Laser module and sweeping robot

Abstract

The present invention discloses a laser module and a robot vacuum cleaner. The laser module includes a mounting frame; a laser mounted on the mounting frame; a camera mounted on the mounting frame; and a circuit board mounted on the mounting frame and electrically connected to the laser and camera. The technical solution of the present invention can improve the robot vacuum cleaner's obstacle avoidance capabilities, making it more intelligent and efficient.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping robots, and in particular to a laser module and a sweeping robot using the laser module. Background Art

[0002] Currently, vacuum cleaners typically incorporate infrared sensors on their housings to detect obstacles while operating, reducing the possibility of collisions and damage to the robot. However, infrared sensors have a short detection range, are susceptible to environmental interference, and have relatively low detection accuracy, which reduces the robot's obstacle avoidance capabilities. Summary of the Invention

[0003] The main purpose of the present invention is to provide a laser module for use in a sweeping robot, aiming to improve the obstacle avoidance effect of the sweeping robot, making the sweeping robot smarter and more efficient.

[0004] To achieve the above objectives, the laser module proposed in the present invention includes:

[0005] Mounting rack;

[0006] a laser, wherein the laser is mounted on the mounting frame;

[0007] a camera, the camera being mounted on the mounting bracket; and

[0008] A circuit board is arranged on the mounting frame and electrically connected to the laser and the camera.

[0009] In one embodiment of the present invention, the mounting frame is defined to have an upper end and a lower end that are arranged opposite to each other, and the light output angles of the laser and the camera are arranged to be inclined downward.

[0010] In one embodiment of the present invention, the laser and the camera are distributed up and down along the mounting frame;

[0011] Alternatively, the laser and the camera are distributed along the left and right sides of the mounting frame.

[0012] In one embodiment of the present invention, when the laser and the camera are distributed along the upper and lower sides of the mounting frame, the center line of the laser in the upper and lower directions coincides with the center line of the camera in the upper and lower directions;

[0013] Alternatively, when the laser and the camera are distributed left and right along the mounting frame, the laser and the camera are located at the same height.

[0014] In one embodiment of the present invention, a surface of the mounting frame is provided with a recessed receiving groove;

[0015] The laser and the camera are both embedded in the accommodating groove, and a light-transmitting portion is formed on the bottom wall of the accommodating groove, and the light-transmitting portion covers the laser and the camera;

[0016] The circuit board is embedded in the accommodating groove or covered on the notch of the accommodating groove.

[0017] In one embodiment of the present invention, when the circuit board is embedded in the receiving groove, the laser module further includes a bracket, and the bracket is embedded in the receiving groove;

[0018] The laser, the camera and the circuit board are all mounted on the bracket.

[0019] In one embodiment of the present invention, the laser module further includes a cover plate, which is connected to the mounting frame and covers the notch of the accommodating groove.

[0020] In one embodiment of the present invention, the laser module further includes a first buffer member, which is located on a surface of the cover plate facing the bottom wall of the accommodating groove and is clamped and fixed by the cover plate and the mounting frame.

[0021] In one embodiment of the present invention, when the circuit board is sealed in the notch of the receiving groove, the laser and the camera are installed on the surface of the circuit board facing the bottom wall of the receiving groove.

[0022] In one embodiment of the present invention, the laser module further includes a second buffer member, which is located on a surface of the circuit board facing the bottom wall of the accommodating groove and is clamped and fixed by the circuit board and the mounting frame.

[0023] In one embodiment of the present invention, a mounting opening is formed on the bottom wall of the accommodating groove, and the mounting opening covers the laser and the camera;

[0024] The laser module further includes a light-transmitting lens, which is embedded in the mounting opening and forms the light-transmitting portion.

[0025] In one embodiment of the present invention, the light-transmitting lens and the mounting frame are detachably connected;

[0026] Alternatively, the light-transmitting lens and the mounting frame are an integrated structure.

[0027] The present invention further provides a sweeping robot, comprising a housing and a laser module, wherein the laser module is mounted on the housing and comprises:

[0028] Mounting rack;

[0029] a laser, wherein the laser is mounted on the mounting frame;

[0030] a camera, the camera being mounted on the mounting bracket; and

[0031] A circuit board is arranged on the mounting frame and electrically connected to the laser and the camera.

