Sweeping Robot

Abstract

The present invention relates to a sweeping robot. The sweeping robot comprises: a body, which is used to sweep while walking in a forward direction; a front camera, which is installed on the body and located at the front end of the body in the forward direction; a rear camera, which is installed on the body and located at the rear end of the body in the forward direction; and a radar, which is arranged on the top of the body. In this way, the front and rear ends of the body in the forward direction are respectively installed with a front camera and a rear camera, the front camera is used to detect the environment in front of the body, and the rear camera is used to detect the environment behind the body, and a radar is also arranged on the top of the body, and the radar is used to make up for the detection blind spots of the front camera and the rear camera, that is, the front camera, the rear camera and the radar cooperate with each other to realize 360° detection without blind spots, which is conducive to the sweeping robot to accurately obtain the actual situation on site and perform corresponding reaction actions, avoiding collision or being trapped.

Description

Technical Field

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

[0002] With the development of economy and the progress of society, people have higher and higher requirements for the quality of life, so some intelligent appliances that can liberate human labor have emerged. Among them, sweeping robots, as a kind of intelligent appliances, play an increasingly important role in people's daily life.

[0003] A sweeping robot generally includes a housing and a roller brush assembly, a walking assembly and a traveling assembly mounted on the housing. The roller brush assembly is used to collect dust on the ground, the traveling assembly is used to drive the sweeping robot to move, and the power supply assembly is used to provide working energy for the roller brush assembly and the traveling assembly.

[0004] Since sweeping robots need to operate automatically, and there are often various obstacles or obstructions in the cleaning environment, sweeping robots need to have the ability to detect the environment. However, traditional sweeping robots are limited by the spatial angle and have great limitations in detecting the environment, which makes it impossible for sweeping robots to accurately obtain the actual situation on site and respond accordingly during operation, and they are prone to collisions or being trapped. Summary of the invention

[0005] Based on this, it is necessary to provide a sweeping robot that improves the above defects, in view of the fact that the sweeping robots in the prior art are restricted by the spatial angle and have great limitations in detecting the environment, which results in the sweeping robots being unable to accurately obtain the actual situation on site and perform corresponding response actions during operation, and are prone to collisions or getting trapped.

[0006] A sweeping robot, comprising:

[0007] The body is used for cleaning while traveling in the forward direction;

[0008] a front camera mounted on the body and located at the front end of the body in the forward direction; a rear camera mounted on the body and located at the rear end of the body in the forward direction; and

[0009] The radar is arranged on the top of the fuselage.

[0010] In one embodiment, the radar is located between the rear camera and the front camera, and the rear camera, the radar and the front camera are located on a symmetry plane of the fuselage, and the symmetry plane is parallel to the forward direction.

[0011] In one of the embodiments, the rear camera is capable of rotating relative to the body around a rotation axis.

[0012] In one of the embodiments, the rotation axis is perpendicular to the advancing direction.

[0013] In one embodiment, the rear camera includes a camera body, a mounting bracket and a rotating shaft, the camera body is mounted on the mounting bracket, the rotating shaft is fixedly connected to the mounting bracket and is rotatably connected to the body.

[0014] In one embodiment, the body has a support ear, and the support ear is provided with a first slot. The rotating shaft can be inserted into the first slot and can rotate relative to the support ear.

[0015] In one of the embodiments, the sweeping robot further includes a rotation driving assembly, which is mounted on the body and is transmission-connected to the rear camera.

[0016] In one embodiment, the front camera is a binocular camera.

[0017] In one embodiment, the fuselage includes a casing and an anti-collision plate, and the anti-collision plate is installed at the front end of the casing in the forward direction;

[0018] The front camera is arranged between the anti-collision plate and the housing.

[0019] In one embodiment, the anti-collision plate is provided with a second shooting window corresponding to the front camera;

[0020] The second shooting window is equipped with a lens.

