Floor cleaning robot

Abstract

The present invention discloses a floor cleaning robot, which includes a housing and a laser module. It is defined that the housing has a front side and a rear side which are oppositely arranged; the laser module includes a laser and a camera, and the laser and the camera are arranged on the front side wall of the housing. The technical solution of the present invention can improve the obstacle avoidance effect of the floor cleaning robot, make the floor cleaning robot more intelligent and work more efficiently.

Description

Technical Field

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

[0002] At present, the floor-sweeping robots in the related art usually set infrared sensors on the housing to detect obstacles in the working environment when the floor-sweeping robot is working, reducing the possibility of damage to the floor-sweeping robot and household items caused by the collision between the floor-sweeping robot and obstacles. However, the detection distance of the infrared sensor is short, it is easily affected by the environment, and the detection accuracy is relatively low, resulting in the reduction of the obstacle avoidance ability of the floor-sweeping robot. Summary of the Invention

[0003] The main object of the present invention is to provide a floor-sweeping robot, aiming to improve the obstacle avoidance effect of the floor-sweeping robot.

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

[0005] A housing, defining that the housing has a front side and a rear side which are oppositely arranged; and

[0006] A laser module, the laser module includes a laser and a camera, and the laser and the camera are arranged on the front side wall of the housing.

[0007] In an embodiment of the present invention, the housing includes:

[0008] A housing body, the housing body has a front side and a rear side which are oppositely arranged, and the laser and the camera are arranged on the front side wall of the housing body; and

[0009] A front bumper, the front bumper is arranged on the front side wall of the housing body and can move relative to the housing direction, the front bumper covers the laser and the camera, and light-transmitting holes are arranged at positions corresponding to the laser and the camera.

[0010] In an embodiment of the present invention, the housing body includes:

[0011] A bottom shell; and

[0012] A face cover, the face cover is detachably covered on the bottom shell and cooperates with the bottom shell to clamp and fix the laser and the camera, and the front bumper is connected to the bottom shell and / or the face cover.

[0013] In an embodiment of the present invention, the laser module further includes a mounting bracket, the laser and the camera are mounted on the mounting bracket, and the mounting bracket is clamped and fixed between the bottom shell and the face cover.

[0014] In an embodiment of the present invention, a connecting ear is provided on a side surface of the mounting bracket, and the connecting ear is provided with a mounting hole;

[0015] The bottom case is provided with a connecting hole, and the connecting hole and the mounting hole are arranged opposite to each other;

[0016] The floor cleaning robot further includes a fastener, the fastener passes through the mounting hole and is inserted into the connecting hole, so that the mounting bracket and the bottom case are detachably connected.

[0017] In an embodiment of the present invention, a positioning groove is provided on a wall surface of the bottom case facing the mounting bracket, and at least a part of the mounting bracket is inserted into the positioning groove.

[0018] In an embodiment of the present invention, a clamping groove is provided on a wall surface of the mounting bracket facing the face cover, and a clamping block is provided at a position of the face cover corresponding to the clamping groove, and the clamping block is clamped into the clamping groove, so that the mounting bracket and the face cover are detachably connected.

[0019] In an embodiment of the present invention, an abutting block is further provided on a wall surface of the mounting bracket facing the face cover, and the abutting block abuts against an inner wall surface of the face cover.

[0020] In an embodiment of the present invention, a rib is further provided on a wall surface of the mounting bracket facing the face cover, and the rib extends in the left - right direction;

[0021] A positioning block is provided on an inner wall surface of the face cover, and the positioning block abuts against a wall surface of the rib facing the center of the machine case.

[0022] In an embodiment of the present invention, it is defined that the machine case has an upper end and a lower end arranged opposite to each other, and the light - emitting angles of the laser and the camera are inclined downward; and / or, the laser and the camera are distributed up and down, and the center lines of the laser, the camera, and the machine case are located in the same vertical plane.

