neck portion close to the second surrounding portion is the first to undergo severe deformation under impact, by increasing the thickness of this part, its service life can be extended.

[0020] Optionally, a plurality of folds are arranged at intervals on the side wall of the second surrounding portion along the central axis of the optical sensor device. The folds formed on the side wall of the second surrounding portion allow the flexible seal to have a longer deformation distance and be more adaptable to severe and repeated impacts.

[0021] Optionally, the self-propelled robot further comprises a rear buffer perspective window mounted on the main body; the rear buffer perspective window is connected to the flexible seal to form another part of the side wall of the sealed space. The rear buffer perspective window can provide support for the flexible seal, thereby strengthening the connection relationship between the flexible seal and the main body, and between the flexible seal and the striker, improving the stability and reliability of the connection, and facilitating maintenance.

[0022] Optionally, the optical sensing device includes a camera, and the rear buffer perspective window is provided with an opening for inserting the camera. The camera is inserted from the opening so as to be installed on the main body.

[0023] Optionally, the self-propelled robot further comprises a sealing ring, through which the camera is inserted into the opening in a sealed manner. The provided sealing ring can further improve the sealing effect and prevent dust from entering the main body. At the same time, the sealing ring can also disperse the impact force, thereby protecting the optical sensing device.

[0024] Optionally, the optical sensing device includes an infrared sensing component; the rear buffer perspective window is at least partially light-permeable, and the infrared sensing component faces the light-permeable portion of the rear buffer perspective window. The infrared sensing component can detect obstacles in the target path of the self-moving robot through the light-permeable portion of the rear buffer perspective window, so that the route can be planned in advance and the probability of collision can be reduced.

[0025] Optionally, the infrared sensor assembly includes a first infrared sensor and a second infrared sensor, and the detection range of the first infrared sensor is smaller than the detection range of the second infrared sensor. The detection range of the first infrared sensor is smaller than the detection range of the second infrared sensor, so the first infrared sensor with a smaller detection range can be used to detect obstacles in the surrounding area, and the second infrared sensor with a larger detection range can be used to detect the position of the charging base, so that the charging base can be smoothly returned.

[0026] Optionally, the first infrared sensor includes a first infrared light transmitter and a first infrared light receiver, and the second infrared sensor includes a second infrared light receiver. The first infrared sensor senses obstacles in front of the self-moving robot through the first infrared light transmitter and the first infrared light receiver, so that the self-moving robot avoids collision with the obstacles; the second infrared light receiver can receive infrared signals emitted by the charging base, so that the self-moving robot can smoothly return to the charging base, thereby improving reliability.

[0027] Optionally, the sealed space self-moving robot is provided with a vent hole, and a dustproof and breathable net is provided on the vent hole; the vent hole is located on the rear buffer perspective window. The vent hole on the rear buffer perspective window can balance the internal and external air pressures, so that the collision plate can smoothly return to the initial state before being hit, reducing the obstruction to the collision plate caused by the pressure change inside the sealed space. The dustproof and breathable net can isolate dust in the external space of the main body, thereby improving the reliability of the self-moving robot.

[0028] Optionally, a decorative cover is further provided on the rear buffer perspective window, and the decorative cover covers the dustproof and breathable net. The decorative cover can cover the internal structure, and the visual effect is better. At the same time, the decorative cover can be used as a second-level filter net to improve the dustproof effect. The dustproof and breathable net used in conjunction can further filter dust and improve the dustproof effect.

[0029] Optionally, a fixing groove is formed on the edge of the rear buffer perspective window, and the flexible sealing member is sleeved on the rear buffer perspective window and embedded in the fixing groove, thereby forming a connection with the rear buffer perspective window. The flexible sealing member is sleeved on the rear buffer perspective window and embedded in the fixing groove to form a stable connection, thereby ensuring the dustproof effect of the sealed space.

[0030] Optionally, a fixing seat is installed on the main body, and the optical sensor device is installed on the main body through the fixing seat; the rear buffer perspective window is connected to the main body through the fixing seat. The fixing seat can make the optical sensor device fixedly installed on the main body, and can also make the rear buffer perspective window connected to the main body, which has a simple structure and is easy to assemble.

[0031] Optionally, the sealed space is provided with a breathable portion, and the air in the sealed space enters or is discharged from the breathable portion. Specifically, the breathable portion adopts a breathable portion, and a dustproof breathable net is provided on the breathable portion. The breathable portion can balance the internal and external air pressures, so that the flexible seal can be smoothly extended and retracted, and the obstruction to the movement of the collision plate caused by the pressure change inside the sealed space is reduced. The dustproof breathable net can isolate the dust in the external space of the main body, thereby improving the reliability of the self-moving robot. Alternatively, the breathable portion directly adopts a dustproof breathable membrane.

[0032] Optionally, a light-transmitting portion is provided on the collision plate, and the optical sensor device is provided facing the light-transmitting portion. The self-propelled robot further comprises a front buffer perspective window, which is connected to the collision plate, and has a window corresponding to the light-transmitting portion, and a lens is provided in the window;

[0033] The flexible sealing member is sealingly connected to the front buffer perspective window to form a sealed space.

[0034] The sealed space formed by the sealed connection between the flexible sealing member and the front buffer perspective window can prevent dust from entering the interior of the main body through the gap between the front buffer perspective window and the impact plate, thereby improving the dustproof effect.

[0035] Optionally, the front buffer perspective window and the flexible seal are sealed by an interference fit silicone. The front buffer perspective window and the flexible seal are connected by silicone, thereby achieving a sealing and fixing effect. The use of interference fit silicone can prevent the silicone from falling off, thereby improving the reliability and stability of the connection.

