sweeping robot

Abstract

The present invention discloses a sweeping robot, comprising a housing, the housing being defined as having a front side and a rear side, as well as a left side and a right side, which are arranged opposite to each other; a forward sensing module, the forward sensing module being disposed on the front side wall of the housing; and a side sensing module, the side sensing module being disposed on the left side wall and / or the right side wall of the housing, the side sensing module comprising a side laser and a side camera. The technical solution of the present invention enables the sweeping robot to maintain a certain distance from the base of the wall or other objects while operating along a wall or around other objects, and to detect obstacles at the position where the base of the wall or other objects contacts the ground and perform corresponding obstacle avoidance actions, thereby improving the safety of the sweeping robot when operating along a wall.

Description

Technical Field

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

[0002] At present, in order to enable a sweeping robot to work along a wall or around other objects (such as table legs, chair legs, or electric fan brackets, etc.) and to better clean the base of a wall or the position where other objects touch the ground, a distance sensor is usually provided on the side of the sweeping robot. The distance between the sweeping robot and the wall or other objects can be measured by the distance sensor, so that the sweeping robot can maintain a fixed distance between the wall or other objects during operation. However, the sweeping robot in the related art can only measure the distance through the infrared distance sensor, and cannot detect obstacles at the base of a wall or the position where other objects touch the ground. As a result, when there is an obstacle at the base of a wall or the position where other objects touch the ground, the sweeping robot may be damaged by collision, resulting in reduced safety of the sweeping robot when working along the wall. Summary of the Invention

[0003] The main purpose of the present invention is to provide a sweeping robot, which is designed to enable the sweeping robot to detect and avoid obstacles when working along walls or around other objects, thereby improving the safety of the sweeping robot when working along walls or around other objects.

[0004] To achieve the above objectives, the sweeping robot proposed by the present invention includes:

[0005] A housing, wherein the housing is defined as having a front side, a rear side, and a left side and a right side that are oppositely disposed;

[0006] a forward sensing module, the forward sensing module being disposed on the front side wall of the housing; and

[0007] A lateral sensing module is provided on the left side wall and / or the right side wall of the housing, and the lateral sensing module includes a lateral laser and a lateral camera.

[0008] In one embodiment of the present invention, the housing comprises:

[0009] a housing body having a front side, a rear side, and a left side and a right side that are oppositely disposed; and

[0010] A front impact plate, which is arranged on the front side wall of the shell body and can move relative to the shell body, and the end of the front impact plate is bent and extended to wrap the left side wall and / or right side wall of the shell body, the forward sensing module is installed on the shell body, and the side laser and the side camera are installed on the front impact plate.

[0011] In one embodiment of the present invention, the side laser and the side camera are installed on the inner wall surface of the front collision plate, and the front collision plate is provided with side light-transmitting holes corresponding to the positions of the side laser and the side camera.

[0012] In one embodiment of the present invention, the lateral sensing module further comprises a frame, the frame being disposed on the inner wall surface of the front impact plate, the frame opening of the frame being disposed toward the shell body, and the frame being provided with a lateral light-transmitting portion at a position corresponding to the lateral light-transmitting hole;

[0013] The side laser and the side camera are installed in the frame.

[0014] In one embodiment of the present invention, a limiting step is provided at one end of the frame away from the shell body, and the limiting step includes:

[0015] a first step surface, the first step surface abutting against a hole wall of the lateral light-transmitting hole; and

[0016] The second step surface is connected to the first step surface and is arranged at an angle to the first step surface, and the second step surface abuts against the inner wall surface of the front impact plate.

[0017] In one embodiment of the present invention, a connecting column is provided on the inner wall surface of the front impact plate, and a connecting ear is provided on the side wall surface of the frame body. The connecting ear abuts against one end of the connecting column away from the front impact plate and is detachably connected to the connecting column.

[0018] In one embodiment of the present invention, a positioning groove is provided on the wall surface of the connecting ear facing the connecting column, and an end of the connecting column away from the front impact plate is inserted into the positioning groove and abuts against the groove wall of the positioning groove.

[0019] In one embodiment of the present invention, the lateral sensing module further includes a lateral circuit board, which is connected to the frame and covers the frame opening of the frame;

[0020] The side laser and the side camera are both installed on the side circuit board and are electrically connected to the side circuit board.

[0021] In one embodiment of the present invention, the frame body is provided with at least two clamping blocks at its frame opening, wherein two of the clamping blocks are arranged opposite to each other and clamped on two opposite side walls of the lateral circuit.