[0021] In one embodiment, the anti-collision plate has a plurality of positioning posts on one side facing the housing, and the plurality of positioning posts are arranged around the second shooting window;

[0022] The front camera has a mounting flange, and the mounting flange is provided with a plurality of positioning holes corresponding to the plurality of positioning posts one by one, and each positioning post is passed through the corresponding positioning hole.

[0023] In one embodiment, the housing includes an upper cover and a lower cover, the upper cover is matched with the lower cover, and the anti-collision plate is arranged at the front ends of the upper cover and the lower cover in the forward direction;

[0024] One end of the front camera is matched with the anti-collision plate, and the other end opposite thereto is accommodated in the space between the upper cover and the lower cover.

[0025] In one embodiment, the lower cover has a threaded hole, and the front camera has a through hole corresponding to the threaded hole;

[0026] The sweeping robot further comprises a thread locking member, which is passed through the through hole and is threadedly connected to the threaded hole.

[0027] In one of the embodiments, the front camera has a third clamping portion, and the lower cover has a third clamping matching portion that can be clamped with the third clamping portion.

[0028] The above-mentioned sweeping robot has a front camera and a rear camera installed at the front and rear ends of the body in the forward direction respectively. The front camera is used to detect the environment in front of the body, and the rear camera is used to detect the environment behind the body. A radar is also arranged on the top of the body. The radar is used to make up for the detection blind spots of the front camera and the rear camera, that is, the front camera, the rear camera and the radar cooperate with each other to achieve 360° detection without blind spots, which is beneficial for the sweeping robot to accurately obtain the actual situation on site during operation and make corresponding response actions to avoid collision or being trapped. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of a sweeping robot in one embodiment of the present invention;

[0030] Figure 2 for Figure 1 The front view of the sweeping robot shown;

[0031] Figure 3 for Figure 2 A top view of the sweeping robot shown;

[0032] Figure 4 for Figure 1 The schematic diagram of the exploded structure of the sweeping robot shown;

[0033] Figure 5 for Figure 1 The schematic diagram of the structure of the rear camera of the sweeping robot shown;

[0034] Figure 6 for Figure 5 The schematic diagram of the exploded structure of the rear camera of the sweeping robot shown;

[0035] Figure 7 for Figure 6 A schematic diagram of the structure of the mounting bracket and the rotating shaft of the rear camera shown;

[0036] Figure 8 for Figure 7 A schematic diagram of the structure of the mounting bracket and the rotating shaft shown in another viewing angle;

[0037] Fig. 9 for Figure 4 A schematic diagram of the structure of the upper cover of the sweeping robot shown;

[0038] Fig.10 for Fig. 9 A partial enlarged view of the upper cover at A shown;

[0039] Fig.11 for Figure 4 The schematic diagram of the structure of the front camera and anti-collision plate of the sweeping robot shown;

[0040] Fig.12 for Figure 4 A schematic diagram of the structure of the lower cover of the sweeping robot shown;

[0041] Fig.13 for Fig.12 A partial enlarged view of the B portion of the lower cover shown;

[0042] Fig.14 for Figure 4 The schematic diagram of the structure of the front camera of the sweeping robot shown;

[0043] Fig.15 for Fig.14 The structure diagram of the front camera shown in FIG. 1 is another perspective. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0045] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0046] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0047] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0049] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0050] See also Figure 1 , Figure 2 and Figure 3 , Figure 1 FIG. 1 shows a schematic structural diagram of a sweeping robot in an embodiment of the present invention. Figure 2 Shows Figure 1 The front view of the sweeping robot shown in FIG. Figure 3 Shows Figure 2 For ease of description, the accompanying drawings only show structures related to the present invention.

[0051] A sweeping robot provided by an embodiment of the present invention includes a body 10 , a front camera 20 , a rear camera 30 and a radar 40 .