[0036] Optionally, the self-propelled robot further comprises a fixing fastener for fixing the flexible seal to the front buffer perspective window. The flexible seal is connected to the front buffer perspective window via the fixing fastener, which can strengthen the connection relationship between the flexible seal and the front buffer perspective window and improve reliability.

[0037] Optionally, the fixing fastener is connected to the front buffer perspective window to form a fixing slit between the two, and the flexible sealing member is embedded in the fixing slit to form a fixation. The flexible sealing member is embedded in the fixing slit to form a fixation, which can form a stable connection, thereby ensuring the dustproof effect of the sealed space.

[0038] Optionally, the impact plate is connected to the main body through the track groove to achieve the functions of obstacle avoidance and anti-collision. The structure is simple, and the impact plate is connected to the main body through the track groove to improve the convenience of assembly.

[0039] Optionally, a spring is connected between the strike plate and the main body, and the spring is used to reset the strike plate along the track groove. The spring can bear part of the impact force, thereby reducing the impact force on the flexible seal, reducing the strength requirement of the flexible seal, and reducing the cost.

[0040] Optionally, the flexible seal is formed with wrinkles along the central axis of the optical sensor device. The wrinkles formed on the flexible seal allow the flexible seal to have a longer travel distance, and can adapt to different degrees of impact.

[0041] In one embodiment of the present application, a mobile robot is further provided, comprising:

[0042] A main body, equipped with an optical sensing device;

[0043] A striker plate, movably connected to the main body;

[0044] A flexible seal is disposed between the main body and the striker plate, and the flexible seal defines a sealed space, wherein the sealed space is configured to accommodate at least a portion of the optical sensing device.

[0045] Compared with the prior art, the present application provides a sealed space so that the collision plate can be completely arranged at the front end of the self-propelled robot to achieve the functions of obstacle avoidance and collision prevention, and can produce a slight displacement relative to the main body to serve as a buffer for collision. In addition, the formed sealed space can isolate dust, especially prevent dust from entering the gap between the collision plate and the main body and damaging the optical sensor device, thereby increasing the service life of the optical sensor device.

[0046] The present application connects the main body and the impact plate through a flexible seal, and forms a sealed space between the main body and the impact plate, which can prevent dust from entering and has a good dustproof effect. Compared with the prior art, the present application retains a complete impact plate structure, and when it is hit, the impact plate has a stronger shockproof ability, and the impact plate itself has a better shockproof ability. Moreover, the complete impact plate structure is simple, so it also improves the convenience of assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the prior art descriptions. Obviously, the drawings described below are only used to illustrate some implementation methods of the present application. For ordinary technicians in this field, without paying creative work, they can also obtain other technical features, connection relationships and even method steps not mentioned in the drawings based on these drawings.

[0048] Figure 1 is an exploded schematic diagram of the self-moving robot of the present application;

[0049] Figure 2 is a partially enlarged schematic diagram of the self-moving robot of the present application;

[0050] Figure 3 is a schematic side view of a flexible seal of the self-moving robot of the present application;

[0051] Figure 4 It is a schematic assembly diagram of the sealed space of the self-moving robot of the present application;

[0052] Figure 5 is an exploded schematic diagram of the sealed space of the self-moving robot of the present application;

[0053] Figure 6 is a schematic front view of the self-moving robot of the present application;

[0054] Figure 7 The self-moving robot of this application is Figure 6 A local enlarged schematic diagram of region A;

[0055] Figure 8 is a schematic cross-sectional view of the self-moving robot of the present application;

[0056] Fig. 9 It is a schematic diagram of the structure of the self-moving robot of the present application when the flexible sealing member is wrinkled.

[0057] Description of Reference Numerals

[0058] 1-main body; 11-track slot;

[0059] 21-optical sensor device; 21a-camera; 21b-infrared sensor component; 21b1-first infrared sensor

[0060] Device; 21b2-second infrared sensor; 22-fixing seat;

[0061] 3-impact plate; 31-light-transmitting portion; 32-clamping member; 33-clamping structure;

[0062] 4-sealing structure; 41-flexible sealing member; 41a-first surrounding portion; 41b-second surrounding portion; 41c-neck; 42-rear buffer perspective window; 42a-opening; 42b-ventilation hole; 42c-dustproof and breathable net; 42d-decorative cover; 42e-fixing groove; 42f-bolt mounting hole; 43-sealing ring; 44-front buffer perspective window; 44a-window; 44b-lens lens; 45-fixing fastener; 45a-protrusion; 45b-clamping assembly;

[0063] 5-base assembly;

[0064] 6-Bolts. DETAILED DESCRIPTION

[0065] Implementation Method 1

[0066] The inventors of the present application have discovered that in the prior art, a self-moving robot used for intelligent cleaning generally includes: a main body, an optical sensor device mounted on the main body, and a collision plate connected to the main body. The optical sensor device is used to obtain information about surrounding obstacles to build a map and avoid obstacles.

[0067] In order to make the optical sensor device have a clear field of view and be able to observe the scene of the target route of the self-moving robot, a light-transmitting portion is usually provided on the collision plate, and a lens is provided on the light-transmitting portion. However, this arrangement creates a gap between the collision plate and the main body, causing dust to enter, thereby contaminating the optical sensor device and reducing the service life of the optical sensor device.

