Sweeping robot

Abstract

The application discloses a sweeping robot, which comprises a shell, a containing cavity formed in the shell, a laser radar, at least part of the laser radar being arranged in the containing cavity, and a line laser module arranged on a side wall of the shell, the line laser module comprising a circuit board, a laser and a camera, the circuit board being connected to the shell, and the laser and the camera being arranged on the circuit board. The technical scheme can enhance the obstacle avoidance capability of the sweeping robot, thereby improving the safety of the sweeping robot during work.

Description

Technical Field

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

[0002] A sweeping robot, also known as an automatic cleaner, smart vacuum, or robot vacuum, is a type of smart home appliance. Because sweeping robots can automatically clean floors in a room using artificial intelligence (AI), they have become increasingly popular, making floor cleaning more convenient. However, conventional sweeping robots typically rely solely on lidar (LiDAR) for environmental perception, mapping, and obstacle avoidance. However, LiDAR's limited scanning angle makes these robots' obstacle avoidance capabilities relatively limited, reducing their safety during operation. Summary of the Invention

[0003] The main purpose of the present invention is to provide a sweeping robot, aiming to enhance the sweeping robot's ability to avoid obstacles, so as to improve the safety of the sweeping robot during operation.

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

[0005] a housing, wherein a receiving cavity is formed in the housing;

[0006] a laser radar, at least a portion of which is disposed in the accommodating cavity; and

[0007] A line laser module is arranged on the side wall of the housing. The line laser module includes a circuit board, a laser and a camera. The circuit board is connected to the housing, and the laser and the camera are arranged on the circuit board.

[0008] In one embodiment of the present invention, the housing is defined to have a front side, a rear side, and a left side and a right side that are oppositely disposed;

[0009] The laser radar is completely embedded in the accommodating cavity and is arranged close to the front side of the casing. The side wall of the front side of the casing is provided with a laser outlet, and the laser outlet is connected to the accommodating cavity and is arranged facing the laser radar.

[0010] In one embodiment of the present invention, the number of the line laser modules is at least two, one of the two line laser modules is arranged on the front side wall of the housing, and the other is arranged on the left or right side wall of the housing.

[0011] In one embodiment of the present invention, on a horizontal projection plane, the center lines of the line laser module and the laser radar provided on the side wall on the front side of the casing coincide with the center line of the casing, and the line laser module provided on the side wall on the front side of the casing is located below the laser outlet.

[0012] In one embodiment of the present invention, a connecting column is provided on the bottom wall of the accommodating cavity, the laser radar is located at one end of the connecting column away from the bottom wall of the accommodating cavity, and a connecting ear is provided on the side wall of the laser radar, and the connecting ear is connected to the connecting column.

[0013] In one embodiment of the present invention, a positioning groove is formed on the surface groove of the connecting ear facing the connecting post, and an end of the connecting post away from the bottom wall of the accommodating cavity is inserted into the positioning groove.

[0014] In one embodiment of the present invention, a mounting hole is provided on the bottom wall of the positioning groove, and a connecting hole is provided on one end of the connecting column facing the bottom wall of the positioning groove, and the connecting hole is arranged opposite to the mounting hole.

[0015] The sweeping robot further includes a fastener, which passes through the mounting hole and is inserted into the connecting hole, so that the connecting ear is detachably connected to the connecting column.

[0016] In one embodiment of the present invention, a reinforcing plate is provided at the connection between the connecting column and the bottom wall of the accommodating cavity;

[0017] And / or, the number of the connecting columns is three, and the three connecting columns are respectively located on three adjacent sides of the laser radar; the number of the connecting ears is three, and one connecting ear is arranged opposite to one of the connecting columns and is connected to the connecting column arranged opposite to the connecting ear.

[0018] In one embodiment of the present invention, the top wall of the housing is provided with an observation port communicating with the accommodating cavity, and the observation port is arranged facing the laser radar.

[0019] In one embodiment of the present invention, the housing is further provided with a cover plate, the cover plate covers the observation port, and a portion of the cover plate corresponding to the observation port is formed as a transparent area.