[0052] The fuselage 10 is used to clean the ground while walking along the forward direction a. The front camera 20 is installed on the fuselage 10 and is located at the front end of the fuselage 10 in the forward direction a, so that the front camera 20 can be used to detect the environment in front of the fuselage 10. The rear camera 30 is installed on the fuselage 10 and is located at the rear end of the fuselage 10 in the forward direction a, so that the rear camera 30 can be used to detect the environment behind the fuselage 10. The radar 40 is set on the top of the fuselage 10, and is used to detect the environment around the fuselage 10, so as to make up for the detection blind spots of the front camera 20 and the rear camera 30, and realize 360° non-viewing angle detection.

[0053] In the above-mentioned sweeping robot, a front camera 20 and a rear camera 30 are respectively installed at the front and rear ends of the body 10 in the forward direction a. The front camera 20 is used to detect the environment in front of the body 10, and the rear camera 30 is used to detect the environment behind the body 10. A radar 40 is also arranged on the top of the body 10. The radar 40 is used to make up for the detection blind spots of the front camera 20 and the rear camera 30, that is, the front camera 20, the rear camera 30 and the radar 40 cooperate with each other to achieve 360° detection without blind spots, which is beneficial for the sweeping robot to accurately obtain the actual situation on site during operation and perform corresponding response actions to avoid collisions or being trapped.

[0054] In the embodiment of the present invention, the radar 40 is located between the rear camera 30 and the front camera 20, and the rear camera 30, the radar 40 and the front camera 20 are located on a symmetry plane b of the fuselage 10, and the symmetry plane b is parallel to the above-mentioned forward direction a. In this way, the rear camera 30, the radar 40 and the front camera 20 are arranged on the symmetry plane b of the fuselage 10, and the detection ranges of the rear camera 30, the front camera 20 and the radar 40 can be set to be symmetrical relative to the symmetry plane b, which is conducive to achieving 360° detection without blind spots.

[0055] In an embodiment of the present invention, the rear camera 30 can rotate around a rotation axis relative to the body 10, so as to further increase the spatial detection angle of the rear camera 30 and expand the detection range. Preferably, the rotation axis is perpendicular to the aforementioned forward direction a. In other words, the rotation axis is perpendicular to the aforementioned symmetry plane b. In this way, the rear camera 30 can rotate up and down in a vertical plane (that is, the rotation axis is parallel to the horizontal plane), so that lower or higher obstacles can be identified, which is beneficial for the sweeping robot to accurately obtain the actual situation on site during operation and perform appropriate response actions to avoid collisions or being trapped. Specifically, Figure 1 In the illustrated embodiment, the rotation axis is parallel to the left-right direction.

[0056] Optionally, the rotation angle range of the rear camera 30 around the rotation axis can be -60° to +60°. Of course, the rotation angle range of the rear camera 30 around the rotation axis can also be -45° to +45° or -30° to +30°, etc., which is not limited here.

[0057] See also Figures 5 to 8 As shown, in the embodiment of the present invention, the rear camera 30 includes a camera body 33, a mounting bracket 31 and a rotating shaft 34. The camera body 33 is mounted on the mounting bracket 31, and the rotating shaft 34 is fixedly connected to the mounting bracket 31 and rotatably connected to the fuselage 10. In this way, the rotating shaft 34 is rotated relative to the fuselage 10, thereby driving the mounting bracket 31 and the camera body 33 to rotate relative to the fuselage 10, that is, the rear camera 30 is rotated around the rotation axis. It can be understood that the axis of the rotating shaft 34 is the above-mentioned rotation axis.

[0058] Optionally, the shaft 34 and the mounting bracket 31 may be integrally formed, thereby ensuring the overall structural strength, preventing the mounting bracket 31 from causing the camera body 33 to shake during shooting, and improving the accuracy of the camera body 33 in identifying obstacles. Of course, in other embodiments, the shaft 34 and the mounting bracket 31 may also be separately formed.