[0068] In order to prevent the optical sensor device from being exposed to dust, the optical sensor device is usually provided at the front end of the main body, and the optical sensor device is provided with a dust cover. However, the optical sensor device is installed on the main body, and the dust cover is fixed on the shell, so that the front end of the self-propelled robot cannot be provided with a collision plate or can only be provided with a part of the collision plate.

[0069] After weighing the pros and cons, the existing technology usually adopts a separate design of the partial collision plate, which can have a certain obstacle avoidance function and can also prevent dust from entering to protect the optical sensor device. However, the protection ability of the separate design collision plate is obviously worse than that of the integrated collision plate, resulting in a decrease in the obstacle avoidance function of the self-propelled robot.

[0070] In view of this, in the first embodiment of the present application, a self-moving robot is provided, see Figure 1 and Figure 2 As shown, it includes a main body 1, equipped with an optical sensing device 21;

[0071] A striker plate 3 is movably connected to the main body 1;

[0072] A flexible seal 41 is disposed between the main body 1 and the striker plate 3, and the flexible seal 41 defines a sealed space, and the sealed space is configured to accommodate at least a portion of the optical sensing device;

[0073] The flexible sealing member 41 can be extended and retracted following the movement of the striker plate 3 .

[0074] The collision plate 3 may be provided with a light-transmitting portion 31, and the optical sensor device 21 is arranged facing the light-transmitting portion 31. Figure 1 , Figure 8 As shown, the optical sensing device 21 can be disposed on the base assembly 5 .

[0075] The flexible seal 41 connects the main body 1 and the collision plate 3, and forms a sealed space between the main body 1 and the collision plate 3. The optical sensor device 21 and the light-transmitting portion 31 are respectively located on opposite sides of the sealed space. The formed sealed space can isolate dust, prevent dust from damaging the optical sensor device 21, and improve the service life of the optical sensor device 21. Among them, the optical sensor device 21 can include a camera, a laser sensor, an infrared sensor, etc., which can be selected according to actual conditions.

[0076] The impact plate 3 is usually used for obstacle avoidance and collision prevention, and can produce a slight displacement relative to the main body 1 to act as a buffer for impact. Therefore, the flexible seal 41 constitutes at least a part of the side wall of the sealed space. Compared with the rigid seal, the flexible seal 41 can provide a better buffering effect, and the flexible seal 41 can protect the optical sensor device 21 and reduce the impact force transmitted by the impact plate 3 to the optical sensor device 21.

[0077] The flexible seal 41 can form the side wall of the sealed space, and the body 1 and the bumper plate 3 are connected by the flexible seal 41. The flexible seal 41 can connect the two in various forms. For example, the side wall can be connected to the body 1 and the bumper plate 3 respectively by glue to form a closed sealed space.

[0078] Under the action of external force, the striker plate 3 can move along the central axis direction of the optical sensor device 21 and compress or stretch the flexible sealing member 41 .

[0079] Alternatively, see Figure 3As shown, the flexible seal 41 may have a first end face connected to the striker 3 and a second end face connected to the body 1, and the cross-sectional area of ​​the first end face is greater than the cross-sectional area of ​​the second end face. When the cross-sectional area of ​​the first end face of the flexible seal 41 is greater than the cross-sectional area of ​​the second end face, it is easier to deform, improve the deformation effect, and minimize the influence of the deformation of the flexible seal itself on the obstacle sensing of the striker.

[0080] In some embodiments of the present application, see Figure 3 As shown, the flexible seal 41 may include: a first surrounding portion 41a, the first surrounding portion 41a is connected to the collision plate 3, and the cross-sectional area of ​​the first surrounding portion 41a is substantially equal to the cross-sectional area of ​​the first end face; a second surrounding portion 41b, the second surrounding portion 41b is connected to the main body 1, and the cross-sectional area of ​​the second surrounding portion 41b is substantially equal to the cross-sectional area of ​​the second end face; a neck portion 41c, the neck portion 41c connects the first surrounding portion 41a and the second surrounding portion 41b. Among them, the flexible seal 41 composed of the first surrounding portion 41a, the second surrounding portion 41b and the neck portion 41c can be integrally formed. For example, when the collision plate hits the pillar of a sofa or a table and chair during the movement of the self-moving robot, the collision plate 3 moves backward relative to the main body 1, and the flexible seal 41 is compressed accordingly, that is, the second surrounding portion 41b partially enters the neck portion 41c or the first surrounding portion 41a, and the expansion and contraction of the flexible seal 41 does not substantially affect the movement of the collision plate 3.

[0081] It is worth mentioning that "substantially equal" means that the two are very close in size. However, those skilled in the art know that due to objective factors such as errors and tolerances, the sizes of the cross-sectional areas are difficult to be exactly equal; and because the flexible seal 41 is a flexible structure, even if there is a slight error between the cross-sectional area of ​​the surrounding portion and the cross-sectional area of ​​the end face, it will not have a significant impact on the realization of the technical effect of the present application.

[0082] The first surrounding portion 41a is connected to the impact plate 3, and the second surrounding portion 41b is connected to the main body 1, which further ensures the dustproof effect of the sealed space and improves reliability. Since the cross-sectional area of ​​the first surrounding portion 41a is substantially equal to the cross-sectional area of ​​the first end face, and the cross-sectional area of ​​the second surrounding portion 41b is substantially equal to the cross-sectional area of ​​the second end face, a stepped flexible seal 41 can be formed. When the impact plate 3 hits an obstacle, the stepped flexible seal 41 can further accelerate the expansion and contraction of the flexible seal, basically does not absorb impact force, and has a good deformation effect.