[0032] When the laser module of the technical solution of the present invention is applied to a sweeping robot, the laser of the laser module can emit a line laser to the working environment of the sweeping robot. Then, the camera of the laser module can obtain the environmental image and calculate the laser point cloud information of the working environment. Based on the laser point cloud information, the outline, height, width and other information of the obstacle are calculated, so that the sweeping robot can detect obstacles in the working environment through the laser module, so that the sweeping robot can perform corresponding obstacle avoidance actions when working.

[0033] Moreover, since the laser module in this solution uses a laser to detect obstacles in the working environment of the sweeping robot, and the laser has the advantages of high detection accuracy, long measurement distance, wide coverage and strong resistance to environmental interference, compared with the infrared sensor used by the sweeping robot in the prior art, which has a shorter detection distance, is easily affected by the environment, and has relatively low detection accuracy, the laser module in this application can have a better detection effect on obstacles, thereby improving the obstacle avoidance effect of the sweeping robot, making the sweeping robot smarter and more efficient.

[0034] In addition, the laser module in this solution also includes a mounting frame, through which components such as the laser and camera can be installed and supported. This allows the various components of the laser module to form a whole, making it easier to place and manage the laser module. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0036] Figure 1 This is a structural diagram of an embodiment of a sweeping robot according to the present invention;

[0037] Figure 2 A schematic diagram of a laser module according to an embodiment of the present invention from one viewing angle;

[0038] Figure 3 for Figure 2Another perspective diagram of the laser module;

[0039] Figure 4 for Figure 2 A one-view diagram of the explosion structure of the laser module;

[0040] Figure 5 for Figure 2 Another perspective diagram of the explosion structure of the laser module;

[0041] Figure 6 for Figure 2 A schematic diagram of a partial structure of the laser module;

[0042] Figure 7 A schematic diagram of another embodiment of the laser module of the present invention from one perspective;

[0043] Figure 8 for Figure 7 Another perspective diagram of the laser module;

[0044] Figure 9 for Figure 7 A one-view diagram of the explosion structure of the laser module;

[0045] Figure 10 for Figure 7 Schematic diagram of the explosion structure of the laser module from another perspective.

[0046] Description of Figure Numbers:

[0047] Label name Label name 100 sweeping robot 114 seals 10 Laser module 13 Camera 11 Mounting bracket 14 circuit board 11a Container 15 bracket 111 Translucent part 15a Card slot 11b Mounting port 16 Cover 113 Translucent lenses 17 First buffer 1131 snap buckle 18 Second buffer 11c Card hole 30 chassis 12 laser

[0048] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] Please refer to Figure 1 and Figure 2 The present invention proposes a laser module 10 applied to a sweeping robot 100 .

[0054] Please refer to Figure 2 、 Figure 4 、 Figure 7 as well as Figure 9 In one embodiment of the present invention, the laser module 10 includes a mounting frame 11, a laser 12, a camera 13 and a circuit board 14; wherein, the laser 12 is arranged on the mounting frame 11; the camera 13 is arranged on the mounting frame 11; the circuit board 14 is arranged on the mounting frame 11 and is electrically connected to the laser 12 and the camera 13.

