Cleaning robot

Abstract

The application discloses a cleaning robot, which comprises a base, a radar cover, a radar, a sensor support, a plurality of side anti-collision sensors and two upper anti-collision sensors, the radar is fixed on the base, the radar cover is movably connected to the base and covers the radar, the two upper anti-collision sensors are respectively arranged at the front side edge of the sensor support and the rear side edge of the sensor support, the sensing surface of the upper anti-collision sensor faces the upper side of the cleaning robot, the plurality of side anti-collision sensors are arranged at the two side edges of the sensor support at intervals, the sensing surface of the side anti-collision sensor faces the side of the cleaning robot, the radar cover has a first trigger surface and a second trigger surface, a plurality of first elastic members are arranged between the radar cover and the base, the radar cover can be lifted and lowered along with the stretching and contraction of the plurality of first elastic members in a first direction, and the radar cover can move in a first plane, and the first plane is perpendicular to the first direction.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of household intelligent devices, and particularly relates to a cleaning robot. BACKGROUND

[0002] Household intelligent devices play an increasingly important role in people's life. Therefore, more and more household intelligent devices appear in people's life. Among them, the cleaning robot is a relatively common household intelligent device.

[0003] In the specific working process, the cleaning robot gradually completes the cleaning work as it travels. As we know, the cleaning robot needs to travel on the ground for cleaning. However, in many cases, the cleaning robot will collide with the objects in the environment during the travel, and finally more easily cause the cleaning robot to be damaged. Based on this, the cleaning robot related to the related art is provided with an anti-collision sensor, but cannot better avoid the collision of the cleaning robot. SUMMARY

[0004] The purpose of the embodiment of the application is to provide a cleaning robot, which can solve the problem in the related art that the cleaning robot is provided with an anti-collision sensor, but still cannot better avoid the collision of the cleaning robot.

[0005] In order to solve the above technical problems, the application is implemented as follows:

[0006] The embodiment of the application provides a cleaning robot, which comprises a base, a radar cover, a radar, a sensor support, a plurality of side anti-collision sensors and two upper anti-collision sensors, wherein:

[0007] The radar is fixed on the base, the radar cover is movably connected to the base, and covers the radar;

[0008] The two upper anti-collision sensors are respectively arranged at the front side edge of the sensor support and the rear side edge of the sensor support, the sensing surface of the upper anti-collision sensor faces the upper side of the cleaning robot, and the plurality of side anti-collision sensors are arranged at the two side edges of the sensor support in a spaced manner, and the sensing surface of the side anti-collision sensor faces the side of the cleaning robot;

[0009] The radar cover has a first trigger surface and a second trigger surface, the first trigger surface is arranged opposite to the sensing surface of the upper anti-collision sensor one by one, and the second trigger surface is arranged opposite to the sensing surface of the side anti-collision sensor one by one;

[0010] A plurality of first elastic members are arranged between the radome and the base, the radome can be lifted and lowered along with the plurality of first elastic members in a first direction, and the radome can move in a first plane that is perpendicular to the first direction.

[0011] In the embodiment of the present application, by arranging a plurality of upward anti-collision sensors and a plurality of side anti-collision sensors on the sensor support, the cleaning robot can detect obstacles in a plurality of directions upward and a plurality of directions sideward, so that the cleaning robot can avoid obstacles in a plurality of directions, avoid the cleaning robot colliding with objects in the user's room, and thus better protect the cleaning robot and the objects in the user's room, and of course avoid the cleaning robot being damaged. It can be seen that the present application can solve the problem in the related art that although the cleaning robot is provided with anti-collision sensors, the cleaning robot still cannot avoid collision well. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 A top view of the cleaning robot disclosed in the embodiment of the present application is shown in FIG. 1; Figure 1 Only the distribution relationship of the side anti-collision sensors and the upward anti-collision sensors is shown, and in the actual structure, the side anti-collision sensors and the upward anti-collision sensors can be in a hidden state;

[0013] Figure 2 A perspective view of the cleaning robot disclosed in the embodiment of the present application is shown in FIG. 2;

[0014] Figure 3 A structure diagram of the cleaning robot disclosed in the embodiment of the present application when the decorative panel and the radome are removed is shown in FIG. 3;

[0015] Figure 4 A magnified view of A of FIG. 1 is shown in FIG. 4; Figure 3 A magnified view of B of FIG. 1 is shown in FIG. 5;

[0016] Figure 5 A structure diagram of the radome in one angle disclosed in the embodiment of the present application is shown in FIG. 6;

[0017] Figure 6 A structure diagram of the radome in another angle disclosed in the embodiment of the present application is shown in FIG. 7;

[0018] Figure 7 A structure diagram of the cleaning robot disclosed in the embodiment of the present application when the decorative panel is removed is shown in FIG. 8;

[0019] Figure 8 A magnified view of B of FIG. 1 is shown in FIG. 5; Figure 7 A magnified view of B of FIG. 1 is shown in FIG. 5;

[0020] Figure 9 An exploded view of the cleaning robot disclosed in the embodiment of the present application is shown in FIG. 9.