[0083] Since the side of the neck portion 41c close to the second surrounding portion 41b is the first to be severely deformed when subjected to an impact, the service life of the portion can be extended by increasing the thickness of the portion.

[0084] Specifically, see Figure 6As shown, the thickness of the neck portion 41c gradually increases from the side close to the first surrounding portion 41a to the side close to the second surrounding portion 41b.

[0085] In addition, a plurality of folds are arranged at intervals on the side wall of the second surrounding portion 41b along the central axis of the optical sensor device. The folds formed on the side wall of the second surrounding portion 41b make the travel of the sealed space longer and can adapt to different degrees of impact.

[0086] Further, optionally, see Figure 1 , Figure 4 , Figure 5 As shown, the self-propelled robot may further include a rear buffer perspective window 42, and a flexible seal 41 to form another part of the side wall of the sealed space. The rear buffer perspective window 42 can provide support for the flexible seal 41, thereby strengthening the connection between the flexible seal 41 and the main body, and the flexible seal 41 and the collision plate 3, improving the stability and reliability of the connection, and facilitating maintenance.

[0087] The rear buffer perspective window 42 can provide support for the flexible seal 41. Compared with the connection only by glue, it can strengthen the connection relationship between the flexible seal 41 and the main body 1, and the flexible seal 41 and the impact plate 3, improve the stability and reliability of the connection, and facilitate repair and maintenance. The rear buffer perspective window 42 is connected to the main body 1, and the rear buffer perspective window 42 is provided with an opening 42a for the optical sensor device 21 to be inserted or passed through; the flexible seal 41 is sealed and connected to the rear buffer perspective window 42 to form a sealed space. Among them, the rear buffer perspective window 42 can be connected to the main body 1 by bolts, rivets, etc., and its specific connection method does not limit the present application.

[0088] In this embodiment, see Figure 2 , Figure 5 As shown, the optical sensing device 21 may include a camera 21a, and in this case, the opening 42a is for the camera 21a to be inserted. When the camera 21a is inserted from the opening 42a, it can be installed on the main body 1. The self-moving robot may also include a sealing ring 43, and the camera 21a is sealed and inserted into the opening 42a through the sealing ring 43. The provided sealing ring 43 can further improve the sealing effect and prevent dust from entering the main body 1. At the same time, the sealing ring 43 can also disperse the impact force, thereby protecting the optical sensing device 21.

[0089] In the present application, the flexible seal 41, the rear buffer perspective window 42, the sealing ring 43, etc. together constitute a sealing structure 4 for generating a sealed space. The present application connects the main body 1 and the impact plate 3 through the sealing structure 4, and forms a sealed space between the main body 1 and the impact plate 3, which can prevent dust from entering and has a good dustproof effect. Compared with the prior art, the present application retains the complete structure of the impact plate 3. When it is hit, the impact plate 3 has a stronger shockproof ability, the impact plate 3 itself has a better shockproof ability, and the assembly is also simpler. Implementation Method 2

[0090] The inventor of the present application discovered that in order to ensure the obstacle avoidance effect, the self-moving robot may be further provided with some other optical sensor devices.

[0091] In view of this, the second embodiment of the present application provides a self-moving robot. The second embodiment is a further improvement based on the first embodiment. The main improvement is that, see Figure 2 As shown, in the second embodiment of the present application, the optical sensing device 21 includes an infrared sensing component 21b; the rear buffer perspective window 42 is at least partially light-permeable, and the infrared sensing component 21b faces the light-permeable portion of the rear buffer perspective window 42. The infrared sensing component 21b can detect obstacles in the forward path of the self-moving robot through the light-permeable portion of the rear buffer perspective window 42, so that the route can be planned in advance and the probability of collision can be reduced.

[0092] The infrared sensing component 21b may include a first infrared sensor 21b1 and a second infrared sensor 21b2, and the detection range of the first infrared sensor 21b1 is smaller than the detection range of the second infrared sensor 21b2.

[0093] When the detection range of the first infrared sensor 21b1 is smaller than that of the second infrared sensor 21b2, at the same output power, its detection accuracy is often stronger than that of the second infrared sensor 21b2. Therefore, the first infrared sensor 21b1 with a smaller detection range can accurately sense obstacles, thereby more accurately precalculating the moving path. The second infrared sensor 21b2 with a larger detection range can be used to detect the position of the charging base, so that the self-moving robot can smoothly return to the charging base.

[0094] Specifically, the first infrared sensor 21b1 may also include a first infrared light transmitter and a first infrared light receiver, and the second infrared sensor 21b2 may have a second infrared light receiver. The first infrared sensor 21b1 senses obstacles in front of the self-moving robot through the first infrared light transmitter and the first infrared light receiver, so that the self-moving robot can avoid collision with obstacles; the second infrared light receiver can receive infrared signals emitted by the charging base, so that the self-moving robot can smoothly return to the charging base, thereby improving convenience and reliability.

[0095] In this embodiment, the optical sensing device 21 is through the light-transmitting portion 31 on the collision plate 3, such as the camera 21a, and the first infrared sensor assembly 21b are all arranged toward the light-transmitting portion 31, so that a small part of the space at the front end of the body can accommodate multiple sensors, such as the collision plate 3 or the middle part of the front end 1 of the main body, and complete the functions of multiple sensors. For example, the camera 21a obtains the picture in front, the first infrared sensor 21b1 senses the obstacles near the front, and the second infrared sensor 21b2 receives the infrared signal of the charging seat to guide the return to the charging seat. In this embodiment, the optical sensing device 21, the second infrared sensor 21b2 and the second infrared sensor 21b2 are arranged in a triangle, and the optical sensing device 21 is located at the top vertex. Optionally, the optical sensing device 21, the second infrared sensor 21b2 and the second infrared sensor 21b2 can also be arranged on the same horizontal plane.