[0055] In one embodiment of the present invention, the mounting bracket 11 can be mainly used to install other components of the laser module 10, such as the laser 12 and the camera 13, so that the various components of the laser module 10 can form a whole and are convenient for their placement and management. The mounting bracket 11 is installed on the housing 30 of the sweeping robot 100 and can be detachably connected to the housing 30. For example, the mounting bracket 11 can be fixed to the housing 30 by screw connection, snap connection or magnetic attraction, so that the laser module 10 can be removed from the housing 30 for repair and replacement when damaged, thereby improving the convenience of repairing and replacing the laser module 10. Of course, it is also possible for the mounting bracket 11 and the housing 30 to be non-detachably connected, as long as it can ensure that the mounting bracket 11 is stably installed on the housing 30. Since the housing 30 of the robot vacuum cleaner 100 is often circular when projected onto a horizontal plane (to facilitate guidance via the circumferential side surfaces of the housing 30 while reducing its overall volume), the outer wall of the mounting frame 11 can be curved to ensure a relatively compatible fit between the mounting frame 11 and the housing 30, resulting in a more compact installation. Furthermore, the projection of the mounting frame 11 onto a plane perpendicular to the horizontal plane (the mounting frame 11 facing a vertical plane passing through the center of the housing 30) can be roughly rectangular or square, making the shape of the mounting frame 11 more regular and easier to manufacture. Of course, in other embodiments, the outer wall of the mounting frame 11 can also be flat, and the mounting frame 11 can also be roughly circular or have other shapes when projected onto a plane perpendicular to the horizontal plane. The specific shape of the mounting frame 11 is not specifically limited in this application; it can be any suitable shape to accommodate other components of the laser module 10, such as the laser 12 and camera 13. The laser 12 is primarily used to emit a laser beam into the working environment of the robot vacuum cleaner 100, thereby forming a laser cloud within the working environment. The camera 13 can mainly acquire the environment image and solve the laser point cloud information of the working environment. Based on the laser point cloud information, it calculates the outline, height, width and other information of the obstacle to detect the obstacle so that the subsequent sweeping robot 100 controller can control the running direction and avoid the obstacles in the working environment. In this way, through the cooperation of the laser 12 and the camera 13, it can be detected whether there are objects in the working environment of the sweeping robot 100 that will cause it to obstruct it. For example, the angle between the line laser emitted by the laser 12 and the vertical plane is known, and the distance between the laser 12 and the working surface of the sweeping robot 100 is also known, so the distance between the sweeping robot 100 and the obstacle can be calculated using trigonometric functions. The circuit board 14 can be mainly used to control the operation of the laser 12 and the camera 13 to ensure the automatic operation and coordination of the laser 12 and the camera 13 during operation.

[0056] When the laser module 30 of the technical solution of the present invention is applied to the sweeping robot 100, the laser 31 of the laser module 30 can emit a line laser to the working environment of the sweeping robot 100, and then the camera 33 of the laser module 30 can obtain the environmental image, and calculate the laser point cloud information of the working environment. Based on the laser point cloud information, the outline, height, width and other information of the obstacle are calculated, so that the sweeping robot 100 can detect obstacles in the working environment through the laser module 30, so that the sweeping robot 100 can perform corresponding obstacle avoidance actions when working.

[0057] Furthermore, since the laser module 30 in this solution uses a laser 31 to detect obstacles in the working environment of the sweeping robot 100, and the laser 31 has the advantages of high detection accuracy, long measurement distance, wide coverage, and strong resistance to environmental interference, compared with the infrared sensor used by the sweeping robot 100 in the prior art, which has a shorter detection distance, is easily affected by environmental interference, and has relatively low detection accuracy, the laser module 30 in this application can have a better detection effect on obstacles, thereby improving the obstacle avoidance effect of the sweeping robot 100, making the sweeping robot 100 more intelligent and more efficient. Moreover, the laser module 10 in this solution only includes a laser 12 and a camera 13, so that the number of sensors required is relatively small and the obstacle avoidance structure of the sweeping robot 100 is simplified, thereby reducing the manufacturing cost of the sweeping robot 100.

[0058] In addition, the laser module 30 in this embodiment also includes a mounting frame 11, which can be used to mount and support components such as the laser 31 and the camera 33. This allows the various components of the laser module 30 to form a whole, thereby facilitating the placement and management of the laser module 30.

[0059] Please refer to Figure 4 、 Figure 6 as well as Figure 9 In one embodiment of the present invention, the mounting frame 11 is defined to have an upper end and a lower end that are oppositely arranged, and the light output angles of the laser 12 and the camera 13 are arranged to be inclined downward.