[0059] See also Fig. 9 and Fig.10 As shown, in the embodiment, the body 10 has a lug 1113, and the lug 1113 is provided with a first slot 1114, and the rotating shaft 34 can be inserted into the first slot 1114 and can rotate relative to the lug 1113. In this way, the rotating shaft 34 can be directly pressed into the first slot 1114 during assembly, so that the rotating shaft 34 can rotate in the first slot 1114. More specifically, the opening width of the first slot 1114 is slightly smaller than the diameter of the rotating shaft 34, which ensures that the rotating shaft 34 can be pressed into the first slot 1114 through the opening of the first slot 1114, and prevents the rotating shaft 34 from escaping from the opening of the first slot 1114. The inner wall of the first slot 1114 matches the circumferential side wall of the rotating shaft 34, so that the rotating shaft 34 can rotate in the first slot 1114.

[0060] Furthermore, the ear 1113 may include two or more ears 1113, which are arranged at intervals along the axis of the shaft 34, so that the shaft 34 can be pressed into the first slot 1114 of each ear 1113 at the same time, making the connection of the shaft 34 more stable and reliable, which is beneficial to preventing the shaft 34 from driving the mounting bracket 31 and the camera body 33 to shake, and is beneficial to improving the accuracy of the camera body 33 in identifying obstacles.

[0061] Please continue to see Figures 5 to 8 As shown, specifically in the embodiment, the rear camera 30 also includes a camera cover 32, and the mounting bracket 31 has a recess 313 for accommodating the camera body 33. The camera cover 32 is covered in the recess 313, and the camera body 33 is limited in the recess 313. The camera cover 32 is provided with a through hole 321 corresponding to the camera body 33, so that the camera body 33 can shoot through the through hole 321 on the camera cover 32. In this way, the camera body 33 is limited in the recess 313 by using the camera cover 32, so that the camera body 33 and the mounting bracket 31 are assembled, the assembly is convenient and fast, the connection is stable and reliable, the camera body 33 is prevented from shaking, and it is conducive to improving the accuracy of the camera body 33 in identifying obstacles. Optionally, the recess 313 can be a groove. The shape of the groove matches the shape of the camera body 33, so that the camera body 33 can be installed in the groove.

[0062] Specifically in the embodiment, the mounting bracket 31 further has a first snap-fitting portion 311, and the camera cover 32 has a first snap-fitting portion 322 that can be snap-fitted with the first snap-fitting portion 311. In this way, the first snap-fitting portion 322 is snap-fitted with the first snap-fitting portion 311 of the mounting bracket 31 to achieve connection, thereby pressing the camera body 33 into the recess 313.

[0063] Furthermore, the first snap-fitting portion 311 includes a snap-fitting hole, and the first snap-fitting portion 322 includes an undercut that can snap-fit ​​into the snap-fitting hole. Thus, during assembly, the undercut is inserted into the snap-fitting hole and snap-fitted into the snap-fitting hole, thereby achieving connection between the camera cover 32 and the mounting bracket 31.

[0064] Specifically in the embodiment, the mounting bracket 31 further has a second snap-fitting portion 312, and the camera cover 32 further has a second snap-fitting portion 323 that can be snap-fitted with the second snap-fitting portion 312. The first snap-fitting portion 311 and the second snap-fitting portion 312 are respectively located on opposite sides of the recess 313. In this way, the first snap-fitting portion 322 and the second snap-fitting portion 323 are snap-fitted with the first snap-fitting portion 311 and the second snap-fitting portion 312 on opposite sides of the recess 313, respectively, so that the connection between the camera cover 32 and the mounting bracket 31 is stable and reliable, preventing the camera body 33 from shaking, which is conducive to improving the accuracy of the camera body 33 in identifying obstacles.

[0065] Furthermore, the second snap-fitting portion 312 has two clamping blocks 3121 arranged opposite to each other, and a clamping position 3123 is formed between the two clamping blocks 3121. At least part of the second snap-fitting portion 323 can be inserted into the clamping position 3123 and be clamped with the two clamping blocks 3121, thereby achieving the clamping fit between the second snap-fitting portion 323 and the second snap-fitting portion 312.