[0022] In one embodiment of the present invention, the forward sensing module is located on the front side of the housing, and the line between the center of the forward sensing module and the center of the housing is defined as straight line L1, and the line between the center of the side sensing module and the center of the housing is defined as straight line L2, and the angle between straight line L1 and straight line L2 is greater than or equal to 45° and less than or equal to 90°.

[0023] When the sweeping robot of the technical solution of the present invention is working along a wall or around other objects (for example, table legs, chair legs, or electric fan brackets, etc.), the forward sensing module provided on the housing can acquire an environmental image of the front working area of ​​the sweeping robot, for example, detecting whether there is an obstacle in front, or whether the distance between two objects can be passed, etc. The possibility of the front side of the sweeping robot being damaged by a collision with an obstacle is reduced, thereby improving the safety of the sweeping robot during operation. In addition, since the forward sensing module is provided on the front side wall of the housing, the possibility of other components of the sweeping robot blocking the acquisition angle of the forward sensing module can be reduced, so that the forward sensing module has a better detection angle of the front working area of ​​the sweeping robot, thereby improving the detection effect of the forward sensing module.

[0024] Furthermore, the sweeping robot in this solution can also emit a line laser to the position where the wall foot or other objects contact the ground through the lateral laser of the lateral sensing module, and then obtain the environmental image of the position where the wall foot or other objects contact the ground through the camera of the lateral laser module, and calculate the laser point cloud information in the environment where the wall foot or other objects contact the ground, and calculate the outline, height, width and other information of the obstacle based on the laser point cloud information, so that the sweeping robot can realize obstacle detection in the working environment where the wall foot or other objects contact the ground through the lateral laser module, so that the sweeping robot can maintain a certain distance from the wall foot or other objects based on the distance information to work, that is, relatively close to the wall foot or other objects to facilitate the cleaning of the garbage at the position where the wall foot or other objects contact the ground, and will never contact or collide with the wall foot or other objects to cause damage. At the same time, based on the obstacle information, when the sweeping robot finds an obstacle above the wall (such as the bottom of a sofa, a coffee table, or a stool, etc.) or below the wall that affects the normal passage of the sweeping robot, it will promptly change the running direction of the sweeping robot, thereby reducing the possibility of the sweeping robot colliding with obstacles at the corners of the wall or other objects in contact with the ground when working along the wall. Compared with the sweeping robot in the prior art, when working along the wall or around other objects, it can only obtain the distance between the sweeping robot and the wall foot or other objects and maintain a fixed distance to work along the wall or around other objects. It cannot detect whether there are obstacles above and below the wall foot or other objects in contact with the ground, and may collide with obstacles at the corners of the wall and cause damage. The sweeping robot in this solution uses a lateral sensing module to achieve simultaneous detection of distance and obstacles, thereby improving the safety of the sweeping robot when working along the wall or around other objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 This is a schematic diagram of the assembly structure of an embodiment of the sweeping robot of the present invention;

[0027] Figure 2 for Figure 1 Schematic diagram of the explosion structure of the sweeping robot;

[0028] Figure 3 for Figure 1A cross-sectional diagram of the front impact plate of the middle sweeping robot;

[0029] Figure 4 for Figure 3 A local enlarged schematic diagram of point A in FIG;

[0030] Figure 5 for Figure 1 Another cross-sectional view of the front impact plate of the middle sweeping robot;

[0031] Figure 6 for Figure 5 A local enlarged schematic diagram of point B in FIG;

[0032] Figure 7 for Figure 1 Schematic diagram of the assembly structure of the lateral sensor module of the sweeping robot;

[0033] Figure 8 for Figure 1 A one-way diagram of the exploded structure of the lateral sensing module of the sweeping robot;

[0034] Figure 9 for Figure 1 A schematic diagram of the exploded structure of the lateral sensing module of the sweeping robot from another perspective;

[0035] Figure 10 for Figure 1 Schematic diagram of the assembly structure of the forward sensing module of the sweeping robot;

[0036] Figure 11 for Figure 1 A one-way diagram of the exploded structure of the forward sensing module of the robot vacuum cleaner;

[0037] Figure 12 for Figure 1 Schematic diagram of the exploded structure of the lateral sensing module of the sweeping robot from another perspective.

[0038] Description of Figure Numbers:

[0039]

[0040]

[0041] 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

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] The present invention provides a sweeping robot.

[0047] Please refer to Figure 1 、 Figure 2 、 Figure 7 、 Figure 8 as well as Figure 9 In one embodiment of the present invention, the sweeping robot includes a housing 10, a forward sensing module 30, and a side sensing module 50; wherein, the housing 10 is defined as having a front side, a rear side, and a left side and a right side that are relatively arranged; the forward sensing module 30 is arranged on the front side wall of the housing 10; the left side wall and / or the right side wall of the housing 10 are provided with a side sensing module 50, and the side sensing module 50 includes a side laser 51 and a side camera 53.