[0021] Reference Signs List:

[0022] 100-base, 110-first limiting surface, 120-limiting rib, 130-first gap, 140-threaded connection hole,

[0023] 200-radar cover, 210-first triggering surface, 220-second triggering surface, 230-first positioning column, 240-flaky flange, 250-second positioning column, 260-second limiting surface, 270-lateral hollow hole, 280-convex rib, 200a-cover part, 200b-triggering part,

[0024] 300-radar,

[0025] 400-sensor support,

[0026] 500-side anti-collision sensor,

[0027] 600-upper anti-collision sensor,

[0028] 700-first elastic member,

[0029] 800-second elastic member,

[0030] 900-cotton member,

[0031] 1000-decorative panel, 1010-avoidance hole,

[0032] 1100-threaded connecting member,

[0033] 1200-radar support. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] The terms "first", "second", and the like in the description and in the claims of the present application are used for distinguishing between similar objects and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of such terms as "first", "second", and the like, if they are used in the present application, are used to distinguish one object from another in a particular embodiment and are not necessarily used to describe a particular sequential or chronological order. Also, the use of the terms first, second, and the like, if they are used in the present application, are not necessarily used "chronologically" or to denote any temporally based meaning, as these terms are used to distinguish one object from another object of a different class. For example, a first object can be an object of a first class and a second object can be an object of a second class; or, as another example, a first object can be one of two or more objects of a class, and a second object can be one of two or more objects of that same class. Further, the terms "and / or", "and / or", when such terms are used in the present application, are used to associate one or more objects with another object such that the associated object(s) can be present (or can not be present) with the other object. The term " / " is generally used to indicate an "or" relationship between the associated objects.

[0036] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and specific embodiments and application scenarios thereof.

[0037] As shown in the Figures 1 to 9 application discloses a cleaning robot, which can be a sweeping robot, the cleaning robot comprising a base 100, a radar cover 200, a radar 300, a sensor support 400, a plurality of side anti-collision sensors 500 and two upper anti-collision sensors 600.

[0038] The radar 300 is fixed on the base 100, which can be beneficial to the obstacle avoidance of the cleaning robot. The radar cover 200 is movably connected to the base 100 and covers the radar 300, thereby protecting the radar 300. Optionally, the radar 300 can be fixed on a radar support 1200 by screws, and the radar support 1200 can be fixed on the base 100 by screws.

[0039] The sensor support 400 is fixed on the base 100. The two upper anti-collision sensors 600 are respectively arranged at the front side edge of the sensor support 400 and the rear side edge of the sensor support 400, and the sensing surfaces of the upper anti-collision sensors 600 face upward of the cleaning robot. The plurality of side anti-collision sensors 500 are arranged at the two side edges of the sensor support 400 in a spaced manner, the side edges refer to the portions between the front side edge and the rear side edge, and the sensing surfaces of the side anti-collision sensors 500 face the side of the cleaning robot. Optionally, the sensor support 400 can be a printed circuit board, and the upper anti-collision sensors 600 and the side anti-collision sensors 500 can be electrically connected to the printed circuit board, so that the sensor support 400 can not only provide a mounting basis for the upper anti-collision sensors 600 and the side anti-collision sensors 500, but also can supply power for the upper anti-collision sensors 600 and the side anti-collision sensors 500. The upper anti-collision sensors 600 and the side anti-collision sensors 500 can all be obstacle avoidance sensors.

[0040] The radar cover 200 has a first trigger surface 210 and a second trigger surface 220, the first trigger surface 210 is arranged opposite to the sensing surface of the upper anti-collision sensor 600, and the second trigger surface 220 is arranged opposite to the sensing surface of the side anti-collision sensor 500.

[0041] When the radar cover 200 is pressed by the upper obstacle during the cleaning robot moving, the radar cover 200 moves downward, the first trigger surface 210 of the radar cover 200 contacts the sensing surface of the upper anti-collision sensor 600, so that the upper anti-collision sensor 600 is triggered, and after the upper anti-collision sensor 600 is triggered, the cleaning robot can stop moving in the triggered direction, so that the cleaning robot avoids the obstacle.

[0042] The two upper anti-collision sensors 600 are respectively located at the front side edge and the rear side edge of the sensor support 400, so that when the cleaning robot is pressed by the upper obstacles at various positions, the upper anti-collision sensor 600 can be triggered, and the problem that the cleaning robot continues to move and is hit due to that the upper anti-collision sensor 600 cannot detect the upper obstacle in time when the distance between the position where the radar cover 200 is pressed and the upper anti-collision sensor 600 is far away under the condition that there is only one upper anti-collision sensor 600.