[0060] It is understood that the light emission angles of the laser 12 and the camera 13 are tilted downward, so that the angle of view captured by the laser 12 and the camera 13 can be relatively close to the housing 30, while the sweeping robot 100 is gradually advancing in operation. This allows the laser module 10 of the sweeping robot 100 to obtain a relatively low angle of view from the housing 30 when it starts working, reducing the blind spot created by the laser module 10 on the working surface of the sweeping robot 100, thereby improving the accuracy of the detection results of the laser module 10 in the working environment of the sweeping robot 100. Among them, the light emitting angle of the laser 12 and the camera 13 is any value between 0° and 90° with the horizontal plane, for example, it can be: 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, etc. The present application does not limit the specific value of the light emitting angle of the laser 12 and the camera 13. It can be adapted and set according to the installation height of the laser 12 and the camera 13 on the housing 30, so that the laser 12 and the camera 13 can form a relatively small blind spot on the working surface of the sweeping machine in the area close to the sweeping machine.

[0061] Please refer to Figure 4 、 Figure 5 as well as Figure 6 In one embodiment of the present invention, the laser 12 and the camera 13 are distributed along the upper and lower sides of the mounting frame 11 .

[0062] It is understood that when the laser module 10 is installed on the front side of the housing 30 of the sweeping robot 100 (the direction of movement of the sweeping robot 100 is defined as the front side of the housing 30), the vertical distribution of the laser 12 and the camera 13 along the mounting frame 11 facilitates the intersection of their perspectives on the working surface of the sweeping robot 100, allowing the laser module 10 to detect obstacles on the front working surface of the sweeping robot 100. The projection of the line laser emitted by the laser 12 on the working surface is a straight line, and the distance between the left and right end points of the projection line of the line laser on the working surface can be greater than the distance between the left and right sides of the housing 30. In this way, the laser 12 can detect distance information such as the distance between doors or the distance between the two legs of a table to determine whether the sweeping robot 100 can pass through the door or the two legs of a table, thereby reducing the possibility of the sweeping robot 100 getting stuck. In addition, the laser 12 can be located above or below the camera 13. Furthermore, when the laser 12 and the camera 13 are distributed up and down along the mounting frame 11, the center line of the laser 12 in the up and down directions coincides with the center line of the camera 13 in the up and down directions, so that the laser module 10 can uniformly detect the front working surface of the sweeping robot 100 on both sides, thereby ensuring the accuracy of detecting spacing information such as the distance between doors or the distance between the two legs of a table.

[0063] Please refer to Figure 9 In one embodiment of the present invention, the laser 12 and the camera 13 are distributed along the left and right sides of the mounting frame 11.

[0064] It is understood that when the laser module 10 is provided on the left and / or right sides of the housing 30 of the robot vacuum 100, the left and right distribution of the laser 12 and the camera 13 along the mounting frame 11 facilitates the intersection of their perspectives in the vertical direction of the robot vacuum 100, so that the laser module 10 can detect obstacles on the left and / or right sides of the robot vacuum 100. The projection of the line laser emitted by the laser 12 on the vertical plane is a straight line, which can detect the distance between the left and / or right sides of the robot vacuum 100 and the wall, and simultaneously detect the height of obstacles on the left and / or right sides of the robot vacuum 100 (for example, the height between a stool or sofa and a work surface), so that the robot vacuum 100 can maintain a certain distance from the wall to avoid friction and wear with the wall, and can also detect the height of obstacles to reduce the obstruction of the top of the robot vacuum 100. Furthermore, when the laser 12 and the camera 13 are distributed along the left and right sides of the mounting frame 11, the laser 12 and the camera 13 are located at the same height. This allows the laser module 10 to have a larger detection angle in the vertical direction of the left and / or right sides of the sweeping robot 100, and the detection is relatively uniform.

[0065] Please refer to Figure 5 and Figure 10 In one embodiment of the present invention, a surface of the mounting frame 11 is provided with a recessed receiving groove 11a; the laser 12 and the camera 13 are both embedded in the receiving groove 11a, and a light-transmitting portion 111 is formed on the bottom wall of the receiving groove 11a, which covers the laser 12 and the camera 13; the circuit board 14 is embedded in the receiving groove 11a, or is sealed in the notch of the receiving groove 11a.