[0048] In one embodiment of the present invention, the housing 10 can be mainly used to install the forward sensing module 30, the side sensing module 50 and other components of the sweeping robot, so that the various components of the sweeping robot can form a whole and are easy to transport and manage. Among them, the projection shape of the housing 10 on the horizontal plane can be roughly circular, so that its circumference is an arc surface with a guiding effect and can improve the smoothness of the sweeping robot when turning, and at the same time, it can also make the volume of the housing 10 relatively small. Of course, in other embodiments, the projection shape of the housing 10 on the horizontal plane can also be square or other shapes. In addition, the front side of the housing 10 is the side of the housing 10 facing the forward direction of the sweeping robot, the rear side is the side of the housing 10 away from the forward direction of the sweeping robot, and the left side and both sides are the other two sides perpendicular to the forward direction. Please refer to Figure 10 、 Figure 11 as well as Figure 12The forward sensing module 30 can be mainly used to detect obstacles in the front working area of ​​the sweeping robot, reducing the possibility of collision between the front side of the sweeping robot and obstacles. The forward sensing module 30 may include a forward laser 31 and a forward camera 33, so as to emit a line laser to the front working area of ​​the sweeping robot through the forward laser 31 to form a laser cloud point in the working environment. Afterwards, the environmental image is acquired through the forward camera 33, and the laser point cloud information of the working environment is calculated. Based on the laser point cloud information, the outline, height, width and other information of the obstacle are calculated to detect the obstacle, so that the sweeping robot 100 controller can control its running direction and avoid obstacles in the working environment. For example, the angle between the line laser emitted by the forward laser 31 and the vertical plane is known, and the distance between the forward laser 31 and the working surface of the sweeping robot is also known, so that the distance between the sweeping robot and the obstacle can be calculated using trigonometric functions. The forward sensing module 30 in this embodiment uses a forward laser 31 to detect obstacles in the working environment of the sweeping robot. Lasers have the advantages of high detection accuracy, long measurement distance, wide coverage, and strong resistance to environmental interference. This enables the forward sensing module 30 in this application to have a good obstacle detection effect, thereby improving the obstacle avoidance effect of the sweeping robot. Moreover, the forward sensing module 30 in this embodiment only includes a forward laser 31 and a forward camera 33, which makes the number of sensors required relatively small and simplifies the obstacle avoidance structure of the sweeping robot, thereby reducing the manufacturing cost of the sweeping robot. Of course, the present application is not limited to this. In other embodiments, the forward sensing module 30 may also include only a forward camera 33 or directly use radar obstacle avoidance detection. To facilitate the installation of the forward laser 31 and the forward camera 33, the forward sensing module 30 may also include a mounting bracket 35, on which the forward laser 31 and the forward camera 33 are mounted. Since the mounting bracket 35 has a relatively simple structure and a relatively small size, it is convenient to mount the forward laser 31 and the forward camera 33 on the mounting bracket 35, and then mount the mounting bracket 35 on the housing 10. Specifically, the mounting bracket 35 can be fixed to the housing 10 by screws, clamping, or magnetism. In order to make the installation of the forward laser 31 and the forward camera 33 more compact, a recessed receiving groove 35a is provided on one surface of the mounting bracket 35; the forward laser 31 and the forward camera 33 are both embedded in the receiving groove 35a, and the bottom wall of the receiving groove 35a is formed with a forward light-transmitting portion 351, which covers the forward laser 31 and the forward camera 33.The forward light-transmitting portion 351 can be formed by embedding a forward light-transmitting lens 353 in the mounting frame 35. In this case, a sealing member 354 is provided on the wall of the mounting frame 35 facing the light-transmitting lens 353. The sealing member 354 is annular and surrounds the forward laser 31 and the forward camera 33 to provide a dust-proof and water-proof seal, thereby further enhancing the protection of the forward laser 31 and the forward camera 33. Of course, the forward light-transmitting portion 351 can also be formed as a through-hole connecting the accommodating groove 35a with the outside world. Furthermore, to facilitate the control of the operation of the forward laser 31 and the forward camera 33, the forward sensing module 30 also includes a forward circuit board 36. The forward circuit board 36 is disposed within the accommodating groove 35a and is electrically connected to the forward laser 31 and the forward camera 33, so that the forward laser 31 and the forward camera 33 can be independently controlled by the forward circuit board 36 to perform obstacle detection. In one embodiment of the present invention, the forward laser sensor module further includes a bracket 37, which is embedded in the receiving groove 35a; the forward laser 31, the forward camera 33, and the forward circuit board 36 are all mounted on the bracket 37. It can be understood that the forward laser 31, the forward camera 33, and the forward