[0096] It is worth mentioning that in the prior art, the infrared sensor assembly 21b is also prone to dust prevention problems. In the present application, the infrared sensor assembly 21b is creatively arranged behind the sealing structure 4, so that the detection accuracy of the infrared sensor assembly 21b is not or less affected by dust, which significantly improves the detection accuracy.

[0097] Implementation Method 3

[0098] In order to ensure the dustproof effect, the sealed space formed by the sealing structure 4 is completely sealed, so when the self-propelled robot is hit, the air pressure inside and outside the sealed space will become different.

[0099] At the moment of impact, the flexible seal 41 is squeezed and the gas pressure in the sealed space increases. When the impact disappears and the impact plate 3 drives the flexible seal 41 to recover, the sealed space will be stretched, making the air pressure in the sealed space thinner and the pressure reduced. These pressure changes will slightly hinder the movement amplitude of the impact plate 3, which is not conducive to the cushioning effect of the impact plate 3 and increases the strength requirements for the flexible seal 41.

[0100] In view of this, the third embodiment of the present application provides a self-moving robot. The third embodiment is a further improvement based on the first embodiment or the second embodiment. The main improvement is that, see Figure 1 , Figure 2 As shown, in the third embodiment of the present application, the sealed space may be provided with an air hole 42b, which is located on the rear buffer perspective window 42. The air pressure inside and outside is balanced through the air hole 42b, and the atmosphere enters or exits the sealed space when the flexible seal 41 is extended or retracted. The flexible seal 41 is easy to deform and does not affect the movement of the collision plate 3 when it collides with an obstacle.

[0101] Since the rear buffer perspective window 42 is arranged facing the main body 1, the air vent 42b is also arranged facing the main body 1, and the internal environment of the main body 1 is relatively closed, which is equivalent to a dust-free environment. Therefore, the air vent 42b can still ensure the dust-proof effect of the flexible seal 41.

[0102] When the air vent 42b releases pressure, the gas in the sealed space can enter the main body 1; when the sealed space is stretched, the air inside the main body 1 can enter the sealed space, so that the gas pressure in the sealed space is consistent with the external atmospheric pressure, so the collision plate 3 can move smoothly.

[0103] In this embodiment, a dustproof and breathable net 42c may be further provided on the air hole 42b, and the air hole 42b is located on the rear buffer perspective window 42. The dustproof and breathable net 42c may further filter out dust. Even if dust enters the interior of the main body 1, the dustproof and breathable net 42c may still be isolated, thereby improving reliability. Among them, a plurality of dustproof and breathable nets 42c may be provided in a one-to-one correspondence with the air holes 42b. Preferably, one air hole 42b may be symmetrically provided on each side of the optical sensor.

[0104] A decorative cover 42d may also be provided on the rear buffer perspective window 42, and the decorative cover 42d covers the dustproof and breathable net 42c. The decorative cover 42d can cover the internal structure, and the visual effect is better. At the same time, the decorative cover 42d can be used as a filter net to improve the dustproof effect. The dustproof and breathable net 42c used in conjunction can further filter dust and improve the dustproof effect.

[0105] Implementation Method 4

[0106] The fourth embodiment of the present application provides a self-moving robot. The fourth embodiment is a further improvement based on any one of the first to third embodiments. The main improvement is that, referring to Figure 2 , Figure 8 As shown, in the third embodiment of the present application, the optical sensing device 21 and the rear buffer perspective window 42 can be respectively connected to the main body 1 through the fixing seat 22.

[0107] Specifically, a fixing seat 22 may be installed on the main body 1, and the optical sensor device 21 is installed on the main body 1 through the fixing seat 22; the rear buffer perspective window 42 is connected to the main body 1 through the fixing seat 22. The fixing seat 22 can make the optical sensor device 21 fixedly installed on the main body 1, and can also make the rear buffer perspective window 42 connect to the main body 1, which has a simple structure and is easy to assemble.

[0108] Among them, a fixing groove 42e may be formed on the edge of the rear buffer perspective window 42, and the flexible seal 41 is sleeved on the rear buffer perspective window 42 and embedded in the fixing groove 42e, thereby forming a connection with the rear buffer perspective window 42. The flexible seal 41 is sleeved on the rear buffer perspective window 42 and embedded in the fixing groove 42e, so that the flexible seal 41 can be closely matched with the rear buffer perspective window 42, thereby forming a stable connection, which can effectively ensure the dustproof effect of the sealed space.

[0109] Optionally, the rear buffer perspective window 42 may be provided with a bolt mounting hole 42f, and the rear buffer perspective window 42 is fixedly connected to the fixing seat 22 by bolts 6. The bolt 6 connection can provide a stable and reliable connection, which is suitable for environments with high requirements on connection strength.

[0110] During actual assembly, the optical sensing device 21 is installed on the main body 1 through the fixing seat 22, the rear buffer perspective window 42 is connected to the main body 1 through the fixing seat 22, the rear buffer perspective window 42 is supported on the optical sensing device 21 through the sealing ring 43, and the flexible sealing member 41 is sleeved on the rear buffer perspective window 42 and embedded in the fixing groove 42e, so that the sealing structure 4 is connected to the impact plate 3.