[0066] It can be understood that the accommodating groove 11a accommodates the laser 12 and camera 13, allowing them to be installed more compactly on the mounting bracket 11. This reduces the overall volume of the laser module 10, thereby reducing the space occupied by the laser module 10 on the housing 30 of the sweeping robot 100 and facilitating installation of the laser module 10. Furthermore, the walls of the accommodating groove 11a provide some protection for the laser 12 and camera 13, thereby reducing the possibility of damage from foreign objects.

[0067] Please refer to Figure 4 、 Figure 5 as well as Figure 6In one embodiment of the present invention, when the circuit board 14 is embedded in the receiving groove 11a, the laser module 10 further includes a bracket 15, which is embedded in the receiving groove 11a; the laser 12, the camera 13 and the circuit board 14 are all mounted on the bracket 15.

[0068] It can be understood that the laser 12, camera 13, and circuit board 14 are mounted and supported by the bracket 15, so that the circuit board 14 can also be installed in the receiving groove 11a, thereby improving the protection of the circuit board 14. Specifically, when the light output angle of the laser 12 and camera 13 is set at an angle downward, the laser 12 and camera 13 can be installed at an angle downward, while the bracket 15 is installed vertically in the vertical direction. Of course, the bracket 15 can also be installed at an angle downward, while the laser 12 and camera 13 are installed perpendicular to the bracket 15, that is, to ensure that the final light output angle of the laser 12 and camera 13 is tilted downward. In addition, the laser 12 and camera 13 can be detachably mounted to the bracket 15, so that the laser 12 and camera 13 can be removed in the event of damage and easily repaired and replaced. Specifically, the laser 12 and camera 13 can be connected by a snap-on connection. In this case, two snap-on grooves 15a can be formed on the bracket 15, and the laser 12 and camera 13 are respectively accommodated in the two snap-on grooves 15a and fixed by the snap-on connection. By docking the laser 12 and camera 13 via the snap-fitting slots 15a, the laser 12 and camera 13 are secured together, eliminating the need for additional connection structures on the laser 12 and camera 13 to position them. This ensures both secure installation of the laser 12 and camera 13 and the inherent structural safety of the laser 12 and camera 13. Alternatively, the laser 12 and camera 13 can be secured to the bracket 15 magnetically. The circuit board 14 can also be removably mounted to the bracket 15, allowing it to be removed for easy repair and replacement in the event of damage. Specifically, the circuit board 14 can be connected to the bracket 15 via screws, ensuring secure installation and simplifying the installation process. Alternatively, the circuit board 14 can be secured to the bracket 15 via snap-fitting or magnetic attachment. It should be noted that the present application is not limited to this embodiment; in other embodiments, the laser 12, camera 13, and circuit board 14 can be non-removably secured to the bracket 15. In order to facilitate maintenance and replacement of the bracket 15 , the bracket 15 may also be detachably connected to the mounting frame 11 , for example, it may be fixed to the mounting frame 11 by screw connection, clamping, or magnetic attraction.

[0069] Please refer to Figure 3 and Figure 4 In one embodiment of the present invention, the laser module 10 further includes a cover plate 16 , which is connected to the mounting frame 11 and covers the notch of the accommodating groove 11 a .

[0070] It can be understood that by sealing the notch of the accommodating groove 11a with the cover plate 16, the space enclosed by the cover plate 16 and the mounting frame 11 can be relatively sealed, reducing the possibility of external moisture or dust and other debris entering the accommodating groove 11a and affecting the laser 12, camera 13 or circuit board 14 located in the accommodating groove 11a, thereby improving the safety of the laser module 10 during use. Among them, the connection between the cover plate 16 and the mounting frame 11 can be a detachable connection, so that when the parts located in the accommodating groove 11a are damaged, the cover plate 16 can be removed. Specifically, the cover plate 16 can be fixed to the mounting frame 11 by screw connection, snap connection or magnetic attraction.

[0071] In one embodiment of the present invention, the laser module 10 further includes a first buffer 17 . The first buffer 17 is located on the surface of the cover 16 facing the bottom wall of the accommodating groove 11 a and is clamped and fixed by the cover 16 and the mounting frame 11 .