[0066] Furthermore, the two clamping blocks 3121 are provided with a protrusion 3124 on one side facing each other, and the second clamping portion 323 has a second clamping groove 3231 on the opposite sides, and each second clamping groove 3231 is used for the corresponding protrusion 3124 to be clamped in. In this way, during assembly, the camera body 33 is first placed in the recess 313, and then the camera cover 32 is placed on the camera body 33, so that the undercut is aligned with the clamping hole, and the second clamping portion 323 is aligned with the clamping position 3123 between the two clamping blocks 3121. Then, the camera cover 32 is pressed, so that the undercut is inserted into the clamping hole and the undercut is clamped in the clamping hole, and at the same time, the second clamping portion 323 enters the clamping position 3123 between the two clamping blocks 3121, until the protrusions 3124 on the two clamping blocks 3121 are clamped in the corresponding second clamping grooves 3231.

[0067] In the embodiment of the present invention, the sweeping robot further includes a rotation drive assembly (not shown), which is mounted on the body 10 and is transmission-connected to the rear camera 30 to drive the rear camera 30 to rotate around the above-mentioned rotation axis. It should be noted that the rotation drive assembly can adopt a motor drive structure, and of course, other drive structures in the prior art can also be adopted, as long as it can drive the rear camera 30 to rotate around the rotation axis, and is not limited here.

[0068] In the embodiment of the present invention, the front camera 20 is a binocular camera. In this way, the front camera 20 uses a binocular camera, which has a depth of field effect, can measure the distance of obstacles, and achieve accurate identification, that is, it can accurately obtain the actual situation on the scene, so that the fuselage 10 can perform more accurate reaction actions to avoid collision or being trapped.

[0069] See also Figure 4 As shown, in the embodiment of the present invention, the body 10 includes a housing 11 and a bumper plate 12 installed at the front end of the housing 11 in the above-mentioned forward direction a, and the front camera 20 is installed between the bumper plate 12 and the housing 11, so that the bumper plate 12 is used to protect the front camera 20. The rear camera 30 is installed at the rear end of the housing 11 in the above-mentioned forward direction a.

[0070] Specifically in the embodiment, the housing 11 includes an upper cover 111 and a lower cover 112, and the upper cover 111 is matched with the lower cover 112. The rear camera 30 is installed inside the upper cover 111, and the upper cover 111 is provided with a first shooting window 1112 corresponding to the rear camera 30, so that the rear camera 30 can shoot through the first shooting window 1112, and the upper cover 111 is used to protect the rear camera 30. That is, the ear 1113 (see FIG. 111 ) for installing the rotating shaft 34 is provided with a first shooting window 1112 corresponding to the rear camera 30. Figure 8 ) is disposed on the inner side of the upper cover 111. Optionally, the first shooting window 1112 may be rectangular, circular, elliptical, heterogeneous, etc., which is not limited here.

[0071] Furthermore, the rotation driving assembly can be accommodated in the space between the upper cover 111 and the lower cover 112 , and the upper cover 111 and the lower cover 112 are used to protect the rotation driving assembly.

[0072] Specifically in the embodiment, the anti-collision plate 12 is provided with a second shooting window 14 corresponding to the front camera 20, and the second shooting window 14 is installed with a lens 15 (see Figure 4 ), the lens 15 is used to cover the second shooting window 14, so that the front camera 20 can shoot the front through the lens 15, that is, identify the obstacles in front, and protect the front camera 20. In this way, the front camera 20 is arranged inside the anti-collision plate 12, further ensuring that the front camera 20 will not be damaged by collision. Optionally, the second shooting window 14 can be rectangular, circular, elliptical, heterogeneous, etc., which is not limited here. It should be noted that the lens 15 can be made of a material that is light-transmitting and has a certain strength, such as tempered glass.