[0020] When in use, the sweeping robot of the technical solution of the present invention can not only scan the room through the laser radar so that the sweeping robot can perceive the working environment, establish a corresponding work map, and avoid obstacles. The sweeping robot can also emit a line laser to the working environment of the sweeping robot through the laser of the line laser module. After that, the camera of the line laser module can obtain the environment image and calculate the laser point cloud information of the working environment. Based on the laser point cloud information, the outline, height, width and other information of the obstacle are calculated, so that the sweeping robot can also detect obstacles in the working environment through the line laser module. In other words, the sweeping robot in this solution can perform obstacle detection not only through the laser radar, but also through the line laser module. This allows the sweeping robot to have multiple detection angles when detecting obstacles in the working environment and to detect obstacles in the environment more fully, thereby enhancing the ability of the sweeping robot to avoid obstacles, thereby improving the safety of the sweeping robot during work. Moreover, since the line laser module uses lasers to detect obstacles in the working environment of the sweeping robot, and lasers have the advantages of high detection accuracy, long measurement distance, wide coverage and strong resistance to environmental interference, the laser module can have a better detection effect on obstacles, which is conducive to further improving the obstacle avoidance effect of the sweeping robot, making the sweeping robot smarter and more efficient.

[0021] Furthermore, the robot vacuum cleaner of this embodiment has a housing formed within it, into which at least a portion of the laser radar is embedded. This allows the laser radar to be at least partially concealed, while the housing provides protection for the laser radar. This effectively reduces the risk of collision damage to the laser radar, thereby significantly enhancing its protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the assembly structure of an embodiment of the sweeping robot of the present invention;

[0024] Figure 2 for Figure 1 Schematic diagram of the exploded structure of the cover and casing of the sweeping robot;

[0025] Figure 3 for Figure 1 A cross-sectional diagram of the sweeping robot;

[0026] Figure 4 for Figure 1 Another cross-sectional diagram of the sweeping robot;

[0027] Figure 5 for Figure 4 A partial enlarged schematic diagram of point A in the middle;

[0028] Figure 6 for Figure 1 Schematic diagram of the structure of the laser radar of the sweeping robot;

[0029] Figure 7 for Figure 1 A schematic structural diagram of an embodiment of a line laser module of a sweeping robot;

[0030] Figure 8 for Figure 7 A one-view diagram of the explosion structure of the centerline laser module;

[0031] Figure 9 for Figure 7 Another perspective diagram of the explosion structure of the centerline laser module;

[0032] Figure 10 for Figure 1 A schematic structural diagram of another embodiment of a line laser module for a sweeping robot;

[0033] Figure 11 for Figure 10 A one-view diagram of the explosion structure of the line laser module;

[0034] Figure 12 for Figure 10 Another perspective diagram of the explosion structure of the line laser module.

[0035] Description of Figure Numbers:

[0036] Label name Label name 100 sweeping robot 30a Positioning slot 10 chassis 30b Mounting holes 10a Accommodation cavity 50 Line laser module 10b Laser output port 51 circuit board 11 Connecting column 52 laser 11a connection hole 53 Camera 13 reinforcement plate 54 Cover 10c Observation port 54a Container 15 Cover 55 Cover 15a Transparent Area 56 First buffer 30 LiDAR 57 Second buffer 31 Connecting ear 58 Translucent lenses

[0037] 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

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 7 、 Figure 8 、 Figure 10 as well as Figure 11 , the present invention proposes a sweeping robot 100.

[0043] In one embodiment of the present invention, the robot vacuum 100 includes a housing 10, a laser radar 30, and a line laser module 50. The housing 10 defines a housing cavity 10a; at least a portion of the laser radar 30 is disposed within the housing cavity 10a; and the line laser module 50 includes a circuit board 51, a laser 52, and a camera 53. The circuit board 51 is connected to the housing 10, and the laser 52 and camera 53 are disposed on the circuit board 51.