[0111] The sealed space is provided with a ventilated portion, and a dustproof ventilated net 42c is provided on the ventilated portion. The ventilated portion can balance the internal and external air pressure, so that the collision plate 3 can smoothly return to the initial state before being hit, reducing the obstruction to the collision plate 3 caused by the pressure change inside the sealed space. The dustproof ventilated net 42c can isolate dust from the external space of the main body 1, thereby improving the reliability of the self-moving robot. Among them, the ventilated portion can be provided on the front buffer perspective window 44, or on the rear buffer perspective window 42, or even on the flexible seal 41.

[0112] When the air permeable part releases pressure, the gas in the sealed space can enter the main body 1; when the sealed space is stretched, the air inside the main body 1 can enter the sealed space, so that the gas pressure in the sealed space is consistent with the external atmospheric pressure, so the collision plate 3 can move smoothly.

[0113] In this embodiment, combined with Figure 6 , Figure 7 As shown, a decorative cover 42d can also be provided on the rear buffer perspective window 42, and the decorative cover 42d can shield the internal structure, such as the bolts 6, etc., to provide a better visual effect. As a preferred embodiment of this embodiment, the decorative cover 42d can also be used as a secondary filter to further filter dust and improve reliability and dustproof effect.

[0114] Preferably, the sealing structure 4 can be assembled in a dust-free workshop. The dust-proof and breathable mesh 42c can be used as a primary filter, and can be used in conjunction with the decorative cover 42d as a secondary filter to further improve the dust-proof effect.

[0115] Implementation Method 5

[0116] The fifth embodiment of the present application provides a self-moving robot. The fifth embodiment is a further improvement based on any one of the first to fourth embodiments. The main improvement is that in the fifth embodiment of the present application, see Figure 1 , Figure 2 , Figure 8 As shown, the collision plate 3 is provided with a light-transmitting portion 31, and the optical sensing device 21 is arranged facing the light-transmitting portion 31. The self-propelled robot may further include a front buffer perspective window 44.

[0117] Among them, the front buffer perspective window 44 is connected to the impact plate 3, and a window 44a corresponding to the light-transmitting portion 31 is opened on the front buffer perspective window 44, and the window 44a is provided with a lens lens 44b; the flexible seal 41 is sealed and connected to the front buffer perspective window 44 to form a sealed space. The front buffer perspective window 44 is connected to the impact plate 3, and can also protect the impact plate 3 and alleviate the impact force. The sealed space formed by the sealed connection between the flexible seal 41 and the front buffer perspective window 44 can prevent dust from entering the interior of the main body 1 through the gap between the front buffer perspective window 44 and the impact plate 3, thereby improving the dustproof effect. Among them, the lens lens 44b can be a tempered glass lens, and the lens lens 44b can be adhered to the window 44a by 3MVHB adhesive or other methods.

[0118] Among them, see Figure 2 As shown, the front buffer perspective window 44 can be snap-fitted with the striker 3, and the front buffer perspective window 44 and the striker 3 are respectively provided with a snap-fitting structure 33, and the snap-fitting connection method has a simple structure and is easy to assemble. Multiple snap-fitting structures 33 can be equidistantly arranged along the circumference of the front buffer perspective window 44 and the striker 3 to strengthen the connection relationship and improve reliability.

[0119] Optionally, the front buffer perspective window 44 and the flexible seal 41 are sealed by an interference silicone. The front buffer perspective window 44 and the flexible seal 41 are connected by silicone, thereby achieving a sealing and fixing effect. The use of interference silicone can prevent the silicone from falling off, thereby improving the reliability and stability of the connection.

[0120] Preferably, a plurality of springs may be provided inside the silica gel along the movement direction of the striker plate 3 to help the striker plate 3 return to its initial position and extend the service life of the flexible seal 41 .

[0121] Implementation Method 6

[0122] The sixth embodiment of the present application provides a self-moving robot. The sixth embodiment is a further improvement based on any one of the first to fifth embodiments. The main improvement is that in the sixth embodiment of the present application, see Figure 1 , Figure 2 , Figure 8 As shown, the self-moving robot may further include a fixing fastener 45 for fixing the flexible sealing member 41 on the front buffer perspective window 44 .

[0123] The flexible seal 41 is connected to the front buffer perspective window 44 through the fixing fastener 45, which can strengthen the connection between the flexible seal 41 and the front buffer perspective window 44 and improve reliability. The thickness of the flexible seal 41 can have a certain change along its axial direction, so that the fixing fastener 45 is sleeved at a position where the cross-sectional perimeter of the flexible seal 41 is smaller, thereby limiting the displacement of the fixing fastener 45.

[0124] Among them, see Figure 2 As shown, the fixing fastener 45 can be engaged with the front buffer perspective window 44 through the snap-fit ​​assembly 45b, so that the fixing fastener 45 is fixed to the outer edge of the window 44a of the front buffer perspective window 44, thereby improving reliability.

[0125] Furthermore, in this embodiment, the fixing fastener 45 is connected to the front buffer perspective window 44 to form a fixing slit (not shown in the figure) between the two, and the flexible sealing member 41 is embedded in the fixing slit to form a fixation. The flexible sealing member 41 is embedded in the fixing slit to form a fixation, which can form a stable connection, thereby ensuring the dustproof effect of the sealed space.

[0126] The flexible seal 41 can be at least partially stably arranged between the front buffer perspective window 44 and the fixing fastener 45. When the sealed space is stretched, the front buffer perspective window 44 drives the fixing fastener 45 connected thereto to move, so that the flexible seal 41 between the front buffer perspective window 44 and the fixing fastener 45 is stretched, thereby stretching the entire flexible seal 41.