circuit board 36 are mounted and supported by the bracket 37, so that they can be installed in the receiving groove 35a at one time, thereby improving the convenience of installation. In addition, the forward laser 31 and the forward camera 33 can be detachably mounted on the bracket 37, so that the forward laser 31 and the forward camera 33 can be removed and repaired and replaced in the event of damage. Specifically, the forward laser 31 and the forward camera 33 can be fixed by snapping. In this case, two snapping grooves 37a can be formed on the bracket 37, and the forward laser 31 and the forward camera 33 are respectively accommodated in the two snapping grooves 37a and fixed by snapping. By securing the forward laser 31 and the forward camera 33 via the securing slots 37a, there is no need for additional connecting structures on the forward laser 31 and the forward camera 33 to limit their position. This ensures both the secure installation of the forward laser 31 and the forward camera 33 and the inherent structural safety of the forward laser 31 and the forward camera 33. Alternatively, the forward laser 31 and the forward camera 33 can be secured to the bracket 37 via magnetic attraction. The forward circuit board 36 can also be detachably mounted to the bracket 37, allowing it to be removed and easily repaired or replaced in the event of damage. Specifically, the forward circuit board 36 can be connected to the bracket 37 via screws, ensuring secure installation of the forward circuit board 36 while simplifying the installation process. Alternatively, the forward circuit board 36 can be secured to the bracket 37 via securing or magnetic attraction. In addition, it should be noted that the present application is not limited to this. In other embodiments, the forward laser 31, the forward camera 33 and the forward circuit board 36 may be fixedly connected to the bracket 37 in an irremovable manner.To facilitate maintenance and replacement of the bracket 37, the bracket 37 can also be detachably connected to the mounting frame 35, for example, by screw connection, clip connection, or magnetic attachment. Furthermore, the forward sensing module 30 can also include a cover plate 38, which is connected to the mounting frame 35 and seals the notch of the receiving slot 35a. By sealing the notch of the receiving slot 35a with the cover plate 38, the space enclosed by the cover plate 38 and the mounting frame 35 can be relatively sealed, reducing the possibility of external debris such as moisture or dust entering the receiving slot 35a and affecting the forward laser 31, forward camera 33, or forward circuit board 36 located therein, thereby improving the safety of the forward sensing module 30 during use. The connection between the cover plate 38 and the mounting frame 35 can be detachable, so that if any components located within the receiving slot 35a are damaged, the cover plate 38 can be removed. Specifically, the cover plate 38 can be secured to the mounting bracket 35 via screws, snap-fit ​​connections, or magnetic attraction. To enhance the safety of the forward laser 31, forward camera 33, and forward circuit board 36 during installation, the forward sensing module 30 may further include a first buffer 39. The first buffer 39 is located on the surface of the cover plate 38 facing the bottom wall of the accommodating groove 35a and is clamped and secured by the cover plate 38 and the mounting bracket 35. The first buffer 39 thus isolates the cover plate 38 from the forward laser 31, forward camera 33, and forward circuit board 36, ensuring flexible contact between the cover plate 38 and the forward laser 31, forward camera 33, and forward circuit board 36. This reduces the possibility of pressure damage to the surfaces of the forward laser 31, forward camera 33, and forward circuit board 36 caused by the cover plate 38, thereby enhancing the safety of the forward laser 31, forward camera 33, and forward circuit board 36 during installation. Among them, the first buffer member 39 can be foam, rubber or silicone, etc. In addition, in order to reduce the blind spot caused by the forward laser 31 and the forward camera 33 at the position of the sweeping robot close to the front side of the housing 10, the forward laser 31 and the forward camera 33 can be arranged on the bracket 37 at an angle downward, so that the light output angle of the forward laser 31 and the forward camera 33 is tilted downward. Among them, the forward laser 31 can be arranged above the forward camera 33 so that the line laser emitted by the forward laser 31 is within the acquisition angle of the forward camera 33, thereby facilitating the forward camera 33 to acquire the laser cloud point formed by the forward laser 31. The side laser 51 of the side sensing module 50 can be mainly used to emit a line laser to the left and / or right side of the housing 10 to form a laser cloud point in the lateral working environment. The environment image is then acquired through the side camera 53, and the laser point cloud information of the side working environment is calculated. Based on the laser point cloud information, the outline, height, width and other information of the obstacle are calculated to realize the detection of the obstacle.In addition, the number of lateral sensing modules 50 can be one set, located on either the left or right wall of the housing 10, to reduce the manufacturing cost of the sweeping robot. Of course, the number of lateral sensing modules 50 can also be at least two sets, so that the lateral sensing modules 50 are located on both the left and right sides of the housing 10. In this case, the sweeping robot can operate along the wall in both a clockwise and counterclockwise direction, thereby improving the convenience of the sweeping robot during use.