[0072] It can be understood that the first buffer member 17 has an isolation effect between the cover plate 16 and the laser 12, camera 13, and circuit board 14, so that the cover plate 16 and the laser 12, camera 13, and circuit board 14 are in flexible contact. This can reduce the possibility of the cover plate 16 causing pressure damage to the surface of the laser 12, camera 13, and circuit board 14, thereby improving the safety of the laser 12, camera 13, and circuit board 14 during installation. The first buffer member 17 can be made of foam, rubber, or silicone.

[0073] Please refer to Figure 7 、 Figure 8 、 Figure 9 as well as Figure 10 In one embodiment of the present invention, when the circuit board 14 covers the notch of the accommodating groove 11a, the laser 12 and the camera 13 are installed on the surface of the circuit board 14 facing the bottom wall of the accommodating groove 11a.

[0074] It can be understood that the circuit board 14 is used as a carrier to install and carry the laser 12 and the camera 13, so that there is no need to set up additional carriers to install the laser 12 and the camera 13. This simplifies the structure of the laser module 10, thereby reducing the structure of the laser module 10, and further reducing the manufacturing cost of the sweeping robot 100. The circuit board 14 is sealed in the notch of the accommodating groove 11a, so that the space enclosed by the circuit board 14 and the mounting frame 11 can be relatively sealed, reducing the possibility of external moisture or dust and other debris entering the accommodating groove 11a and affecting the components located in the accommodating groove 11a. Among them, the connection between the circuit board 14 and the mounting frame 11 can be a detachable connection, so that when the components located in the accommodating groove 11a are damaged, the circuit board 14 can be removed. Specifically, the circuit board 14 can be fixed to the mounting frame 11 by screw connection, snap connection or magnetic attraction. In addition, when the light output angle of the laser 12 and the camera 13 is set to be tilted downward, the laser 12 and the camera 13 can be installed tilted downward, while the circuit board 14 is installed vertically in the up-down direction; of course, the circuit board 14 can also be installed tilted downward, while the laser 12 and the camera 13 are installed perpendicularly on the bracket 15, that is, to ensure that the final light output angle of the laser 12 and the camera 13 is tilted downward. Furthermore, in order to simplify the fixing structure between the laser 12 and the camera 13 and the circuit board 14 and to ensure the stability of the installation of the laser 12 and the camera 13, the laser 12 and the camera 13 can be welded to the circuit board 14.

[0075] Please refer to Figure 8 and Figure 9 In one embodiment of the present invention, the laser module 10 further includes a second buffer 18 , which is located on the surface of the circuit board 14 facing the bottom wall of the accommodating groove 11 a and is clamped and fixed by the circuit board 14 and the mounting frame 11 .

[0076] As can be understood, the first buffer member 17 isolates the circuit board 14 from the mounting bracket 11, ensuring flexible contact between the circuit board 14 and the mounting bracket 11. This reduces the possibility of pressure loss between the circuit board 14 and the mounting bracket 11 due to excessive tightening force, thereby significantly improving the safety of the circuit board 14 during installation. The second buffer member 18 may be made of foam, rubber, or silicone.

[0077] Please refer to Figure 2 and Figure 4 In one embodiment of the present invention, a mounting opening 11b is formed on the bottom wall of the accommodating groove 11a, and the mounting opening 11b covers the laser 12 and the camera 13; the laser module 10 also includes a translucent lens 113, which is embedded in the mounting opening 11b, and the translucent lens 113 forms a translucent portion 111.

[0078] It can be understood that the light-transmitting lens 113 is formed into a light-transmitting portion 111, so that the light-transmitting portion 111 can transmit the light of the laser 12 and the camera 13, so that the laser 12 and the camera 13 can perform stable obstacle avoidance detection. In addition, the light-transmitting lens 113 can also prevent the possibility of external moisture, dust and other debris from entering the accommodating groove 11a; at the same time, the light-transmitting lens 113 can also improve the aesthetics of the appearance of the laser module 10. Of course, the present application is not limited to this. In other embodiments, the bottom wall of the accommodating groove 11a can also be provided with a light-transmitting hole, and the light-transmitting hole is the light-transmitting portion 111. Furthermore, the wall surface of the mounting frame 11 facing the light-transmitting lens 113 is provided with a sealing member 114. The sealing member 114 is ring-shaped and is arranged around the laser 12 and the camera 13 to achieve the function of sealing against dust and water vapor, thereby further improving the protection of the laser 12 and the camera 13.