[0127] Among them, see Figure 2 As shown, fixing ears 45a can be symmetrically arranged on both sides of the fixing fastener 45, parallel to the movement direction of the striker 3, and screws or bolts pass through the fixing ears 45a to fix the fixing fastener 45 on the front buffer perspective window 44, thereby achieving sealing and fixing. It is worth mentioning that the fixing ears 45a can further improve the assembly guidance, improve the fault tolerance during assembly, reduce the assembly difficulty, and extend the service life. Among them, the fixing ears 45a are arranged on the side of the fixing fastener 45 that contacts the flexible seal 41.

[0128] A person skilled in the art can design and arrange the position, direction, shape, size, and other elements of each fixing ear 45a according to actual conditions. For example, the number of fixing ears 45a can also be equal to 4 or 6, and they are symmetrically arranged on both sides of the fixing fastener 45 and parallel to the movement direction of the striker 3. In order to cooperate with the arrangement of the fixing ears 45a, a transition or opening can be arranged at the corresponding position of the flexible seal 41 to ensure that the screws or bolts can be smoothly fixed on the front buffer perspective window 44.

[0129] Implementation Method 7

[0130] The seventh embodiment of the present application provides a self-moving robot. The seventh embodiment is a further improvement based on the first embodiment. The main improvement is that, in the seventh embodiment of the present application, see Figure 1 , Figure 2 , Figure 8 As shown, the striker plate 3 is connected to the main body 1 through the track groove 11 to achieve the functions of obstacle avoidance and collision prevention, and the structure is simple. The striker plate 3 is connected to the main body 1 through the track groove 11 to improve the convenience of assembly.

[0131] In actual assembly, refer to Figure 2 , Figure 8 As shown, the optical sensor device 21 is installed on the main body 1 through the fixing seat 22, and the rear buffer perspective window 42 is connected to the fixing seat 22 through the bolt 6, and is connected to the main body 1 through the fixing seat 22. A sealing ring 43 is provided between the rear buffer perspective window 42 and the fixing seat 22;

[0132] The front buffer perspective window 44 is connected to the striker 3 by a snap-fit ​​structure 33, the flexible seal 41 is embedded in a fixed slit formed between the fixing fastener 45 and the front buffer perspective window 44 (not shown in the figure), and the fixing fastener 45 and the flexible seal 41 are connected to the front buffer perspective window 44 by bolts;

[0133] The flexible sealing member 41 is sleeved on the rear buffer perspective window 42 and embedded in the fixing groove 42 e . The striking plate 3 is connected to the main body 1 through the matching engaging member 32 and the track groove 11 .

[0134] The impact plate 3 may be provided with a snap-fitting piece 32 that cooperates with the track groove 11. When the snap-fitting piece 32 cooperates with the track groove 11, the impact plate 3 and the main body 1 can be connected. The length of the snap-fitting piece 32 is slightly smaller than the length of the track groove 11. When impacted, it can move relative to the track groove 11, thereby improving the reliability of the connection.

[0135] Optionally, a spring is connected between the striker plate 3 and the main body 1, and the spring is used to reset the movement of the striker plate along the track groove. The spring can bear part of the impact force, thereby reducing the impact on the flexible seal 41, reducing the strength requirement of the flexible seal 41, and reducing the cost. At the same time, the spring used in conjunction with the sealing space can ensure the recovery ability of the flexible seal 41.

[0136] Alternatively, see Fig. 9 As shown, the flexible seal 41 is formed with wrinkles along the central axis of the optical sensor device 21. The wrinkles formed on the flexible seal 41 are closely attached to the fixing fastener 45 and the silicone, so that the travel is longer and it is suitable for different degrees of impact. At the same time, the wrinkles can increase friction and improve the reliability of the connection between the flexible seal 41 and other structures, thereby ensuring the sealing effect of the sealed space.

[0137] Implementation Method 8

[0138] In an eighth embodiment of the present application, a self-moving robot is provided, see Figure 1 and Figure 2 As shown, it includes a main body 1, on which an optical sensing device 21 is installed; a striker plate 3, which is movably connected to the main body 1; a flexible seal 41, which is arranged between the main body 1 and the striker plate 3, and the flexible seal 41 defines a sealed space, and the sealed space is configured to accommodate at least a portion of the optical sensing device; wherein the flexible seal 41 can be extended and retracted following the movement of the striker plate 3.

[0139] The collision plate 3 may be provided with a light-transmitting portion 31, and the optical sensor device 21 is arranged facing the light-transmitting portion 31. Figure 1 , Figure 8 As shown, the optical sensing device 21 can be disposed on the base assembly 5 .

[0140] The flexible seal 41 connects the main body 1 and the collision plate 3, and forms a sealed space between the main body 1 and the collision plate 3. The optical sensor device 21 and the light-transmitting portion 31 are respectively located on opposite sides of the sealed space. The formed sealed space can isolate dust, prevent dust from damaging the optical sensor device 21, and improve the service life of the optical sensor device 21. Among them, the optical sensor device 21 can include a camera, a laser sensor, an infrared sensor, etc., which can be selected according to actual conditions.

[0141] The impact plate 3 is usually used for obstacle avoidance and collision prevention, and can produce a slight displacement relative to the main body 1 to act as a buffer for impact. Therefore, the flexible seal 41 at least constitutes a part of the side wall of the sealed space. Compared with the rigid seal, the flexible seal 41 can provide a better buffering effect, and the flexible seal 41 can protect the optical sensor device 21 and reduce the impact force transmitted by the impact plate 3 to the optical sensor device 21.