[0044] In one embodiment of the present invention, the housing 10 can be mainly used to install the laser radar 30 and the line laser module 50 as well as other components of the sweeping robot 100 (for example, the common components of the sweeping robot 100 such as the drive assembly, the electronic control assembly, the water tank and the dust box assembly, the drive wheel, the universal wheel, the side brush, the roller brush and the mopping structure), so that the various components of the sweeping robot 100 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 100 when turning along a wall or around an object, and at the same time, the volume of the housing 10 can also 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. The accommodating cavity 10a formed in the housing 10 can be a cavity structure with a regular shape. For example, the projection of the shape of the accommodating cavity 10a on the horizontal plane can be a fan or a fan ring. Of course, in other embodiments, the accommodating cavity 10a can also be formed into other reasonable and effective irregular cavity structures. The laser radar 30 can be primarily used to emit laser signals, which can be used to detect obstacles, thereby enabling timely change and planning of map routes and achieving effective obstacle avoidance. To reduce costs, the laser radar 30 can be a single-line laser radar 30. The circuit board 51 of the line laser module 50 is primarily used to control the operation of the laser 52 and camera 53, ensuring their automatic operation and coordinated operation. The circuit board 51 also serves to mount and support the laser 52 and camera 53, allowing the various components of the line laser module 50 to be assembled into a single unit. The circuit board 51 can be roughly rectangular, making its shape more regular and easier to form and manufacture. This also allows the circuit board 51 to provide a larger mounting area, allowing for better placement of the laser 52 and camera 53 on the circuit board. Furthermore, the corners of the circuit board 51 can be rounded or chamfered to avoid sharp corners that are easily damaged. Of course, the present application is not limited to this. In other embodiments, the circuit board 51 can also be roughly square or circular, etc., so as to achieve the installation of the laser 52 and the camera 53. The laser 52 and the camera 53 can be fixedly connected to the circuit board 51, specifically by welding or conductive adhesive to improve the stability of the laser 52 and the camera 53 when installed on the circuit board 51. Of course, in order to facilitate the repair and replacement of the damaged ones of the laser 52 and the camera 53 and the circuit board 51. The laser 52 and the camera 53 can also be detachably mounted on the circuit board 51, specifically by snap connection, screw connection or magnetic fixation, etc., to simplify the disassembly and assembly process of the laser 52 and the camera 53.The laser 52 can be used to emit a laser line to the working environment of the sweeping robot 100 to form a laser cloud point in the working environment. The camera 53 can mainly acquire the environment image and calculate the laser point cloud information of the working environment. Based on the laser point cloud information, it calculates the outline, height, width and other information of the obstacle to detect the obstacle, so that the sweeping robot 100 can control its running direction to avoid obstacles in the working environment. In this way, through the cooperation of the laser 52 and the camera 53, it is possible to detect whether there are objects in the working environment of the sweeping robot 100 that may cause obstacles to it.

[0045] When in use, the robot vacuum cleaner 100 of the present invention not only uses the laser radar 30 to scan the room, enabling the robot vacuum cleaner 100 to perceive its working environment, build a corresponding work map, and avoid obstacles, but also uses the laser 52 of the line laser module 50 to emit a line laser at the robot vacuum cleaner 100's working environment. The camera 53 of the line laser module 50 then captures an image of the environment and calculates laser point cloud information of the working environment. Based on this laser point cloud information, the robot vacuum cleaner 100 calculates information such as the outline, height, and width of obstacles, thereby enabling the robot vacuum cleaner 100 to detect obstacles in the working environment using the line laser module 50. In other words, the robot vacuum cleaner 100 of this embodiment can perform obstacle detection using both the laser radar 30 and the line laser module 50. This allows the robot vacuum cleaner 100 to detect obstacles in the working environment from multiple perspectives, enabling more comprehensive obstacle detection. This enhances the robot vacuum cleaner 100's obstacle avoidance capabilities and improves the safety of the robot vacuum cleaner 100 during operation. Moreover, since the line laser module 50 detects obstacles in the working environment of the sweeping robot 100 through the laser 52, and the laser 52 has the advantages of high detection accuracy, long measurement distance, wide coverage and strong resistance to environmental interference, the laser module can have a better detection effect on obstacles, which is conducive to further improving the obstacle avoidance effect of the sweeping robot 100, making the sweeping robot 100 smarter and more efficient.

[0046] Furthermore, the housing 10 of the robot vacuum 100 in this embodiment includes a housing 10a, into which at least a portion of the laser radar 30 is embedded. This allows the laser radar 30 to be at least partially concealed, while the housing 10 provides protection for the laser radar 30. This effectively reduces the risk of collision damage to the laser radar 30, thereby significantly enhancing its protection.

[0047] Please refer to Figure 1 、 Figure 2 as well as Figure 3In one embodiment of the present invention, 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 laser radar 30 is completely embedded in the accommodating cavity 10a and is arranged close to the front side of the housing 10, and the side wall of the front side of the housing 10 is provided with a laser outlet 10b, which is connected to the accommodating cavity 10a and is arranged directly opposite the laser radar 30.