[0049] When the sweeping robot of the technical solution of the present invention is working along a wall or around other objects (for example, table legs, chair legs, or electric fan brackets, etc.), the forward sensing module 30 provided on the housing 10 can acquire an environmental image of the front working area of ​​the sweeping robot, for example, detecting whether there is an obstacle in front, or whether it can pass through the distance between two objects, etc. The possibility of the front side of the sweeping robot colliding with an obstacle and being damaged is reduced, thereby improving the safety of the sweeping robot during operation. In addition, since the forward sensing module 30 is provided on the front side wall of the housing 10, the possibility of other components of the sweeping robot blocking the acquisition angle of the forward sensing module 30 can be reduced, so that the forward sensing module 30 has a better detection angle of the front working area of ​​the sweeping robot, thereby improving the detection effect of the forward sensing module 30.

[0050] Furthermore, the sweeping robot in this embodiment can also emit a line laser at the base of a wall or other object where it contacts the ground through the side laser 51 of the side sensing module 50. The camera 53 of the side laser module 50 can then capture an image of the environment at the base of the wall or other object where it contacts the ground, and calculate laser point cloud information within the environment at the base of the wall or other object where it contacts the ground. Based on the laser point cloud information, the outline, height, and width of the obstacle are calculated, thereby enabling the sweeping robot to detect obstacles in the working environment at the base of the wall or other object where it contacts the ground through the side laser module 50. This allows the sweeping robot to maintain a certain distance from the base of the wall or other object based on the distance information, that is, to operate relatively close to the base of the wall or other object, thereby facilitating the cleaning of garbage at the base of the wall or other object where it contacts the ground, while also preventing the sweeping robot from contacting or colliding with the base of the wall or other object and causing damage. At the same time, based on the obstacle information, the sweeping robot can change its running direction in a timely manner when it finds an obstacle above the base of a wall or other object contacting the ground (such as the bottom of a sofa, a coffee table, or a stool, etc.), or below the base of a wall or other object that affects the normal passage of the sweeping robot, thereby reducing the possibility of the sweeping robot colliding with obstacles at the corners of the wall when working along the wall or around other objects. Compared with the sweeping robot in the prior art, which can only obtain the distance between the sweeping robot and the base of the wall or other object and maintain a fixed distance along the wall when working along the wall or around other objects, but cannot detect whether there are obstacles above or below the base of the wall or other object contacting the ground, and may collide with obstacles at the corners of the wall or other object contacting the ground, causing damage, the sweeping robot in this solution uses the lateral sensing module 50 to achieve simultaneous detection of distance and obstacles, thereby improving the safety of the sweeping robot when working along the wall or around other objects.

[0051] Please refer to Figure 1 and Figure 2 In one embodiment of the present invention, the casing 10 includes a casing body 11 and a front impact plate 13, the casing body 11 has a front side and a rear side, as well as a left side and a right side that are arranged opposite to each other; the front impact plate 13 is arranged on the front side wall of the casing body 11 and can move relative to the casing body 11, and the end of the front impact plate 13 is bent and extended to wrap the left side wall and / or right side wall of the casing body 11, the forward sensing module 30 is installed on the casing body 11, and the side laser 51 and the side camera 53 are installed on the front impact plate 13.