[0073] See also Fig.11 As shown, specifically in the embodiment, the side of the anti-collision plate 12 facing the housing 11 has a plurality of positioning posts 16, and the plurality of positioning posts 16 are arranged around the second shooting window 14. The front camera 20 has a mounting flange 21, and the mounting flange 21 is provided with a pair of positioning holes 22 corresponding to the plurality of positioning posts 16, and each positioning post 16 is penetrated into the corresponding positioning hole 22. In this way, the positioning of the front camera 20 and the anti-collision plate 12 is achieved by the cooperation of the positioning posts 16 and the positioning holes 22. On the one hand, it is convenient to assemble the front camera 20, and the front camera 20 and the anti-collision plate 12 are not locked, so it is conducive to the disassembly and assembly of the anti-collision plate 12; on the other hand, it prevents the front camera 20 from shaking relative to the anti-collision plate 12, which is conducive to further improving the recognition accuracy of the front camera 20 for obstacles.

[0074] It should be noted that, in other embodiments, fasteners may also be used to lock and fix the front camera 20 and the anti-collision plate 12. Optionally, the fasteners may be screws or the like.

[0075] Specifically in the embodiment, the housing 11 includes an upper cover 111 and a lower cover 112, and the upper cover 111 is matched with the lower cover 112. The anti-collision plate 12 is arranged at the front end of the upper cover 111 and the lower cover 112 in the forward direction a, one end of the front camera 20 is matched with the anti-collision plate 12, and the other opposite end of the front camera 20 is accommodated in the space between the upper cover 111 and the lower cover 112. In this way, part of the front camera 20 is accommodated in the space between the upper cover 111 and the lower cover 112, which, on the one hand, protects the front camera 20, and on the other hand, helps to reduce the overall volume of the sweeping robot.

[0076] It should be noted that the front camera 20 has a second shooting window 14 with one end of the lens facing the anti-collision plate 12 , so that the front camera 20 can identify obstacles in front through the second shooting window 14 .

[0077] Please also see Figures 12 to 15 As shown, further, the lower cover 112 has a threaded hole 1121, and the front camera 20 has a through hole 24 corresponding to the threaded hole 1121. The sweeping robot also includes a threaded locking member (not shown), which is passed through the through hole 24 and is threadedly connected to the threaded hole 1121. In this way, the front camera 20 is locked and fixed to the lower cover 112 by the threaded fastener, and the assembly is convenient and fast, and the connection is stable and reliable. Optionally, the threaded locking member can be a screw.

[0078] Of course, the threaded locking member may include multiple (i.e. two or more) threaded holes 1121 and through holes 24, and the multiple threaded holes 1121 and the multiple through holes 24 correspond one to one. Each threaded locking member is passed through a through hole 24 and is threadedly connected to the corresponding threaded hole 1121.

[0079] Further, the front camera 20 has a lug 23, and a through hole 24 is formed in the lug 23. In this way, the through hole 24 is formed on the lug 23 of the front camera 20, which facilitates tightening the threaded locking member, reduces assembly difficulty, and improves assembly efficiency.

[0080] Specifically in the embodiment, the front camera 20 has a third clamping portion 25, and the lower cover 112 has a third clamping matching portion 1122 that can be clamped with the third clamping portion 25. In this way, the clamping matching of the third clamping portion 25 and the third clamping matching portion 1122 is used to fix the front camera 20 and the lower cover 112, further improving the connection stability of the front camera 20, preventing the front camera 20 from shaking, and facilitating the improvement of the recognition accuracy of the front camera 20 for obstacles.

[0081] Furthermore, the third clamping portion 25 is provided with a clamping hole 251, and the third clamping fitting portion 1122 can penetrate into the clamping hole 251 and be clamped with the clamping hole 251, thereby achieving a clamping connection. Optionally, the third clamping fitting portion 1122 can be a clamping column.

