Sweeping robot

Abstract

The application discloses a sweeping robot, which comprises a shell and a ground detection sensor, the shell is provided with an exit hole facing a surface to be cleaned; the ground detection sensor is arranged in the shell, the ground detection sensor comprises a transmitting element, the transmitting end of the transmitting element is arranged towards the exit hole, and the cross-sectional dimension of the exit hole presents an increasing trend in the transmitting direction of the ground detection sensor. The sweeping robot of the technical scheme can effectively ensure the emission of the transmitting signal and improve the detection effect.

Description

Technical Field

[0001] This invention relates to the field of household appliance dust removal technology, and in particular to a sweeping robot. Background Technology

[0002] A robotic vacuum cleaner is a smart home appliance that automatically vacuums floors. As living standards improve, it is increasingly becoming a part of everyday life. Currently, to prevent robotic vacuum cleaners from tipping over on surfaces with significant elevation changes, they are typically equipped with ground detection sensors. These sensors detect the terrain, allowing the robot to turn or reverse when encountering areas with height differences, effectively preventing falls. However, because these height-detecting sensors are highly sensitive, they are easily interfered with by other components, resulting in poor detection performance and compromising reaction time. Summary of the Invention

[0003] The main objective of this invention is to provide a robotic vacuum cleaner that improves detection performance without affecting light emission.

[0004] To achieve the above objectives, the sweeping robot proposed in this invention includes:

[0005] The housing has an outlet facing the surface to be cleaned; and

[0006] A ground detection sensor is disposed within the housing. The ground detection sensor includes a transmitting element, the transmitting end of which is oriented toward the emission port, and the cross-sectional dimension of the emission port increases in the emission direction of the ground detection sensor.

[0007] In an optional embodiment, the edge of the outlet near the surface to be cleaned is chamfered.

[0008] In an optional embodiment, the housing includes a middle shell and a bottom plate. The bottom plate covers the surface of the middle shell facing the surface to be cleaned. The middle shell has a mounting groove, and the ground detection sensor is disposed in the mounting groove. The bottom plate has an emission hole opposite to the opening of the mounting groove.

[0009] In an optional embodiment, the chamfer angle α of the exit hole is greater than 10°.

[0010] In an optional embodiment, the ground detection sensor further includes a mounting base, the mounting base having a mounting cavity and a transmitting port communicating with the mounting cavity, the transmitting element being disposed in the mounting cavity, the transmitting end of the transmitting element being disposed facing the transmitting port, and the mounting base being detachably connected to the mounting groove.

[0011] In an optional embodiment, the ground detection sensor further includes a receiving element disposed within the mounting cavity and spaced apart from the transmitting element. The mounting base has a receiving port corresponding to the receiving end of the receiving element, and the transmitting end of the transmitting element is inclined toward the center of the emission port.

[0012] In an optional embodiment, the ground detection sensor further includes a light-transmitting cover connected to the mounting base and covering the transmitting port and the receiving port.

[0013] In an optional embodiment, the housing has a front sidewall facing the direction of travel, and the ground detection sensor is positioned near the center of the front sidewall.

[0014] In an optional embodiment, two ground detection sensors are provided, and the emission directions of the two transmitting elements of the two ground detection sensors are facing away from each other.

[0015] In an optional embodiment, the robotic vacuum cleaner further includes a lidar, which is located inside the housing, and the side wall of the housing has a laser emission port; the lidar can be exposed through the laser emission port so that the signal emitted by the lidar can be emitted through the laser emission port.

[0016] The robotic vacuum cleaner of this invention includes a housing and a ground detection sensor. The ground detection sensor includes a transmitting element. The housing has an emission port facing the surface to be cleaned. The transmitting end of the transmitting element is correspondingly positioned with respect to the emission port, allowing the signal light emitted from the transmitting end to pass through the emission port and reach the ground, thus achieving the purpose of terrain detection. Simultaneously, the cross-section of the emission port increases in the direction of emission from the transmitting end; that is, the emission port is flared. This corresponds to the diffusion trend of the signal light emitted from the transmitting end, ensuring that the inner wall of the emission port does not obstruct the signal light, guaranteeing complete light emission, improving detection accuracy, and effectively preventing the robotic vacuum cleaner from tipping over. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of the sweeping robot of the present invention;

[0019] Figure 2 for Figure 1 The diagram shows the structure of the robotic vacuum cleaner from another perspective.