[0023] When the technical solution of the laser module of the present invention is applied to a sweeping robot, the laser of the laser module can emit 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, information such as the contour, height, and width of the obstacle is calculated, so that the sweeping robot realizes obstacle detection of the working environment through the laser module, so as to perform corresponding obstacle avoidance actions when the sweeping robot is working. Moreover, since the laser module in this solution detects obstacles in the working environment of the sweeping robot through the laser, and the laser has the advantages of high detection accuracy, long measurement distance, wide coverage range, and strong anti-environmental interference ability, compared with the infrared sensors used in existing sweeping robots with shorter detection distances, vulnerable to environmental interference, and 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 more intelligent and working more efficiently.

[0024] In addition, the laser module in this solution is also installed on the front side wall of the sweeping robot, reducing the possibility that other components of the sweeping robot block the light-emitting angle of the laser module, that is, reducing the possibility of creating a viewing blind area. In this way, the laser module has a better detection angle for the front working area adjacent to the sweeping robot, thereby improving the obstacle avoidance detection effect of the laser module. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

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

[0027] Figure 2 is Figure 1 the exploded structure diagram of the sweeping robot in;

[0028] Figure 3 is Figure 1 a partial cross-sectional view of the sweeping robot in;

[0029] Figure 4 is Figure 3 a partial enlarged view of part A in;

[0030] Figure 5 is Figure 1Explosion structure schematic diagram of the bottom shell and laser module of the floor sweeping robot;

[0031] Figure 6 For Figure 5 Partial enlarged schematic diagram at position B in;

[0032] Figure 7 For Figure 1 Assembly structure schematic diagram of the face cover and laser module of the floor sweeping robot in;

[0033] Figure 8 For Figure 7 Partial enlarged schematic diagram at position C in;

[0034] Figure 9 For Figure 1 Schematic diagram of one perspective of the explosion structure of the laser module of the floor sweeping robot in;

[0035] Figure 10 Figure 1 Another perspective schematic diagram of the explosion structure of the laser module of the floor sweeping robot in.

[0036] Explanation of the reference numerals in the drawings:

[0037]

[0038]

[0039] The realization, functional features and advantages of the purpose of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0042] In the present invention, unless otherwise clearly specified and defined, terms such as "connection" and "fixation" shall be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In addition, in the present invention, the descriptions involving "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] The present invention provides a floor cleaning robot.

[0045] Please refer to Figure 1 、 Figure 2 and Figure 9 In an embodiment of the present invention, the floor cleaning robot includes a housing 10 and a laser module 30; wherein, it is defined that the housing 10 has a front side and a rear side which are oppositely arranged; the laser module 30 includes a laser 31 and a camera 33, and the laser 31 and the camera 33 are arranged on the front side wall of the housing 10.

[0046] In an embodiment of the present invention, the housing 10 is mainly used to install the laser module 30 and other components of the sweeping robot, so that each component of the sweeping robot can form an integral whole for easy transportation and management. Among them, the projection shape of the housing 10 on the horizontal plane can be generally circular, and its peripheral surface is an arc surface, which has a guiding effect and can improve the smoothness of the sweeping robot when turning. At the same time, the volume of the housing 10 can be 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, etc. In addition, the front side of the housing 10 is the side where the housing 10 faces the forward direction of the sweeping robot, and the rear side is the side where the housing 10 deviates from the forward direction of the sweeping robot. The laser 31 of the laser module 30 is mainly used to emit a laser line to the working environment where the sweeping robot is located, so as to form a laser cloud point in the working environment. The camera 33 can mainly obtain the environmental image, calculate the laser point cloud information of the working environment, and calculate information such as the contour, height, and width of the obstacle based on the laser point cloud information, so as to realize the detection of the obstacle, so that the subsequent sweeping robot controller can operate in a direction to avoid the obstacles in the working environment. For example, the angle between the line laser emitted by the laser 31 and the vertical plane is known, and the distance between the laser 31 and the working surface where the sweeping robot is located is also known, so the distance between the sweeping robot and the obstacle can be calculated using trigonometric functions. In this way, through the cooperation of the laser 31 and the camera 33, it can be detected whether there are objects in the working environment where the sweeping robot is located that will cause obstacles to it.