[0048] It can be understood that the laser radar 30 is completely embedded in the accommodating cavity 10a, which can make the laser radar 30 more compact and more fully hidden in the housing 10, thereby improving the protection of the housing 10 for the laser radar 30 and further reducing the overall volume of the sweeping robot 100. The laser radar 30 is arranged near the front side of the housing 10 (the side of the housing 10 facing the forward direction of the sweeping robot 100 is the front side, and the side away from the forward direction of the sweeping robot 100 is the rear side). This facilitates the laser signal emitted by the laser radar 30 after installation to be emitted toward the front side, so that obstacles can be better detected in the front working area during the forward movement of the sweeping robot 100. The setting of the laser outlet 10b allows the signal emitted by the laser radar 30 to be emitted directly through the laser outlet 10b. Since there is only air at the laser outlet 10b, the influence on the signal emitted by the laser radar 30 is relatively low, which is conducive to improving the scanning accuracy of the laser radar 30. The laser outlet 10b can be formed into a strip-shaped hole extending in the left and right directions of the housing 10 to facilitate the processing of the laser outlet 10b. Of course, the present application is not limited to this. In other embodiments, a transparent area 15a can be formed on the side wall of the front side of the housing 10 directly opposite the laser radar 30. This makes the side wall of the front side of the housing 10 closed, which can reduce the possibility of foreign objects entering the accommodating cavity 10a and causing damage to the laser radar 30.

[0049] Please refer to Figure 1 and Figure 2 In one embodiment of the present invention, the number of the line laser modules 50 is at least two, one of the two line laser modules 50 is disposed on the front side wall of the housing 10, and the other is disposed on the left or right side wall of the housing 10.

[0050] It can be understood that one of the at least two line laser modules 50 is provided on the side wall of the front side of the housing 10, and the other one is provided on the side wall of the left or right side of the housing 10. The laser 52 of the line laser module 50 on the front side of the housing 10 can emit a line laser (the laser line can extend horizontally) to the front working area of ​​the sweeping robot 100 to form a laser cloud point in the front working environment. Afterwards, the camera 53 of the line laser 52 acquires the environmental image and calculates the laser point cloud information of the working environment. Based on the laser point cloud information, the outline, height, width and other information of the obstacle are calculated to realize the detection of the obstacle (for example, detecting whether there is an obstacle in front, or whether the distance between two objects can be passed), so that the sweeping robot 100 controller can control the running direction and avoid the obstacles in the front working environment. The laser 52 of the line laser module 50 on the left or right side of the casing 10 can emit a line laser (the laser line can extend in a vertical direction) to the position where the wall foot or other objects contact the ground. Then, the camera 53 of the line laser module 50 can obtain the environmental image of the position where the wall foot or other objects contact the ground, and calculate the laser point cloud information in the environment where the wall foot or other objects contact the ground. Based on the laser point cloud information, the outline, height, width and other information of the obstacle are calculated, so that the sweeping robot can realize obstacle detection in the working environment where the wall foot or other objects contact the ground through the line laser module 50 on the left or right side, so that the sweeping robot 100 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, the sweeping robot 100 can change its running direction in a timely manner when it 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 100, thereby improving the safety of the sweeping robot 100 when working along the wall. Among them, the line laser 52 can be embedded in the side wall of the housing 10 to reduce the possibility of the line laser 52 forming a blind spot on the bottom surface, so that the line laser 52 can have a better detection angle of the front working area, left side, or right side working area of ​​the sweeping robot 100, thereby improving the detection effect of the line laser 52. In order to further reduce the formation of a blind spot by the line laser module 50 in the working area near the housing 10, the light output direction of the line laser 52 can be set at an angle downward. In this case, the laser 52 and the camera 53 of the line laser 52 can be installed at an angle downward, or the circuit board 51 can be installed at an angle.The laser 52 and camera 53 of the line laser module 50 located on the front side of the housing 10 can be spaced apart in the vertical direction (at this time, the line laser lines emitted by the laser 52 are in the same horizontal plane), and the laser 52 and camera 53 of the line laser module 50 located on the left or right side of the housing 10 can be spaced apart in the horizontal direction (at this time, the line laser lines emitted by the laser 52 are in the same vertical plane).