[0020] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0021] Figure 4 for Figure 1 A schematic diagram of the bottom plate of the casing in the robotic vacuum cleaner shown;

[0022] Figure 5 for Figure 4 Enlarged view of point B in the middle;

[0023] Figure 6 for Figure 1 The diagram shows the structure of the floor detection sensor in the robotic vacuum cleaner.

[0024] Figure 7 for Figure 6 A schematic diagram of the ground detection sensor from another perspective;

[0025] Figure 8 for Figure 7 The exploded view of the ground detection sensor is shown.

[0026] Figure 9 for Figure 1 The diagram shows a robotic vacuum cleaner with part of its casing removed.

[0027] Figure 10 for Figure 9 Enlarged view of point C in the middle.

[0028] Explanation of icon numbers:

[0029] 100 robot vacuum 33 Mounting base 10 case 33a Launch port 10a Laser output port 33b Receiver 11 Middle shell 331 First buckle 111 Mounting slot 333 Second buckle 13 base plate 35 Receiving element 131 Exit port 37 Light-transmitting cover 15 Anterior sidewall 70 water tank 30 Ground inspection sensors 80 Steering wheel 31 Emitter 90 drive wheel 311 transmitter

[0030] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0033] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0034] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0035] This invention proposes a sweeping robot 100.

[0036] Please refer to Figures 1 to 5 In this embodiment of the invention, the robotic vacuum cleaner 100 includes:

[0037] Housing 10, the housing 10 having an outlet 131 facing the surface to be cleaned; and

[0038] The ground detection sensor 30 is disposed inside the housing 10. The ground detection sensor 30 includes a transmitting element 31. The transmitting end of the transmitting element 31 is disposed facing the emission port 131. The cross-sectional dimension of the emission port 131 increases in the emission direction of the ground detection sensor 30.

[0039] In this embodiment, the sweeping robot 100 has both dust removal and mopping functions. Therefore, its housing 10 includes a dust removal device, a water tank 70, and a pump. The water tank 70 stores water to provide a water source for the grounding mop of the sweeping robot 100. The pump extracts and delivers the water to the mop, thus achieving the mopping function. To facilitate the protection and separation of the internal components, the housing 10 includes a middle shell 11, which forms various chambers and grooves to accommodate the various components, allowing for a rational layout. The housing 10 also includes a top cover, side walls, and a bottom plate 13, which cover the upper and lower surfaces and peripheral surfaces of the middle shell 11, respectively, providing protection for components that do not need to be exposed and improving visibility. The outer shape of the housing 10 can be disc-shaped, which is aesthetically pleasing, and its smooth edges prevent sharp bumps or impacts, improving safety.

[0040] Specifically, the bottom of the robotic vacuum cleaner 100 is equipped with drive wheels 90 and steering wheels 80 for driving the robot to walk and turn along the ground. To prevent the robotic vacuum cleaner 100 from tipping over when encountering stepped terrain, it also includes a ground detection sensor 30. This sensor works by emitting ultrasonic detection signals to detect the distance between its bottom and the ground. When the distance exceeds a preset value, it emits a tipping signal, controlling the robotic vacuum cleaner 100 to turn or reverse. Of course, the ground detection sensor 30 can also be a touch sensor, infrared sensor, sonar sensor, etc., and is not limited here. Here, the side wall of the housing 10 has a front side wall 15, which is the side wall facing the direction of travel during normal operation of the robotic vacuum cleaner 100. It can also be equipped with a bumper plate that can move between positions away from and close to the front side wall 15, improving the protection of the robotic vacuum cleaner 100. In an optional embodiment, the ground detection sensor 30 is placed inside the housing 10 and near the front side wall 15. Given that the housing 10 has a disc-shaped appearance, it is preferably placed near the middle of the front side wall 15. This allows the ground detection sensor 30 to be located at the very front of the robot vacuum cleaner 100, enabling it to detect the robot vacuum cleaner 100 before its center of gravity reaches the suspended position. This allows the robot vacuum cleaner 100 to avoid danger in time and prevent it from tipping over.

[0041] Meanwhile, the ground detection sensor 30 includes a transmitting element 31. In order for the detection signal emitted by the transmitting element 31 of the ground detection sensor 30 to reach the surface to be cleaned, the housing 10 has an emission port 131, and the transmitting end 311 of the transmitting element 31 is arranged facing the emission port 131. Moreover, the cross-sectional dimension of the emission port 131 tends to increase in the emission direction of the sensor. Here, the cross-section of the emission port 131 is a section perpendicular to its axis, and the increasing trend can be that the emission port 131 gradually increases as a whole; or it can be partially unchanged and partially gradually increased; or it can increase in a step-like manner, which is not limited here.