[0047] When the laser module 30 of the technical solution of the present invention is applied to a sweeping robot, the laser 31 of the laser module 30 can emit line laser to the working environment of the sweeping robot. Then, the camera 33 of the laser module 30 can obtain an environmental image and calculate the laser point cloud information of the working environment. Based on the laser point cloud information, information such as the contour, height, and width of the obstacle is calculated, so that the sweeping robot realizes obstacle detection of the working environment through the laser module 30, so as to perform corresponding obstacle avoidance actions when the sweeping robot is working. Moreover, since the laser module 30 in this solution performs obstacle detection on the working environment of the sweeping robot through the laser 31, and the laser 31 has the advantages of high detection accuracy, long measurement distance, wide coverage range, and strong anti-environmental interference ability, compared with the infrared sensors used in sweeping robots in the prior art, which have a short detection distance, are easily affected by the environment, and have relatively low detection accuracy, the laser module 30 in this application can have a good detection effect on obstacles, thereby improving the obstacle avoidance effect of the sweeping robot, making the sweeping robot more intelligent and working more efficiently. Moreover, the laser module 30 in this solution only includes one laser 31 and one camera 33, so that the number of sensors to be set is relatively small, simplifying the obstacle avoidance structure of the sweeping robot 100, thereby reducing the manufacturing cost of the sweeping robot 100.

[0048] In addition, the laser module 30 in this solution is also installed on the front side wall of the sweeping robot, reducing the possibility that other components of the sweeping robot block the light-emitting angle of the laser module 30, that is, reducing the possibility of causing a viewing blind area. In this way, the laser module 30 has a good detection angle for the front working area adjacent to the sweeping robot, thereby improving the obstacle avoidance detection effect of the laser module 30.

[0049] Please refer to Figure 1 and Figure 2 , in an embodiment of the present invention, the housing 10 includes a housing body 11 and a front bumper 13. The housing body 11 has a front side and a rear side that are oppositely arranged. The laser 31 and the camera 33 are arranged on the front side wall of the housing body 11; the front bumper 13 is arranged on the front side wall of the housing body 11 and can move relative to the housing 10 in a direction. The front bumper 13 covers the laser 31 and the camera 33, and light-transmitting holes 13a are provided at positions corresponding to the laser 31 and the camera 33.

[0050] It can be understood that the housing 10 is composed of a housing body 11 and a front bumper 13. When the sweeping robot comes into contact with an obstacle, the front bumper 13 can collide with the obstacle to reduce the damage to the housing body 11 and other components. Specifically, the front bumper 13 can be connected to the housing body 11 through an elastic member. A proximity sensor can also be provided on the housing body 11 at a position corresponding to the front bumper 13. When the front bumper 13 comes into contact with an obstacle, it is driven to approach the proximity sensor, so that the proximity sensor is triggered to work and senses that the front bumper 13 has come into contact with an obstacle, so that the sweeping robot can adjust its running direction and continue to work normally subsequently. Of course, this application is not limited thereto. In other embodiments, the front bumper 13 can also be directly connected to the housing 10 only through an elastic member, such as an elastic steel sheet or a spring, etc. The laser 31 and the camera 33 are arranged on the housing body 11. Since the housing body 11 is relatively stable and does not shake during the operation of the sweeping robot, the laser 31 and the camera 33 installed on the housing body 11 are also installed relatively stably, and can stably detect obstacles in the working area adjacent to the front side of the sweeping robot, ensuring the accuracy of the detection effect and further reducing the possibility of the sweeping robot colliding with an obstacle. The front bumper 13 covers the laser 31 and the camera 33, so that the front bumper 13 can play a certain protective role for the laser 31 and the camera 33, reducing the possibility of their being damaged by external objects, and thus being conducive to extending the service life of the laser 31 and the camera 33.

[0051] Please refer to Figure 2 , Figure 3 and Figure 4 . In an embodiment of the present invention, the housing body 11 includes a bottom case 111 and a face cover 113. The face cover 113 is detachably covered on the bottom case 111 and cooperates with the bottom case 111 to clamp and fix the laser 31 and the camera 33. The front bumper 13 is connected to the bottom case 111 and / or the face cover 113.