[0142] The flexible seal 41 can form the side wall of the sealed space, and the body 1 and the bumper plate 3 are connected by the flexible seal 41. The flexible seal 41 can connect the two in various forms. For example, the side wall can be connected to the body 1 and the bumper plate 3 respectively by glue to form a closed sealed space.

[0143] Under the action of external force, the striker plate 3 can move along the central axis direction of the optical sensor device 21 and compress or stretch the flexible sealing member 41 .

[0144] When the collision plate 3 hits an obstacle, the reaction force generated by the obstacle on the collision plate 3 may cause damage to the components of the self-propelled robot. However, the buffer provided by the flexible seal 41 greatly weakens the reaction force and enhances the shock-absorbing effect of the self-propelled robot.

[0145] Compared with the prior art, the present application provides a sealed space so that the collision plate can be completely arranged at the front end of the self-propelled robot to achieve the functions of obstacle avoidance and collision prevention, and can produce a slight displacement relative to the main body to serve as a buffer for collision. In addition, the formed sealed space can isolate dust, prevent dust from damaging the optical sensor device, and increase the service life of the optical sensor device.

[0146] Finally, it should be noted that descriptions such as “first” and “second” in this application document are used to distinguish different components, devices, modules, etc., and do not represent a sequence of precedence, nor do they limit “first” and “second” to different types.

[0147] Those skilled in the art will appreciate that, in the above-mentioned embodiments, many technical details are provided in order to enable readers to better understand the present application. However, even without these technical details and various changes and modifications based on the above-mentioned embodiments, the technical solutions claimed for protection by the claims of the present application can be basically realized. Therefore, in practical applications, various changes can be made to the above-mentioned embodiments in form and detail without departing from the spirit and scope of the present application.

Claims

1. A self-moving robot, It is characterized in that include: A main body, equipped with an optical sensing device; A striker plate is movably connected to the main body, and a light-transmitting portion is provided on the striker plate; a flexible seal, disposed between the main body and the striker plate, and defining a sealed space, wherein the sealed space is configured to accommodate at least a portion of the optical sensing device; the flexible seal has a first end surface connected to the striker plate and a second end surface connected to the main body, wherein a cross-sectional area of ​​the first end surface is greater than a cross-sectional area of ​​the second end surface; The flexible sealing member can be extended and retracted following the movement of the striker plate, and the striker plate can move along the central axis of the optical sensor device under the action of an external force; and a vent hole is provided on the sealed space; The self-moving robot further comprises a rear buffer perspective window mounted on the main body; the rear buffer perspective window is connected to the flexible sealing member to form another part of the side wall of the sealed space; The self-moving robot further comprises a front buffer perspective window, wherein the front buffer perspective window is connected to the collision plate, and the flexible sealing member is sealingly connected to the front buffer perspective window to form the sealed space.

2. The self-moving robot according to claim 1, It is characterized in that The flexible seal comprises: a first surrounding portion, the first surrounding portion being connected to the striker plate, and the cross-sectional area of ​​the first surrounding portion being substantially equal to the cross-sectional area of ​​the first end surface; a second surrounding portion, the second surrounding portion being connected to the main body, and the cross-sectional area of ​​the second surrounding portion being substantially equal to the cross-sectional area of ​​the second end surface; A neck portion connects the first surrounding portion and the second surrounding portion.

3. The self-moving robot according to claim 2, It is characterized in that The thickness of the neck portion gradually increases from a side close to the first surrounding portion toward a side close to the second surrounding portion.

4. The self-moving robot according to claim 3, It is characterized in that A plurality of folds are arranged on the side wall of the second surrounding portion at intervals along the direction of the central axis of the optical sensing device.

5. The self-moving robot according to claim 1, It is characterized in that The optical sensing device includes a camera; The rear buffer perspective window is provided with an opening for inserting the camera.

6. The self-moving robot according to claim 5, It is characterized in that The self-moving robot also includes a sealing ring, and the camera is sealed and inserted into the opening through the sealing ring.

7. The self-moving robot according to claim 1, It is characterized in that The optical sensing device includes an infrared sensing component; The rear buffer perspective window is at least partially light-permeable, and the infrared sensor assembly faces the light-permeable portion of the rear buffer perspective window.

8. The self-moving robot according to claim 7, It is characterized in that The infrared sensor assembly includes a first infrared sensor and a second infrared sensor, and the detection range of the first infrared sensor is smaller than the detection range of the second infrared sensor.

9. The self-moving robot according to claim 8, It is characterized in that The first infrared sensor includes a first infrared light transmitter and a first infrared light receiver, and the second infrared sensor includes a second infrared light receiver.

10. The self-moving robot according to claim 1, It is characterized in that A fixing groove is formed on the edge of the rear buffer perspective window, and the flexible sealing member is sleeved on the rear buffer perspective window and embedded in the fixing groove, thereby forming a connection with the rear buffer perspective window.

11. The self-moving robot according to claim 1, It is characterized in that A fixing seat is installed on the main body, and the optical sensor device is installed on the main body through the fixing seat; The rear buffer perspective window is connected to the main body through the fixing seat.

12. The self-moving robot according to claim 1, It is characterized in that The optical sensing device is arranged facing the light-transmitting portion; A window corresponding to the light-transmitting portion is formed on the front buffer perspective window, and a lens is disposed on the window.

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