[0042] The robotic vacuum cleaner 100 of this invention includes a housing 10 and a ground detection sensor 30. The ground detection sensor 30 includes a transmitting element 31. The housing 10 has an emission port 131 facing the surface to be cleaned. The transmitting end 311 of the transmitting element 31 is correspondingly arranged with the emission port 131, so that the signal light emitted by the transmitting end 311 of the transmitting element 31 can be projected onto the ground through the emission port 131 to achieve the purpose of terrain detection. At the same time, the cross-section of the emission port 131 increases in the direction of emission of the transmitting end 311, that is, the emission port 131 is flared, which corresponds to the diffusion trend of the signal light emitted by the transmitting end 311. This ensures that the inner wall of the emission port 131 does not obstruct the signal light, ensuring that the light can be fully emitted, improving the accuracy of detection, and effectively preventing the robotic vacuum cleaner 100 from tipping over.

[0043] Please continue to refer to Figure 4 and Figure 5 In an optional embodiment, the edge of the ejection port 131 near the surface to be cleaned is chamfered.

[0044] In this embodiment, to simplify processing, after the housing 10 is provided with an emission hole 131, a chamfer is then provided on the edge of the emission hole 131 near the ground; alternatively, the chamfer and the emission hole 131 can be integrally formed using a mold, which is simple, quick, and easy to demold, improving processing efficiency. The chamfer needs to be arranged around the periphery of the emission hole 131 so that the periphery of the emission hole 131 does not affect the transmission of the detection signal from the transmitting element 31, improving the signal transmission success rate and ensuring the accuracy of the ground detection sensor 30.

[0045] Please continue to refer to Figure 3 In an optional embodiment, the base plate 13 covers the surface of the middle shell 11 facing the surface to be cleaned, the middle shell 11 forms a mounting groove 111, the ground detection sensor 30 is disposed in the mounting groove 111, and the base plate 13 has an emission hole 131 opposite to the opening of the mounting groove 111.

[0046] In this embodiment, to facilitate the fixing of the ground detection sensor 30, a mounting groove 111 is provided on the middle shell 11. The opening of the mounting groove 111 faces the surface to be detected. The ground detection sensor 30 is installed in the mounting groove 111, thereby achieving stable installation. At the same time, the bottom plate 13 has an emission hole 131 opposite to the opening of the mounting groove 111, so that the signal emitted by the ground detection sensor 30 can be emitted through the emission hole 131. The chamfered emission hole 131 on the bottom plate 13 also facilitates processing and demolding, improving processing efficiency.

[0047] Please refer to this again. Figure 5 In an optional embodiment, the chamfer angle α of the emission port 131 is greater than 10°.

[0048] In this embodiment, to achieve a compact structure and avoid occupying too much space on the base plate 13, the size of the emission hole 131 is set to be equal to the opening size of the mounting groove 111. Furthermore, to accommodate the signal transmission of the transmitting element 31, the periphery of the emission hole 131 needs to be chamfered. The chamfer angle of the emission hole 131 on a certain longitudinal section is equivalent to half the transmission angle of the ground detection sensor 30. Therefore, considering the typical transmission angle range of the ground detection sensor 30, the chamfer angle α of the emission hole 131 is set to be greater than 10°, thus ensuring good compatibility with the transmission angle of the transmitting element 31, effectively reducing obstruction to the transmitted signal, and improving the detection efficiency and accuracy of the ground detection sensor 30. In addition, the chamfer position of the emission hole 131 can be set according to the distance between the transmitting element 31 and the base plate 13, effectively ensuring the emission of the detection signal.

[0049] Please combine Figure 3 , Figures 6 to 8 In an optional embodiment, the ground detection sensor 30 further includes a mounting base 33, which has a mounting cavity and a transmission port 33a communicating with the mounting cavity. The transmitting element 31 is disposed in the mounting cavity, and the transmitting end 311 of the transmitting element 31 is disposed facing the transmission port 33a. The mounting base 33 is detachably connected to the mounting groove 111.