[0052] It can be understood that the housing 10 is composed of a housing body 11 and a front striker plate 13, so that when the sweeping robot collides with an obstacle, the front striker plate 13 can collide with the obstacle to reduce damage to the housing body 11 and other components. Specifically, the front striker plate 13 can be connected to the housing body 11 via an elastic member. The housing body 11 can also be provided with a proximity sensor at a position corresponding to the front striker plate 13. When the front striker plate 13 collides with the obstacle, it is driven close to the proximity sensor, so that the proximity sensor triggers and senses the contact and collision between the front striker plate 13 and the obstacle, so that the sweeping robot can subsequently adjust its direction of operation and continue normal operation. Of course, the present application is not limited to this. In other embodiments, the front striker plate 13 can also be directly connected to the housing 10 with only an elastic member, such as an elastic steel sheet or a spring. The side laser 51 and the side camera 53 are installed on the front striker plate 13, so that they can be placed relatively close to the edge, reducing the possibility of other components blocking the view of the side laser 51 and the side camera 53. This allows the side laser 51 and side camera 53 to have a better viewing angle at the wall base, allowing for better distance measurement and obstacle detection, ensuring the sweeping robot is as close to the wall base as possible while always maintaining a certain distance from it. At this point, the light emission angles of the side laser 51 and side camera 53 can be tilted downward to further facilitate distance measurement and obstacle detection at the wall corners. The forward sensing module 30 is mounted on the shell body 11, and the mounting bracket 35 of the forward module is also mounted on the shell body 11. Since the shell body 11 is relatively stable and does not shake during operation, the forward laser 31 and forward camera 33 mounted on the mounting bracket 35 are also relatively stable, enabling stable obstacle detection in the working area adjacent to the front of the sweeping robot, ensuring the accuracy of the detection effect and further reducing the possibility of collision between the sweeping robot and obstacles. The front collision plate 13 covers the forward laser 31 and the forward camera 33, so that the forward collision plate 13 can provide a certain degree of protection for the forward laser 31 and the forward camera 33, reducing the possibility of damage by foreign objects, thereby helping to extend the service life of the forward laser 31 and the forward camera 33. At this time, the front collision plate 13 can be provided with a forward light-transmitting hole 13c at the position corresponding to the forward laser 31 and the forward camera 33. Of course, in other embodiments, the forward module can also be installed on the front collision plate 13.

[0053] In one embodiment of the present invention, the side laser 51 and the side camera 53 are installed on the inner wall surface of the front collision plate 13, and the front collision plate 13 is provided with a side light-transmitting hole 13a at the position corresponding to the side laser 51 and the side camera 53.

[0054] It can be understood that the side laser 51 and the side camera 53 are installed on the inner wall of the front collision plate 13, so that the front collision plate 13 can play a certain protective role on the side laser 51 and the side camera 53, reducing the possibility of damage by foreign objects, thereby being conducive to extending the service life of the side laser 51 and the side camera 53.

[0055] Please refer to Figure 3 、 Figure 4 、 Figure 7 、 Figure 8 as well as Figure 9 In one embodiment of the present invention, the lateral sensing module 50 further includes a frame 55, which is disposed on the inner wall of the front impact plate 13, with the frame opening of the frame 55 facing the shell body 11, and a lateral light-transmitting portion 551 is provided on the frame 55 at a position corresponding to the lateral light-transmitting hole 13a; the lateral laser 51 and the lateral camera 53 are installed in the frame 55.

[0056] It can be understood that the setting of the frame 55 can install and carry the side laser 51 and the side camera 53, and the structure of the frame 55 is relatively simple and the volume is relatively small. At this time, it is convenient to install the side laser 51 and the side camera 53 in the frame 55, and then the side laser 51, the side camera 53 and the side frame 55 are installed between the bottom shell and the cover at one time, thereby improving the convenience of installing the laser and camera. Among them, the side light-transmitting portion 551 can be formed by embedding a side light-transmitting lens 553 in the frame 55, or it can be formed by a through hole connecting the frame 55 and the outside world.

[0057] Please refer to Figure 3 and Figure 4 In one embodiment of the present invention, a limiting step 555 is provided at one end of the frame body 55 facing away from the shell body 11. The limiting step 555 includes a first step surface 556 and a second step surface 557. The first step surface 556 abuts against the hole wall of the lateral light transmission hole 13a; the second step surface 557 is connected to the first step surface 556 and is set at an angle to the first step surface 556. The second step surface 557 abuts against the inner wall surface of the front collision plate 13.

[0058] It is understood that before the frame 55 is installed, the limiting step 555 has a pre-positioning effect on the installation of the frame 55, which facilitates the accurate placement of the frame 55 in the preset installation position for installation. After the frame 55 is installed, the limiting step 555 has a limiting effect, which can reduce the possibility of movement of the frame 55, thereby improving the stability of the installation of the frame 55. At the same time, such an arrangement can also make the distribution of the frame 55 and the front collision plate 13 more compact. The limiting step 555 can be set around the frame 55 or around part of the frame 55.

[0059] Please refer to Figure 5 and Figure 6 In one embodiment of the present invention, a connecting column 131 is provided on the inner wall surface of the front impact plate 13, and a connecting ear 558 is provided on the side wall surface of the frame 55. The connecting ear 558 abuts against the end of the connecting column 131 away from the front impact plate 13 and is detachably connected to the connecting column 131.