[0052] It can be understood that the shell body 11 is composed of a bottom shell 111 and a face cover 113, and an accommodation cavity for accommodating some components of the floor sweeping robot can be formed by enclosing the two. At this time, the two can be separately and independently manufactured, and then assembled into a whole after each is completed. When the two are separately and independently manufactured, their respective structures are relatively simple, which can reduce the processing complexity and improve the convenience of manufacturing and forming the shell body 11. The face cover 113 is detachably covered on the bottom shell 111, so that when the components located in the shell body 11 are damaged, the face cover 113 and the bottom shell 111 can be disassembled to facilitate the repair and replacement of the damaged components. Among them, the face cover 113 can be connected to the bottom shell 111 by screws, so as to ensure the connection stability between the face cover 113 and the bottom shell 111 and simplify the disassembly and assembly process of the face cover 113 and the bottom shell 111. The bottom shell 111 can include a shell bottom wall and a shell side wall disposed around the upper surface of the shell bottom wall. The face cover 113 can also include a cover top wall and a cover side wall disposed around the cover top wall. The cover side wall is detachably connected to the shell side wall. At this time, the laser 31 and the camera 33 can be clamped and fixed between the cover side wall and the shell side wall, or can be clamped and fixed between the cover top wall and the shell top wall. Of course, the face cover 113 can also only include a cover top wall, and the cover top wall is detachably connected to the shell bottom wall or the shell side wall. The present application does not limit the specific structures of the bottom shell 111 and the face cover 113, as long as they can cooperate with each other to form an accommodation cavity and can cooperate to clamp and fix the laser 31 and the camera 33. At this time, the front bumper 13 can be movably connected to the bottom shell 111, or can be movably connected to the face cover 113, or can be movably connected to both the bottom shell 111 and the face cover 113, as long as the front bumper 13 can be movably located on the front side wall of the shell body 11. The laser 31 and the camera 33 are clamped and fixed by the cooperation of the bottom shell 111 and the face cover 113, so that the contact area between the laser 31 and the camera 33 and the shell body 11 can be increased, thereby improving the limiting effect of the shell body 11 on the laser 31 and the camera 33, and further improving the installation stability of the laser 31 and the camera 33, so that the laser 31 and the camera 33 can normally and stably perform obstacle detection.

[0053] In an embodiment of the present invention, the laser module 30 further includes a mounting bracket 35. The laser 31 and the camera 33 are mounted on the mounting bracket 35, and the mounting bracket 35 is clamped and fixed between the bottom shell 111 and the face cover 113.

[0054] It can be understood that the installation bracket 35 can be used to install and support the laser 31 and the camera 33. The structure of the installation bracket is relatively simple and its volume is relatively small. At this time, it is convenient to install the laser 31 and the camera 33 on the installation bracket 35. Then, the laser 31, the camera 33 and the installation bracket 35 are integrally installed between the bottom case 111 and the face cover 113 at one time, thereby improving the convenience of installing the laser 31 and the camera 33. At the same time, by installing the laser 31 and the camera 33 on the installation bracket 35 and then clamping and fixing the installation bracket 35 by the bottom case 111 and the face cover 113, the convenience of clamping the laser module 30 by the bottom case 111 and the face cover 113 can also be improved.

[0055] Please refer to Figure 9 and Figure 10 In an embodiment of the present invention, a receiving groove 35a is recessed on one surface of the installation bracket 35; both the laser 31 and the camera 33 are embedded in the receiving groove 35a, and a light-transmitting portion 351 is formed on the bottom wall of the receiving groove 35a, and the light-transmitting portion 351 covers the laser 31 and the camera 33.