[0050] In this embodiment, to facilitate the installation and removal of the ground detection sensor 30, the ground detection sensor 30 includes a mounting base 33. The mounting base 33 forms a mounting cavity and a transmitting port 33a communicating with the mounting cavity. The transmitting port 33a communicates with the opening of the mounting groove 111. The transmitting element 31 is disposed in the receiving cavity, and the transmitting end 311 is positioned facing the transmitting port 33a, thereby enabling the detection signal to be transmitted through the transmitting port 33a and the opening of the mounting groove 111. The mounting base 33 and the mounting groove 111 are detachably connected, which can be a snap-fit ​​connection, a threaded connection, or a plug-in connection, etc., and is not limited here. The mounting base 33 provides a protective space for the transmitting element 31, and when maintenance and replacement of the transmitting element 31 are required, the housing 10 can be directly removed by disconnecting the mounting base 33, avoiding damage to the transmitting element 31 due to direct contact with the mounting groove 111, and improving the performance stability and ease of installation and removal of the ground detection sensor 30.

[0051] Specifically, the mounting base 33 includes a first snap plate 331 and a second snap plate 333 that are detachably connected. The two snap plates are fastened together to form a mounting cavity and a firing port 33a. Here, the first snap plate 331 and the second snap plate 333 can be made of plastic. On the one hand, the separate mounting base 33 can facilitate processing and demolding. On the other hand, it can also facilitate the installation of the firing element 31 into the mounting cavity for fixation.

[0052] In an optional embodiment, the ground detection sensor 30 further includes a receiving element 35, which is disposed in the mounting cavity and spaced apart from the transmitting element 31. The mounting base 33 has a receiving port 33b corresponding to the receiving end of the receiving element 35, and the transmitting end 311 of the transmitting element 31 is inclined toward the center of the emission port 131.

[0053] In this embodiment, it is understood that the ground detection sensor 30 also includes a receiving element 35 for receiving the detection signal fed back from the ground, thereby performing terrain judgment and analysis based on the time difference between the transmitted and reflected signals. The receiving element 35 is also disposed within the mounting cavity. Both the receiving element 35 and the transmitting element 31 are mounted within the mounting cavity, and the mounting base 33 has a receiving port 33b. This structure allows for a compact design, saving internal space in the housing 10. Specifically, a partition is also provided within the mounting cavity, positioned between the receiving element 35 and the transmitting element 31. This partition effectively blocks crosstalk and interference between the transmitted and received signals, improving the detection accuracy of the ground detection sensor 30. Of course, in other embodiments, the receiving element 35 may not be located in the same mounting cavity as the transmitting element 31, or it may be disposed separately. Furthermore, the transmitting element 31 and the receiving element 35 each occupy half the space of the mounting base 33, thereby ensuring that the probability of the ground detection sensor 30 transmitting and receiving signals is equal, achieving effective detection.

[0054] Meanwhile, the transmitter 311 is tilted towards the centerline of the emission hole 131, which can compensate for the misalignment of the transmitter element 31 and receiver element 35, which are both installed in the same mounting cavity and correspond to the same emission hole 131. This allows the emitted detection signals to be emitted from the center of the emission hole 131, further reducing the obstruction of the inner wall of the emission hole 131 to the detection signal, improving the emission rate of the detection signal, and improving the detection accuracy.

[0055] In an optional embodiment, the ground detection sensor 30 further includes a light-transmitting cover 37, which is connected to the mounting base 33 and covers the transmitting port 33a and the receiving port 33b.

[0056] In this embodiment, to protect the transmitting element 31 and receiving element 35 within the mounting base 33 and prevent debris from the surface to be cleaned from entering the mounting cavity, the ground detection sensor 30 also includes a light-transmitting cover 37. This light-transmitting cover 37 is plate-shaped and its size is adapted to the transmitting port 33a and receiving port 33b, covering them to seal the mounting cavity and effectively prevent foreign objects from entering, ensuring the good performance of the ground detection sensor 30. The light-transmitting cover 37 is made of a light-transmitting material, ensuring that the transmitted signal from the transmitting element 31 and the received signal from the receiving element 35 can pass through without attenuation, thus ensuring the good detection performance of the ground detection sensor 30. Here, two light-transmitting covers 37 are provided: one adapted to the transmitting port 33a and the other adapted to the receiving port 33b.

[0057] Please refer to the reference. Figure 9 and Figure 10 In an optional embodiment, two ground detection sensors 30 are provided, and the two transmitting elements 31 of the two ground detection sensors 30 are oriented in a direction away from each other.