[0060] It can be understood that the provision of the connecting ear 558 provides a location for the connection structure for connection to the front striker plate 13, reducing the impact of the connection structure on the overall strength of the frame 55, thereby facilitating the overall strength of the frame 55. The connecting post 131 can be used to abut and support the connecting ear 558, thereby enhancing the stability of the connecting ear 558 and facilitating the stability of the connection between the connecting ear 558 and the connecting post 131. The detachable connection between the connecting ear 558 and the connecting post 131 allows the frame 55 to be removed in the event of damage to the frame 55 or the side-pointing laser 51 and side-pointing camera 53 therein, thereby improving the convenience of repair and replacement. The connecting post 131 may be provided with a connecting hole 131a, and the connecting ear 558 may be provided with a mounting hole 558a, with the mounting hole 558a and the connecting hole 131a being arranged opposite each other. The sweeping robot may further include a fastener, which passes through the mounting hole 558a and is inserted into the connecting hole 131a, thereby allowing the connecting ear 558 and the connecting post 131 to be detachably connected. In this case, the connecting hole 131a may be a threaded hole, and the fastener may be a screw; of course, the connecting hole 131a may also be a clamping hole, and the fastener may be a clamping post. In addition, the connecting ear 558 and the connecting post 131 may also be fixed by magnetic attraction.

[0061] In one embodiment of the present invention, a positioning groove 558c is provided on the wall of the connecting ear 558 facing the connecting column 131. The end of the connecting column 131 away from the front bumper 13 is inserted into the positioning groove 558c and abuts against the groove wall of the positioning groove 558c.

[0062] It can be understood that the provision of the positioning groove 558c has a pre-alignment effect on the installation of the connecting ear 558 and the connecting column 131, thereby facilitating accurate alignment of the two. At the same time, the positioning groove 558c also increases the contact area between the connecting ear 558 and the connecting column 131, thereby improving the stability of the installation of the connecting ear 558 and the connecting column 131. Among them, the mounting hole 558a provided in the connecting ear 558 can be provided with a groove bottom wall of the positioning groove 558c. In this way, when the connecting column 131 is inserted into the positioning groove 558c, the connecting hole 131a and the mounting hole 558a can be ensured to be arranged relative to each other, improving the convenience of alignment between the two and improving the installation efficiency of the frame 55.

[0063] Please refer to Figure 7 、 Figure 8 as well as Figure 9 In one embodiment of the present invention, the lateral sensing module 50 further includes a lateral circuit board 57, which is connected to the frame 55 and covers the frame opening of the frame 55; the lateral laser 51 and the lateral camera 53 are both installed on the lateral circuit board 57 and are electrically connected to the lateral circuit board 57.

[0064] It can be understood that the side laser 51 and side camera 53 are independently controlled by the side circuit board 57 to perform distance detection and obstacle detection, reducing the influence of the side sensing module 50 on the other control circuit boards of the sweeping robot, thereby improving the stability of the side sensing module 50. The side laser 51 and side camera 53 are both installed with the side circuit board 57, so that the three can form a whole and then be installed in the frame 55 at one time, thereby improving the convenience of assembling the side sensing module 50. At the same time, the side circuit board 57 covers the frame opening of the frame 55, improving the sealing of the frame 55, thereby reducing the damage caused by external moisture or dust entering the frame 55 to the side laser 51 and side camera 53. Among them, the side laser 51 and side camera 53 can be welded to the circuit board to achieve both electrical connection with the side circuit board 57 and ensure the stability of the installation of the side laser 51 and side camera 53. This simplifies the electrical and physical connections between the side laser 51 and side camera 53 and the side circuit board 57, thereby reducing the manufacturing cost of the side sensing module 50. The side circuit board 57 can be connected to the frame 55 via screws, requiring only vias in the side circuit board for the screws to pass through. To further reduce the blind spots created by the side laser 51 and side camera 53 when detecting wall bases, the beam angles of the side laser 51 and side camera 53 can be tilted downward to provide a better viewing angle for the wall base below. The side circuit board 57 can be mounted at an angle, while the side laser 51 and side camera 53 are mounted perpendicular to the side circuit board 57. Alternatively, the side circuit board 57 can be mounted upright, while the side laser 51 and side camera 53 are mounted at an angle to the side circuit board 57. In order to allow the side laser 51 and the side camera 53 to have a larger acquisition angle of view above and below the wall base, the side laser 51 and the side camera 53 can be located at the same height. At the same time, such an arrangement can also make the acquisition angles of the two better intersect, making it easier for the side camera 53 to detect and acquire the laser cloud points formed by the side laser 51. In addition, in order to reduce the pressure loss caused by excessive locking force during the locking process of the side circuit board 57 and the frame 55, the side sensing module 50 can also include a second buffer 59. The second buffer 59 is provided on the side of the side circuit board 57 facing the frame 55 and is clamped and fixed by the side circuit board 57 and the frame 55. The second buffer 59 can be foam, rubber or silicone.