[0056] It can be understood that the receiving groove 35a has a receiving function for the laser 31 and the camera 33, and can make the laser 31 and the camera 33 more compactly installed on the installation bracket 35. In this way, the overall volume of the laser module 30 can be reduced, so that the space occupied by the laser module 30 on the housing 10 of the sweeping robot can be reduced, thereby facilitating the installation of the laser module 30. At the same time, the side walls of the receiving groove 35a can also play a certain role in protecting the laser 31 and the camera 33, thereby reducing the possibility of damage to the laser 31 and the camera 33 by external objects. Among them, the light-transmitting portion 351 can be formed by embedding a light-transmitting lens 353 in the installation bracket 35. In this way, the light-transmitting lens 353 can transmit light and can also play a certain role in protecting the laser 31 and the camera 33 located in the receiving groove 35a. Among them, the light-transmitting lens 353 can be detachably connected to the installation bracket 35, specifically, it can be connected by a buckle or fixed by magnetic attraction, so that it can be disassembled for repair and replacement when it is damaged. At this time, a sealing member 354 is provided on the wall surface of the installation bracket 35 facing the light-transmitting lens 353. The sealing member 354 is annular and is arranged around the laser 31 and the camera 33 to achieve the functions of sealing dust and preventing water vapor, thereby further improving the protection effect on the laser 33 and the camera 33. Of course, the light-transmitting portion 351 can also be formed by a through hole communicating the receiving groove 35a and the outside. Further, in order to facilitate the control of the operation of the laser 31 and the camera 33, the laser module 30 further includes a circuit board 36. The circuit board 36 is arranged in the receiving groove 35a and is electrically connected to the laser 31 and the camera 33 to independently control the laser 31 and the camera 33 to perform obstacle detection work through the circuit board 36.

[0057] In an embodiment of the present invention, the laser module 30 further includes a bracket 37, and the bracket 37 is embedded in the accommodation groove 35a; the laser 31, the camera 33, and the circuit board 36 are all mounted on the bracket 37.

[0058] It can be understood that by mounting and bearing the laser 31, the camera 33, and the circuit board 36 through the bracket 37, the above components can be mounted in the accommodation groove 35a at one time, thereby improving the convenience of installation. In addition, the laser 31 and the camera 33 can be detachably mounted on the bracket 37, so that the laser 31 and the camera 33 can be detached when damaged for easy repair and replacement. Specifically, the laser 31 and the camera 33 can be fixed by snap connection. At this time, two snap grooves 371 can be formed on the bracket 37, and the laser 31 and the camera 33 are respectively accommodated in the two snap grooves 371 and are snap-limited and fixed. In this way, the laser 31 and the camera 33 are snap-fixed through the snap grooves 371, so that there is no need to provide too many connection structures on the laser 31 and the camera 33 for limiting and fixing. Thus, the installation and fixation of the laser 31 and the camera 33 can be realized, and the safety of the structures of the laser 31 and the camera 33 themselves is ensured. Of course, the laser 31 and the camera 33 can also be magnetically fixed to the bracket 37. And the circuit board 36 can also be detachably mounted on the bracket 37, so that the circuit board 36 can be detached when damaged for easy repair and replacement. Specifically, the circuit board 36 can be connected to the bracket 37 by screws, so that both the installation effect of the circuit board 36 can be ensured and the installation process of the circuit board 36 can be simplified. Of course, the circuit board 36 can also be fixed to the bracket 37 by snap connection or magnetic attraction. In addition, it should be noted that this application is not limited to this. In other embodiments, it is also possible that the laser 31, the camera 33, and the circuit board 36 are fixedly connected to the bracket 37 in a non-detachable manner. In order to facilitate the repair and replacement of the bracket 37, the bracket 37 can also be detachably connected to the mounting frame 35, for example: it can be connected to the mounting frame 35 by screws, snap connection, or magnetic attraction.

[0059] In an embodiment of the present invention, the laser module 30 further includes a cover plate 38, and the cover plate 38 is connected to the mounting frame 35 and covers the notch of the accommodation groove 35a.

[0060] It can be understood that by covering the opening of the accommodating groove 35a with the cover plate 38, the space enclosed by the cover plate 38 and the mounting frame 35 can be made relatively sealed, reducing the possibility of external moisture, dust or other sundries entering the accommodating groove 35a and affecting the laser 31, the camera 33 or the circuit board 36 located in the accommodating groove 35a, thereby improving the safety of the laser module 30 during use. Among them, the connection between the cover plate 38 and the mounting frame 35 can be a detachable connection, so that when the components located in the accommodating groove 35a are damaged, the cover plate 38 can be detached. Specifically, the cover plate 38 can be connected to the mounting frame 35 by screws, snap connections or magnetic attraction.