[0051] In addition, it should be noted that the present application is not limited to this. In other embodiments, the number of line laser modules 50 can be one, or three, four, etc. In this case, part of them can be arranged on the front side of the casing 10, part of them can be arranged on the left side of the casing 10, and part of them can be arranged on the right side of the casing 10.

[0052] In one embodiment of the present invention, on a horizontal projection plane, the center lines of the line laser module 50 and the laser radar 30 provided on the side wall on the front side of the housing 10 coincide with the center line of the housing 10, and the line laser module 50 provided on the side wall on the front side of the housing 10 is located below the laser outlet 10b.

[0053] It can be understood that the line laser module 50 and the laser radar 30 provided on the side wall of the front side of the housing 10 are located on the center line of the laser radar 30, so that they can perform uniform obstacle detection on both sides of the front working area of ​​the housing 10. The line laser module 50 on the front side of the housing 10 is located below the laser outlet 10b, so that the sweeping robot 100 can detect obstacles in the front working area of ​​the sweeping robot 100 that are higher than the laser outlet 10b through the laser radar 30; the line laser module 50 on the front side of the housing 10 can also sense obstacles that are lower than the laser outlet 10b, thereby enabling more comprehensive and effective obstacle avoidance, timely planning of cleaning routes, and ensuring the reliability of the sweeping robot 100. Of course, in other embodiments, two line laser modules 50 can be provided on the side wall of the front side of the housing 10, in which case the laser radar 30 can be located between the two line laser modules 50.

[0054] Please refer to Figure 3 、 Figure 4 、 Figure 5 as well as Figure 6 In one embodiment of the present invention, a connecting column 11 is provided on the bottom wall of the accommodating cavity 10a, and the laser radar 30 is located at one end of the connecting column 11 away from the bottom wall of the accommodating cavity 10a. A connecting ear 31 is provided on the side wall of the laser radar 30, and the connecting ear 31 is connected to the connecting column 11.

[0055] It can be understood that the support provided by the connecting column 11 for the laser radar 30 allows the laser radar 30 to be positioned at a certain height, facilitating alignment of the laser signal emission portion of the laser radar 30 with the laser emission port 10b. This eliminates the need for an overly complex raised structure on the bottom wall of the accommodating chamber 10a, thereby simplifying and reducing the complexity of the processing and forming of the accommodating chamber 10a. Furthermore, the laser radar 30, supported solely by the connecting column 11, also increases its contact area with the air, thereby facilitating heat dissipation of the line laser 52 during operation. The sidewalls of the laser radar 30 are provided with connecting ears 31, which provide a fixing point and facilitate abutment and fixation of the laser radar 30 with the connecting column 11 without affecting the structure of the laser radar 30 itself due to the connection structure between the two. The cross-section of the connecting column 11 can be circular, making its shape more regular and easier to form and manufacture. Of course, the cross-section of the connecting column 11 can also be square or rectangular. In addition, it should be noted that the present application is not limited to this. In other embodiments, a pad is provided on the bottom wall of the accommodating cavity 10a, and the bottom wall of the laser radar 30 can also be connected to the upper surface of the pad.

[0056] Please refer to Figure 4 and Figure 5 In one embodiment of the present invention, a positioning groove 30a is formed on the surface groove of the connecting ear 31 facing the connecting column 11, and the end of the connecting column 11 away from the bottom wall of the accommodating cavity 10a is inserted into the positioning groove 30a.

[0057] It can be understood that the setting of the positioning groove 30a has a positioning effect on the installation of the laser radar 30. The cooperation between the connecting column 11 and the positioning groove 30a is conducive to ensuring that the laser radar 30 is accurately installed in the preset installation position. Among them, the positioning groove 30a can be circular to make its shape more regular and convenient for molding and manufacturing. At the same time, it is also necessary to consider the directionality when plugging the positioning groove 30a and the connecting column 11, thereby improving the convenience of plugging the two. Of course, the present application is not limited to this. In other embodiments, the positioning groove 30a can also be square or rectangular, etc., and can be specifically adaptively set according to the shape of the connecting column 11 to ensure that the positioning groove 30a and the positioning column are compatible.