[0058] In this embodiment, two ground detection sensors 30 are provided, spaced apart in the left-right direction of the sweeping robot 100. This left-right direction is the tangential direction tangent to the middle of the front sidewall 15 of the sweeping robot 100. The two ground detection sensors 30 can be arranged symmetrically with respect to the tangential plane perpendicular to the front sidewall 15, thereby enabling more uniform detection of the terrain in front of the sweeping robot 100. Specifically, the transmitting element 31 includes a transmitting end 311 and a wire connected to the rear side of the transmitting end 311. This wire is used to connect to the control system, thereby controlling the signal transmission of the transmitting element 31 through the control system. Furthermore, the transmission detection signals of the two transmitting elements 31 with the two ground detection sensors 30 are both opposite to each other; that is, the transmitting end 311 of one transmitting element 31 is tilted away from the direction of the other transmitting element 31, thus obtaining an inclined transmission angle. This effectively avoids mutual interference between the transmission signals of the two ground detection sensors 30, thereby improving the accuracy and stability of the suspended detection.

[0059] Please refer to this again. Figure 1 In an optional embodiment, the robotic vacuum cleaner 100 further includes a lidar, which is disposed inside the housing 10, and the side wall of the housing 10 is provided with a laser emission port 10a; the lidar can be exposed through the laser emission port 10a so that the signal emitted by the lidar can be emitted through the laser emission port 10a.

[0060] In this embodiment, the lidar emits a laser beam, which is reflected back when encountering obstacles during movement. This allows for distance detection of the obstacle and the ability to take appropriate avoidance actions. By housing the lidar inside the housing 10, the protruding structure is protected from impacts during movement, improving its safety. Furthermore, the concealed location effectively reduces dust and debris accumulation, preventing interference with the laser signal emission and improving the lidar's detection performance. A laser emission port 10a is provided on the side wall of the housing 10, extending circumferentially along the front side wall 11 to form an arc-shaped opening. The lidar is partially exposed through this port, ensuring the laser signal can be directly emitted, thus guaranteeing a clear laser path.

[0061] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A robotic vacuum cleaner for cleaning surfaces, characterized in that, include: The housing has an outlet facing the surface to be cleaned; and A ground detection sensor is disposed within the housing. The ground detection sensor includes a transmitting element, the transmitting end of which is oriented toward the emission port, and the cross-sectional dimension of the emission port increases in the emission direction of the ground detection sensor. The edge of the outlet near the surface to be cleaned is chamfered. The housing includes a middle shell and a bottom plate. The bottom plate covers the surface of the middle shell facing the surface to be cleaned. The middle shell has a mounting groove. The ground detection sensor is disposed in the mounting groove. The bottom plate has an outlet hole opposite to the opening of the mounting groove. The size of the emission port is equal to the opening size of the mounting groove, and the chamfer angle of the emission port on any longitudinal section is equivalent to half the emission angle of the ground detection sensor. The emission aperture is flared, corresponding to the diffusion trend of the signal light emitted by the transmitting end, so that the inner wall of the emission aperture will not obstruct the signal light, ensuring that the light can be emitted completely.

2. The sweeping robot as described in claim 1, characterized in that, The chamfer angle α of the exit hole is greater than 10°.

3. The sweeping robot as described in claim 2, characterized in that, The ground detection sensor also includes a mounting base, which has a mounting cavity and a transmitting port communicating with the mounting cavity. The transmitting element is disposed in the mounting cavity, with the transmitting end of the transmitting element facing the transmitting port. The mounting base is detachably connected to the mounting groove.

4. The sweeping robot as described in claim 3, characterized in that, The ground detection sensor also includes a receiving element, which is disposed in the mounting cavity and spaced apart from the transmitting element. The mounting base has a receiving port corresponding to the receiving end of the receiving element, and the transmitting end of the transmitting element is inclined toward the center of the emission port.

5. The sweeping robot as described in claim 4, characterized in that, The ground detection sensor also includes a light-transmitting cover, which is connected to the mounting base and covers the transmitting port and the receiving port.

6. The sweeping robot as described in any one of claims 1 to 2, characterized in that, The housing has a front sidewall facing the direction of travel, and the ground detection sensor is positioned near the middle of the front sidewall.

7. The sweeping robot as described in claim 6, characterized in that, The ground detection sensor is provided in two parts, and the two transmitting elements of the two ground detection sensors are emitting in a direction away from each other.

8. The sweeping robot as described in claim 1, characterized in that, The robotic vacuum cleaner also includes a lidar, which is located inside the housing. The side wall of the housing has a laser emission port. The lidar can be exposed through the laser emission port so that the signal emitted by the lidar can be emitted through the laser emission port.

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