[0061] In an embodiment of the present invention, the laser module 30 further includes a buffer member 39. The buffer member 39 is located on the surface of the cover plate 38 facing the bottom wall of the accommodating groove 35a and is clamped and fixed by the cooperation of the cover plate 38 and the mounting frame 35.

[0062] It can be understood that the buffer member 39 has an isolation effect between the cover plate 38 and the laser 31, the camera 33 and the circuit board 36, so that the cover plate 38 and the laser 31, the camera 33 and the circuit board 36 are in flexible contact. In this way, the possibility of the cover plate 38 causing pressure damage to the surfaces of the laser 31, the camera 33 and the circuit board 36 can be reduced, thereby improving the safety of the laser 31, the camera 33 and the circuit board 36 during installation. Among them, the first buffer member 39 can be a foam, a rubber member or a silicone member, etc.

[0063] In an embodiment of the present invention, the side surface of the mounting frame 35 is provided with a connecting ear 355, and the connecting ear 355 is provided with a mounting hole 355a; the bottom shell 111 is provided with a connecting hole 111a, and the connecting hole 111a and the mounting hole 355a are arranged oppositely; the floor sweeping robot further includes a fastener. The fastener passes through the mounting hole 355a and is inserted into the connecting hole 111a to detachably connect the mounting frame 35 and the bottom shell 111.

[0064] It can be understood that the provision of the connecting ear 355 provides a setting position for the mounting hole 355a, facilitating the formation of the mounting hole 355a. At the same time, the provision of the mounting hole 355a on the connecting ear 355 also has a relatively small impact on the overall strength of the mounting bracket 35, thus ensuring the overall strength of the mounting bracket 35. The mounting bracket 35 is detachably connected to the bottom case 111 through fasteners, enabling the mounting bracket 35 to have a connection relationship with the bottom case 111 on the basis of clamping and fixing, thereby further improving the stability of the installation of the mounting bracket 35. Among them, the fastener can be a screw, and in this case, the connection hole 111a can be a threaded hole. Since screw connection has the advantages of simplicity and reliability, it can not only ensure the stability of the installation of the mounting bracket 35 but also simplify the disassembly and assembly process of the mounting bracket 35. Of course, the present application is not limited to this. The fastener can also be a clamping post, and in this case, the connection hole 111a is a clamping hole; or the mounting bracket 35 and the bottom case 111 are magnetically fixed.

[0065] Please refer to Figure 5 and Figure 6 , in an embodiment of the present invention, the wall surface of the bottom case 111 facing the mounting bracket 35 is provided with a positioning groove 111c, and at least a part of the mounting bracket 35 is inserted into the positioning groove 111c.

[0066] It can be understood that the provision of the positioning groove 111c has a positioning effect on the installation of the mounting bracket 35 on the bottom case 111, so that the mounting bracket 35 can be accurately placed at the preset installation position for installation, thereby facilitating the alignment of the connecting ear 355 and the mounting hole 355a. Among them, the positioning groove 111c can be provided on the bottom wall of the bottom case 111 and penetrate the front surface to improve the convenience of manufacturing and forming the limiting groove.

[0067] Please refer to Figure 7 , Figure 8 and Figure 9 , in an embodiment of the present invention, the wall surface of the mounting bracket 35 facing the face cover 113 is provided with a card slot 35c, and a card block 1131 is provided at the position of the face cover 113 corresponding to the card slot 35c. The card block 1131 is snapped into the card slot 35c, making the mounting bracket 35 and the face cover 113 detachably connected.

[0068] It can be understood that the mounting bracket 35 is connected to the face cover 113 through the cooperation of the clamping block 1131 and the clamping groove 35c, so that on the basis of clamping and fixing, the mounting bracket 35 further has a connection relationship with the face cover 113, thereby further improving the installation stability of the mounting bracket 35. Of course, the mounting bracket 35 can also have a connection relationship with both the bottom shell 111 and the face cover 113 at the same time to greatly improve the installation stability of the mounting bracket 35. The cooperation of the clamping block 1131 and the clamping groove 35c can simplify the connection structure between the mounting bracket 35 and the face cover 113, that is, the clamping block 1131 can be elastically clamped into the clamping groove 35c or disengaged from the clamping groove 35c to complete the connection and unlocking of the two.