[0065] In one embodiment of the present invention, the frame body 55 is provided with at least two clamping blocks 559 at its frame opening, wherein the two clamping blocks 559 are disposed opposite to each other and clamped on two opposite side walls of the lateral circuit.

[0066] It can be understood that clamping and limiting the lateral circuit board 57 by the clamping block 559 can reduce the possibility of the lateral circuit board 57 shifting during installation in the frame 55, thereby helping to ensure the final installation effect of the lateral circuit board 57. At the same time, this arrangement also increases the contact area between the lateral circuit board 57 and the frame 55, thereby improving the stability of the installation of the lateral circuit board 57.

[0067] Please refer to Figure 1 In one embodiment of the present invention, the forward sensing module 30 is located directly in front of the housing 10. The line connecting the center of the forward sensing module 30 and the center of the housing 10 is defined as a straight line L1. The line connecting the center of the side sensing module 50 and the center of the housing 10 is defined as a straight line L2. The angle between the straight line L1 and the straight line L2 is greater than or equal to 45° and less than or equal to 90°.

[0068] That is, the side sensor module 50 can be installed at any position on the front left or right side of the housing 10. This ensures that when the robot vacuum is cleaning a wall, it can perform timely distance detection and obstacle detection at that location. The front sensor module 30 is located directly in front of the housing 10, allowing it to perform uniform obstacle detection on both sides of the working environment in front of the robot vacuum.

[0069] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A sweeping robot, characterized in that: include: A housing, wherein the housing is defined as having a front side, a rear side, and a left side and a right side that are oppositely disposed; A forward sensing module, the forward sensing module being disposed on the front side wall of the housing, the forward sensing module comprising a forward laser and a forward camera, the number of the forward laser and the number of the forward camera being both one and arranged in the vertical direction, and the light emitting axes of the forward laser and the forward camera being arranged obliquely downward; and A lateral sensing module is provided on the left and / or right side walls of the housing, and includes a lateral laser and a lateral camera. The number of the lateral laser and the number of the lateral camera are both one, and they are arranged in a horizontal direction. The light emitting axes of the lateral laser and the side camera are arranged at an angle downward. The housing includes a housing body and a front striker plate, wherein the housing body has a front side and a rear side, and a left side and a right side that are oppositely arranged; the front striker plate is arranged on the front side wall of the housing body and is movable relative to the housing body, and the end portion of the front striker plate is bent and extended to wrap around the left side wall and / or the right side wall of the housing body; the forward sensing module is mounted on the housing body, and the side laser and the side camera are mounted on the front striker plate; The side laser and the side camera are installed on the inner wall surface of the front collision plate, and the front collision plate is provided with a side light-transmitting hole at the position corresponding to the side laser and the side camera; The side sensing module further includes a frame, which is arranged on the inner wall surface of the front collision plate, with the frame opening facing the shell body, and the frame is provided with a side light-transmitting portion at a position corresponding to the side light-transmitting hole; the side laser and the side camera are installed in the frame; A limiting step is provided at one end of the frame body away from the shell body, the limiting step including a first step surface and a second step surface, the first step surface abutting against the hole wall of the lateral light-transmitting hole; the second step surface is connected to the first step surface and is arranged at an angle to the first step surface, and the second step surface abuts against the inner wall surface of the front impact plate; The lateral sensing module also includes a lateral circuit board, which is connected to the frame and covers the frame opening of the frame; the lateral laser and the lateral camera are both installed on the lateral circuit board and electrically connected to the lateral circuit board.

2. The sweeping robot according to claim 1, wherein: The inner wall surface of the front impact plate is provided with a connecting column, and the side wall surface of the frame is provided with a connecting ear. The connecting ear abuts against one end of the connecting column away from the front impact plate and is detachably connected to the connecting column.

3. The sweeping robot according to claim 2, wherein: A positioning groove is provided on the wall surface of the connecting ear facing the connecting column. An end of the connecting column away from the front impact plate is inserted into the positioning groove and abuts against the groove wall of the positioning groove.

4. The sweeping robot according to claim 1, wherein: The frame body is provided with at least two clamping blocks at its frame opening, wherein two of the clamping blocks are arranged opposite to each other and clamped on two opposite side walls of the lateral circuit.

5. The sweeping robot according to any one of claims 1 to 4, characterized in that: The forward sensing module is located on the front side of the housing. The line connecting the center of the forward sensing module and the center of the housing is defined as straight line L1. The line connecting the center of the side sensing module and the center of the housing is defined as straight line L2. The angle between straight line L1 and straight line L2 is greater than or equal to 45° and less than or equal to 90°.

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