[0082] Furthermore, the lower cover 112 also has a fourth snap-fitting portion 1123, which is arranged around the third snap-fitting portion 1122, and forms a snap-fitting gap 1124 between the third snap-fitting portion 1122 and the fourth snap-fitting portion 1123, and the third snap-fitting portion 25 can be snap-fitted in the snap-fitting gap 1124. In this way, the snap-fitting gap 1124 is formed between the third snap-fitting portion 1122 and the fourth snap-fitting portion 1123, and when the third snap-fitting portion 1122 is snapped into the snap-fitting hole 251, the third snap-fitting portion 25 is snapped into the snap-fitting gap 1124, further improving the connection stability of the front camera 20, preventing the front camera 20 from shaking, and facilitating the improvement of the recognition accuracy of the front camera 20 for obstacles. Optionally, the third clamping portion 25 may also include multiple ones, each third clamping portion 25 is correspondingly provided with a group of first clamping fitting portions 311 and second clamping fitting portions 312, each third clamping portion 25 is clamped in the clamping gap 1124 between a corresponding group of third clamping fitting portions 1122 and fourth clamping fitting portions 1123, and the third clamping fitting portions 1122 are clamped into the clamping hole 251.

[0083] It should be noted that the front camera 20 is clamped with the third clamping portion 25 and the third clamping fitting portion 1122 and the fourth clamping fitting portion 1123, and is locked with a threaded locking member to achieve a stable connection between the front camera 20 and the lower cover 112, and then a plurality of positioning columns 16 are used to achieve the positioning of the anti-collision plate 12 and the front camera 20, so that the assembly difficulty of the front camera 20 is low, the operation is convenient, and the connection is stable and reliable, thereby avoiding the shaking of the front camera 20 and ensuring the accuracy of the front camera 20 in recognizing obstacles.

[0084] Specifically in the embodiment shown in the drawings, the front camera 20 has two lugs 23, each of which has a through hole 24. The lower cover 112 has two threaded holes 1121, and the two threaded holes 1121 correspond to the two through holes 24 one by one. Each through hole 24 is provided with a threaded locking member, and each threaded fastener is threadedly connected to a corresponding threaded hole 1121.

[0085] The front camera 20 has two third snap-fitting portions 25, and the lower cover 112 has two groups of third snap-fitting portions 1122 and fourth snap-fitting portions 1123. Each third snap-fitting portion 25 is snap-fitted into a snap-fitting gap 1124 between a corresponding group of third snap-fitting portions 1122 and fourth snap-fitting portions 1123, and the third snap-fitting portion 1122 is inserted into the snap-fitting hole 251 of the corresponding third snap-fitting portion 25.

[0086] Specifically in the embodiment, the portion of the front camera 20 located between the upper cover 111 and the lower cover 112 has a plurality of heat sinks 26. In this way, the front camera 20 uses the heat sink 26 to dissipate heat, thereby ensuring the stability of the front camera 20.

[0087] Specifically in the embodiment, the upper cover 111 is provided with a through hole, the radar 40 is installed on the lower cover 112, and passes through the through hole to the side of the upper cover 111 away from the lower cover 112, that is, the radar 40 passes through the through hole of the upper cover 111 to the top of the fuselage 10.