[0069] In an embodiment of the present invention, the wall surface of the mounting bracket 35 facing the face cover 113 is further provided with an abutting block 357, and the abutting block 357 abuts against the inner wall surface of the face cover 113.

[0070] It can be understood that by the abutting block 357 abutting against the inner wall surface of the face cover 113, the installation of the face cover 113 and the mounting bracket 35 can be pre-positioned for accurate installation. Among them, at least two convex portions can be provided on the upper surface of the face cover 113 of the abutting block 357, and at least two all abut against the inner side surface of the face cover 113, specifically abut against the inner surface of the cover side wall of the face cover 113.

[0071] In an embodiment of the present invention, the wall surface of the mounting bracket 35 facing the face cover 113 is further provided with a convex strip 359, and the convex strip 359 extends in the left-right direction; a positioning block 1133 is provided on the inner wall surface of the face cover 113, and the positioning block 1133 abuts against the wall surface of the convex strip 359 facing the center of the housing 10.

[0072] It can be understood that through the abutting action of the positioning block 1133 and the convex strip 359, the installation of the face cover 113 and the mounting bracket 35 can be further pre-positioned to further facilitate the accurate installation of the two. At the same time, the mounting bracket 35 abuts against the inner wall surface of the face cover 113 through the abutting block 357, which has a limiting effect on the movement of the mounting bracket 35 in the front side direction; through the abutting of the convex strip 359 and the positioning block 1133, the movement of the mounting bracket 35 in the rear side direction has a limiting effect, so as to limit the mounting bracket 35 in the front-rear direction and reduce the possibility of the mounting bracket 35 moving in the front-rear direction, thereby further improving the installation stability of the mounting bracket 35. Among them, at least two positioning blocks 1133 can also be provided, and at least two positioning blocks 1133 all abut against the wall surface of the convex strip 359 facing the center of the housing 10. Further, in order to improve the strength of the abutting block 357 and the convex strip 359, the abutting block 357 and the convex strip 359 can be connected and further integrated with the mounting bracket 35.

[0073] Please refer to Figure 9 andFigure 10 , in an embodiment of the present invention, it is defined that the housing 10 has an upper end and a lower end which are oppositely arranged, and the light-emitting angles of the laser 31 and the camera 33 are inclined downward.

[0074] It can be understood that the light-emitting angles of the laser 31 and the camera 33 are inclined downward, so that the viewing angles captured by the laser 31 and the camera 33 can be relatively close to the housing 10, and the sweeping robot works step by step. In this way, when the laser module 30 of the sweeping robot starts to work, it can obtain a viewing angle relatively close to the housing 10, reducing the blind area generated by the laser module 30 on the working surface of the sweeping robot, thereby improving the accuracy of the detection result of the laser module 30 in the working environment where the sweeping robot is located. Among them, the light-emitting angles of the laser 31 and the camera 33 are any value from 0° to 90° with respect to the horizontal plane. For example, specifically, it can be: 10°, 20°, 30°, 40°, 50°, 60°, 70°, 80°, etc. The present application does not limit the specific values of the light-emitting angles of the laser 31 and the camera 33, and they can be adaptively set according to the installation height of the laser 31 and the camera 33 on the housing 10, as long as the laser 31 and the camera 33 can form a relatively small blind area in the area close to the sweeping robot on the working surface of the sweeping robot. Among them, when the light-emitting viewing angles of the laser 31 and the camera 33 are inclined downward, it can be that the laser 31 and the camera 33 are installed inclined downward, and the bracket 37 is installed vertically in the up and down direction; of course, it can also be that the bracket 37 is installed inclined downward, and the laser 31 and the camera 33 are perpendicularly installed on the bracket 37, that is, to ensure that the final light-emitting viewing angles of the laser 31 and the camera 33 are inclined downward.