[0058] Please refer to Figure 4 and Figure 5 In one embodiment of the present invention, a mounting hole 30b is provided on the bottom wall of the positioning groove 30a, and a connecting hole 11a is provided on one end of the connecting column 11 facing the bottom wall of the positioning groove 30a, and the connecting hole 11a is arranged opposite the mounting hole 30b; the sweeping robot 100 also includes a fastener, which passes through the mounting hole 30b and is inserted into the connecting hole 11a, so that the connecting ear 31 is detachably connected to the connecting column 11.

[0059] It can be understood that inserting the fastener into the connecting hole 11a locks the connecting ear 31 and the connecting column 11, providing space for the fastener through the connecting hole 11a. This allows for a more compact installation and reduces space usage. The wall of the connecting hole 11a also provides some protection for the fastener, thereby extending the service life of the fastener. The fastener allows the connecting ear 31 to be detachably connected to the connecting column 11, allowing the laser radar 30 to be removed from the connecting column 11 in the event of damage, thereby improving the convenience of repairing and replacing the laser radar 30 (in this case, the housing 10 can be formed by multiple detachable walls). The fastener can be a screw, in which case the connecting hole 11a can be a threaded hole, allowing the two to be connected by a thread. Threaded connections offer the advantages of simplicity and reliability, simplifying the assembly and disassembly process of the laser radar 30 while ensuring the stability of the laser radar 30. Of course, the fastener can also be a clamping column, in which case the connecting hole 11a can also be a clamping hole, allowing the two to be fixed by a clamping connection. Alternatively, the connecting ear 31 and the connecting column 11 may be fixed by magnetic attraction.

[0060] Please refer to Figure 3 、 Figure 4 as well as Figure 5 In one embodiment of the present invention, a reinforcing plate 13 is provided at the connection between the connecting column 11 and the bottom wall of the accommodating cavity 10a.

[0061] It can be understood that the provision of the reinforcing plate 13 strengthens the connection between the connecting column 11 and the housing 10, thereby helping to improve the supporting effect of the connecting column 11 on the laser radar 30, so as to further facilitate the stable installation of the laser radar 30 and ensure subsequent stable scanning of the working area.

[0062] In one embodiment of the present invention, there are three connecting columns 11, and the three connecting columns 11 are respectively located on three adjacent sides of the laser radar 30; there are three connecting ears 31, and one connecting ear 31 is arranged opposite to one connecting column 11, and is connected to the connecting column 11 arranged opposite to the connecting ear 31.

[0063] It can be understood that the arrangement of the three connecting posts 11 and the three connecting ears 31 allows the laser radar 30 and the housing 10 to be locked by three fasteners, thereby increasing the locking force on the two, thereby further improving the stability of the installation of the laser radar 30. Two of the three connecting posts 11 are located on opposite sides of the laser radar 30, and the other is located on the other side of the laser radar 30, so that the laser radar 30 has a good limiting effect on all sides, reducing the possibility of the laser radar 30 shaking during the movement of the sweeping robot 100. Of course, the present application is not limited to this. In other embodiments, it is also possible to have one, three, four or more connecting posts 11 and connecting ears 31.

[0064] Please refer to Figure 1 and Figure 2 In one embodiment of the present invention, the top wall of the housing 10 is provided with an observation port 10 c communicating with the accommodating cavity 10 a , and the observation port 10 c is arranged facing the laser radar 30 .

[0065] It can be understood that the setting of the observation port 10c allows the user to observe whether the laser radar 30 is working through the observation port 10c when the sweeping robot 100 is in use, so as to ensure that the laser radar 30 can normally detect obstacles in the working area during the subsequent operation of the sweeping robot 100. Since the user can observe the working status of the laser radar 30 by directly looking down through the observation port 10c, the inspection process is very convenient and quick, thereby further improving the convenience of using the sweeping robot 100. Among them, the shape of the observation port 10c can be circular, so that its shape is more regular and convenient for molding and processing. Of course, the present application is not limited to this. In other embodiments, the shape of the observation port 10c can also be square or rectangular.

[0066] In one embodiment of the present invention, the housing 10 is further provided with a cover plate 15 , which covers the observation port 10 c , and a portion of the cover plate 15 corresponding to the observation port 10 c is formed as a transparent area 15 a .

[0067] It can be understood that the setting of the cover 15 has a waterproof and dust-proof sealing effect on the observation port 10c, reducing the risk of external dust or water vapor entering the accommodating cavity 10a through the observation port 10c and causing damage to the laser radar 30, thereby helping to ensure the service life of the laser radar 30.