[0079] In one embodiment of the present invention, the light-transmitting lens 113 and the mounting frame 11 are detachably connected.

[0080] It is understood that the light-transmitting lens 113 is detachably connected to the mounting frame 11, allowing it to be removed for repair and replacement in the event of damage, thereby improving the convenience of repairing and replacing the light-transmitting lens 113. Specifically, the light-transmitting lens 113 can be provided with a snap-fit ​​buckle 1131, and the mounting frame 11 can be provided with a snap-fit ​​hole 11c to simplify the installation process of the light-transmitting lens 113, while also ensuring the integrity of the surface of the light-transmitting lens 113, thereby enabling various parts of the light-transmitting lens 113 to better transmit light to the laser 12 and camera 13. Of course, the light-transmitting lens 113 and the mounting frame 11 can also be fixed by magnets.

[0081] Please refer to Figure 7 and Figure 9 In one embodiment of the present invention, the light-transmitting lens 113 and the mounting frame 11 are an integrated structure.

[0082] It is understood that the light-transmitting lens 113 and the mounting frame 11 are an integrated structure, which can increase the strength of the connection between the two, thereby improving the overall strength of the mounting frame 11. At the same time, the light-transmitting lens 113 and the mounting frame 11 can be manufactured through an integrated molding process, simplifying the processing of both and thus improving production efficiency.

[0083] Please refer to Figure 1The present invention also proposes a sweeping robot 100, which includes a housing 30 and a laser module 10 installed on the housing 30. The specific structure of the laser module 10 refers to the above embodiment. Since the sweeping robot 100 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0084] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present description and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A laser module, applied to a sweeping robot, characterized in that: The laser module includes: Mounting rack; a laser, wherein the laser is mounted on the mounting frame; a camera, the camera being mounted on the mounting bracket; and A circuit board, which is arranged on the mounting frame and electrically connected to the laser and the camera; The number of the laser and the number of the camera are both one, the mounting frame is defined to have an upper end and a lower end that are arranged opposite to each other, and the light output angles of the laser and the camera are arranged to be inclined downward; The laser and the camera are distributed up and down along the mounting frame, and a center line of the laser in the up and down direction coincides with a center line of the camera in the up and down direction; A receiving groove is formed on one surface of the mounting frame; the laser and the camera are both embedded in the receiving groove, and a light-transmitting portion is formed on the bottom wall of the receiving groove, and the light-transmitting portion covers the laser and the camera; the circuit board is embedded in the receiving groove; The laser module further includes a bracket, which is embedded in the receiving groove; the laser, the camera, and the circuit board are all mounted on the bracket; two snap-fit ​​grooves are formed on the bracket, and the laser and the camera are snap-fitted into the two snap-fit ​​grooves respectively; the circuit board is connected to the bracket by screws; The laser module further includes a cover plate, which is connected to the mounting frame and covers the notch of the accommodating groove.

2. The laser module according to claim 1, wherein: The laser module further includes a first buffer member, which is located on the surface of the cover plate facing the bottom wall of the accommodating groove and is clamped and fixed by the cover plate and the mounting frame.

3. The laser module according to claim 1, wherein: The bottom wall of the accommodating groove is formed with a mounting opening, and the mounting opening covers the laser and the camera; The laser module further includes a light-transmitting lens, which is embedded in the mounting opening and forms the light-transmitting portion.

4. The laser module according to claim 3, wherein: The light-transmitting lens and the mounting frame are detachably connected; Alternatively, the light-transmitting lens and the mounting frame are an integrated structure.

5. A sweeping robot, characterized in that: include: chassis; and A laser module, wherein the laser module is mounted on the housing, and the laser module is the laser module according to any one of claims 1 to 4.

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