[0075] Please refer to Figure 2 , Figure 9 and Figure 10 , in an embodiment of the present invention, the laser 31 and the camera 33 are distributed up and down, and the center line of the laser 31, the center line of the camera 33, and the center line of the housing 10 are located in the same vertical plane.

[0076] It can be understood that the vertical distribution of the laser 31 and the camera 33 along the mounting bracket 35 can facilitate the intersection of the viewing angles of the two on the working surface of the sweeping robot, so that the laser module 30 can detect obstacles on the front working surface of the sweeping robot. Among them, the projection of the line laser emitted by the laser 31 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 machine shell 10. In this way, the laser 31 can detect spacing information such as the door spacing or the spacing between the two table legs of a table, so as to detect whether the sweeping robot can pass through the door or between the two table legs of the table, reducing the possibility of the sweeping robot being stuck. In addition, the laser 31 can be arranged above the camera 33, so that the line laser emitted by the laser 31 is within the viewing angle obtained by the camera 33. Of course, in other embodiments, the laser 31 can also be arranged below the camera 33. Further, the center line of the laser 31, the center line of the camera 33, and the center line of the machine shell 10 are located in the same vertical plane, which can enable the laser module 30 to uniformly detect the front working surface of the sweeping robot on the left and right sides, ensuring the accuracy of detecting spacing information such as the door spacing or the spacing between the two table legs of a table.

[0077] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A floor cleaning robot, characterized in that, Comprising: A housing, defining that the housing has a front side and a rear side which are oppositely arranged; And A laser module, the laser module includes a laser and a camera, and the laser and the camera are arranged on the front side wall of the housing; The housing includes a housing body and a front bumper. The housing body has a front side and a rear side which are oppositely arranged. The laser and the camera are arranged on the front side wall of the housing body. The front bumper is arranged on the front side wall of the housing body and can move relative to the direction of the housing. The front bumper covers the laser and the camera, and light-transmitting holes are provided at positions corresponding to the laser and the camera; The housing body includes a bottom shell and a face cover. The face cover is detachably covered on the bottom shell and cooperates with the bottom shell to clamp and fix the laser and the camera. The front bumper is connected to the bottom shell and / or the face cover; The laser module further includes a mounting bracket. The laser and the camera are mounted on the mounting bracket, and the mounting bracket is clamped and fixed between the bottom shell and the face cover; A positioning groove is provided on the wall surface of the bottom shell facing the mounting bracket. The positioning groove penetrates through the upper side and the front side of the bottom shell, and at least part of the mounting bracket is inserted into the positioning groove; A contact block is further provided on the wall surface of the mounting bracket facing the face cover, and the contact block abuts against the inner side wall surface of the face cover.

2. The floor cleaning robot according to claim 1, characterized in that A connecting ear is provided on the side surface of the mounting bracket, and the connecting ear is provided with a mounting hole; The bottom shell is provided with a connecting hole, and the connecting hole and the mounting hole are oppositely arranged; The floor cleaning robot further includes a fastener. The fastener passes through the mounting hole and is inserted into the connecting hole, so that the mounting bracket and the bottom shell are detachably connected.

3. The floor cleaning robot according to claim 1, characterized in that, A clamping groove is provided on the wall surface of the mounting bracket facing the face cover, and a clamping block is provided at the position of the face cover corresponding to the clamping groove. The clamping block is clamped into the clamping groove, so that the mounting bracket and the face cover are detachably connected.

4. The floor cleaning robot according to claim 3, wherein, A rib is further provided on the wall surface of the mounting bracket facing the face cover, and the rib extends along the left-right direction; A positioning block is provided on the inner side wall surface of the face cover, and the positioning block abuts against the wall surface of the rib facing the center of the housing.

5. The floor cleaning robot according to claim 1, wherein, Defining that the housing has an upper end and a lower end which are oppositely arranged, and the light-emitting angles of the laser and the camera are inclined downward; and / or, the laser and the camera are distributed vertically, and the center lines of the laser, the camera and the housing are located in the same vertical plane.

Images