[0068] Please refer to Figures 7 to 12In one embodiment of the present invention, the line laser module 50 may further include a housing 54 having an opening formed therein and a receiving groove 54a. The laser 52 and camera 53 of the line laser module 50 are both received in the receiving groove 54a, and the circuit board 51 may be received in the receiving groove 54a. In this case, the housing 54 may be connected to a cover 55, which is connected to the housing 54 and covers the notch of the receiving groove 54a (in order to reduce pressure loss on the circuit board 51, a first buffer 56 may be provided between the cover 55 and the housing 54); of course, the notch of the receiving groove 54a may also be directly covered by the circuit board 51 (in this case, in order to reduce pressure loss on the circuit board 51, a second buffer 57 may be provided between the circuit board 51 and the housing 54). A light-transmitting lens 58 may be embedded in the wall of the housing 54 facing away from the notch of the receiving groove 54a, and the light-transmitting lens 58 covers the laser 52 and camera 53. It can be understood that the provision of the cover 54 provides a waterproof seal for the laser 52, camera 53, and circuit board 51, thereby extending the service life of the line laser module 50. Furthermore, the cover 54 allows the line laser module 50 to be secured to the housing 10, and the cover 54 facilitates the provision of a connection structure, thereby enhancing the convenience of installing the line laser module 50. The cover 54 and the housing 10 may be connected by screws, snaps, or magnetic fastening.

[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 a receiving cavity is formed in the housing; a laser radar, at least a portion of which is disposed in the accommodating cavity; as well as a line laser module, the line laser module being disposed on a side wall of the housing and at least partially embedded in the housing, the line laser module comprising a circuit board, a laser, and a camera, the circuit board being connected to the housing, the laser and the camera being disposed on the circuit board; The housing is defined as having a front side, a rear side, and a left side and a right side that are arranged opposite to each other; the laser radar is completely embedded in the accommodating cavity and is arranged near the front side of the housing; a laser outlet is provided on the side wall of the front side of the housing, and the laser outlet is connected to the accommodating cavity and is arranged directly opposite the laser radar; The number of the line laser modules is at least two, and one of the two line laser modules is disposed on the side wall of the front side of the housing; On a horizontal projection plane, the center lines of the line laser module and the laser radar arranged on the side wall on the front side of the casing coincide with the center line of the casing, and the line laser module arranged on the side wall on the front side of the casing is located below the laser outlet.

2. The sweeping robot according to claim 1, wherein: The other of the two line laser modules is arranged on the left or right side wall of the casing.

3. The sweeping robot according to claim 1 or 2, characterized in that: The bottom wall of the accommodating cavity is provided with a connecting column, the laser radar is located at one end of the connecting column away from the bottom wall of the accommodating cavity, and the side wall of the laser radar is provided with a connecting ear, which is connected to the connecting column.

4. The sweeping robot according to claim 3, wherein: A positioning groove is formed on the surface groove of the connecting ear facing the connecting column, and one end of the connecting column away from the bottom wall of the accommodating cavity is inserted into the positioning groove.

5. The sweeping robot according to claim 4, wherein: The bottom wall of the positioning groove is provided with a mounting hole, and one end of the connecting column facing the bottom wall of the positioning groove is provided with a connecting hole, and the connecting hole is arranged opposite to the mounting hole; The sweeping robot further includes a fastener, which passes through the mounting hole and is inserted into the connecting hole, so that the connecting ear is detachably connected to the connecting column.

6. The sweeping robot according to claim 3, wherein: A reinforcing plate is provided at the connection between the connecting column and the bottom wall of the accommodating cavity; And / or, the number of the connecting columns is three, and the three connecting columns are respectively located on three adjacent sides of the laser radar; the number of the connecting ears is three, and one connecting ear is arranged opposite to one of the connecting columns and is connected to the connecting column arranged opposite to the connecting ear.

7. The sweeping robot according to claim 1 or 2, characterized in that: The top wall of the housing is provided with an observation port connected to the accommodating cavity, and the observation port is arranged facing the laser radar.

8. The sweeping robot according to claim 7, wherein: The housing is further provided with a cover plate, which covers the observation port, and a portion of the cover plate corresponding to the observation port is formed as a transparent area.

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