[0088] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A sweeping robot, characterized in that: include: The body (10) is used for cleaning while moving along the forward direction (a); A front camera (20) mounted on the body (10) and located at the front end of the body (10) in the forward direction (a); a rear camera (30), mounted on the fuselage (10) and located at the rear end of the fuselage (10) in the forward direction (a); and A radar (40) is arranged on the top of the fuselage (10); The rear camera (30) is capable of rotating relative to the body (10) around a rotation axis, the rear camera (30) comprising a camera body (33), a mounting bracket (31) and a rotating shaft (34), the camera body (33) being mounted on the mounting bracket (31), the rotating shaft (34) being fixedly connected to the mounting bracket (31) and rotatably connected to the body (10); The rear camera (30) further comprises a camera cover (32), the mounting bracket having a recess (313) for accommodating the camera body (33), the camera cover (32) being arranged on the recess (313) and confining the camera body (33) in the recess (313), and the camera cover (32) being provided with a through hole corresponding to the camera body (33); The mounting bracket (31) further comprises a first snap-fitting portion (311) and a second snap-fitting portion (312) respectively located on opposite sides of the recess (313); the camera cover (32) comprises a first snap-fitting portion (322) and a second snap-fitting portion (323) respectively capable of snap-fitting with the first snap-fitting portion (311) and the second snap-fitting portion (312); the first snap-fitting portion (311) comprises a snap-fitting hole; the first snap-fitting portion comprises an undercut capable of snap-fitting with the snap-fitting hole; the second snap-fitting portion (312) comprises a Two clamping blocks (3121) are arranged opposite to each other, and a clamping position (3123) is formed between the two clamping blocks (3121); at least a portion of the second clamping portion (323) can be inserted into the clamping position (3123) and clamped with the two clamping blocks (3121); and protrusions (3124) are provided on the sides of the two clamping blocks (3121) facing each other; and second clamping grooves (3231) are provided on the opposite sides of the second clamping portion (323); and each second clamping groove (3231) is used for the corresponding protrusion (3124) to be clamped in.

2. The sweeping robot according to claim 1, characterized in that: The radar (40) is located between the rear camera (30) and the front camera (20), and the rear camera (30), the radar (40) and the front camera (20) are located on a symmetry plane (b) of the fuselage (10), and the symmetry plane (b) is parallel to the forward direction (a).

3. The sweeping robot according to claim 1, characterized in that: The rotation axis is perpendicular to the advancing direction (a).

4. The sweeping robot according to claim 1, characterized in that: The body (10) has a support ear (1113), the support ear (1113) is provided with a first slot (1114), and the rotating shaft (34) can be inserted into the first slot (1114) and can rotate relative to the support ear (1113).

5. The sweeping robot according to claim 1 or 3, characterized in that: The sweeping robot further comprises a rotation drive assembly, which is mounted on the body (10) and is transmission-connected to the rear camera (30).

6. The sweeping robot according to claim 1, characterized in that: The front camera (20) is a binocular camera.

7. The sweeping robot according to claim 1 or 6, characterized in that: The fuselage (10) comprises a casing (11) and an anti-collision plate (12), wherein the anti-collision plate (12) is mounted on the front end of the casing (11) in the forward direction (a); The front camera (20) is arranged between the anti-collision plate (12) and the housing (11).

8. The sweeping robot according to claim 7, characterized in that: The anti-collision plate (12) is provided with a second shooting window (14) corresponding to the front camera (20); The second shooting window (14) is equipped with a lens (15).

9. The sweeping robot according to claim 8, characterized in that: A side of the anti-collision plate (12) facing the housing (11) is provided with a plurality of positioning posts (16), and the plurality of positioning posts (16) are arranged around the second shooting window (14); The front camera (20) has a mounting flange (21), the mounting flange (21) is provided with a plurality of positioning holes (22) corresponding one-to-one to the plurality of positioning columns (16), and each of the positioning columns (16) is inserted into a corresponding positioning hole (22).

10. The sweeping robot according to claim 7, characterized in that: The housing (11) comprises an upper cover (111) and a lower cover (112), the upper cover (111) being matched with the lower cover (112), and the anti-collision plate (12) being arranged at the front ends of the upper cover (111) and the lower cover (112) in the forward direction (a); One end of the front camera (20) is matched with the anti-collision plate (12), and the other end opposite thereto is accommodated in the space between the upper cover (111) and the lower cover (112).

11. The sweeping robot according to claim 10, characterized in that: The lower cover (112) has a threaded hole (1121), and the front camera (20) has a through hole (24) corresponding to the threaded hole (1121); The sweeping robot further comprises a threaded locking member, which is passed through the through hole (24) and is threadedly connected to the threaded hole (1121).

12. The sweeping robot according to claim 10, characterized in that: The front camera (20) has a third clamping portion (25), and the lower cover (112) has a third clamping matching portion (1122) capable of being clamped with the third clamping portion (25).

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