[0043] When the radar cover 200 is pressed by the side obstacle during the cleaning robot moving, the radar cover 200 moves in the side direction, the second trigger surface 220 of the radar cover 200 contacts the sensing surface of the side anti-collision sensor 500, so that the side anti-collision sensor 500 is triggered, and after the side anti-collision sensor 500 is triggered, the cleaning robot can stop moving in the triggered direction, so that the cleaning robot avoids the obstacle.

[0044] The multiple side anti-collision sensors 500 are arranged at the two side edges of the sensor support 400 at intervals, so that when the cleaning robot is pressed by the side obstacles at various positions, the side anti-collision sensor 500 can be triggered, and the cleaning robot can more sensitively avoid the obstacles at multiple positions in the side direction of the cleaning robot.

[0045] The multiple first elastic members 700 are arranged between the radar cover 200 and the base 100, and the radar cover 200 can be lifted and lowered with the multiple first elastic members 700 stretching and contracting in the first direction. The first direction can be a vertical direction, when the top of the radar cover 200 is pressed by the upper obstacle, the first elastic member 700 is compressed to deform, when the pressing force of the top of the radar cover 200 disappears, the upper anti-collision sensor 600 resets to drive the radar cover 200 to move in the direction of the initial position, and the first elastic member 700 restores the deformation to also drive the radar cover 200 to restore to the initial position, so that the reset of the radar cover 200 is realized.

[0046] The radar cover 200 can move to the side in a first plane, and the first plane is perpendicular to the first direction. When the side of the radar cover 200 is pressed by a side obstacle, the first elastic member 700 is bent under the driving of the radar cover 200, so that the first elastic member 700 is deformed. When the pressing force of the side of the radar cover 200 disappears, the side collision sensor 500 resets itself and drives the radar cover 200 to move to the initial position, the first elastic member 700 recovers from the bent state to the original state, and the radar cover 200 also recovers to the initial position, so that the radar cover 200 is reset.

[0047] In this structure, the position of the radar cover 200 changes due to the pressing of the obstacle, and after the external force acting on the radar cover 200 disappears, the corresponding upper collision sensor 600 or side collision sensor 500 can reset the radar cover 200 through the reset function of the sensor itself and the reset function of the first elastic member 700, so that the radar cover 200 cannot be reset, and one or more collision sensors are always in the triggered state.

[0048] In the embodiment of the present application, by arranging a plurality of upper collision sensors 600 and a plurality of side collision sensors 500 on the sensor support 400, the cleaning robot can detect obstacles in multiple directions above and multiple directions on the side, so that the cleaning robot can avoid obstacles in more directions, avoid collision between the cleaning robot and objects in the user's room, and better protect the cleaning robot and objects in the user's room, and improve the user's experience. It can be seen that the present application can solve the problem in the related art that although the cleaning robot is provided with a collision sensor, the cleaning robot still cannot avoid collision well.

[0049] In an optional embodiment, one end of the first elastic member 700 can be bonded to the base 100, and the other end can be bonded to the radar cover 200, so that the first elastic member 700 is fixedly connected to the base 100 and the radar cover 200.

[0050] In an alternative embodiment, one of the base 100 and the radar cover 200 can be provided with a first positioning groove, and the other can be provided with a first positioning column 230. The first elastic member 700 can be a first telescopic spring. The first end of the first telescopic spring can be positioned in the first positioning groove, and the second end of the first telescopic spring can be sleeved on the first positioning column 230. The first positioning groove can be provided in the base 100, and the first positioning column 230 can be provided in the radar cover 200. In order to reduce the weight of the radar cover 200, the first positioning column 230 can be provided in a hollow structure. The first elastic member 700 can also be an elastic column or other elastic structural member, and the present application does not limit this. The number of first elastic members 700 can be three, which are arranged at intervals along the circumference of the radar cover 200. Of course, the number of first elastic members 700 can be adjusted according to requirements, and the present application does not limit this.

[0051] In this case, the first positioning groove and the first positioning column 230 can realize the assembly of the first elastic member 700, which is simple in structure, convenient to operate, high in assembly stability, and convenient for disassembly and assembly of the radar cover 200 and the first elastic member 700, and convenient for subsequent maintenance and replacement of the radar cover 200 and the first elastic member 700.

[0052] The base 100 can be provided with a groove, and a first gap 130 is formed between the sensor support 400 and the side wall of the groove. The radar cover 200 has a plurality of flaky flanges 240, and the plurality of flaky flanges 240 all extend into the first gap 130. The opening of the first gap 130 faces upward of the cleaning robot. The inner side surface of the flaky flange 240 facing the sensor support 400 is a second trigger surface 220. The plurality of flaky flanges 240 are in one-to-one correspondence with the plurality of side anti-collision sensors 500. The second trigger surface 220 is opposite to the sensing surface of the side anti-collision sensor 500, so as to ensure that the side anti-collision sensor 500 can be triggered smoothly. The first trigger surface 210 can be perpendicular to the second trigger surface 220.

[0053] In this case, at least part of the radar cover 200 is located in the groove of the base 100, which can reduce the height of the radar cover 200, and further reduce the overall height of the cleaning robot. Compared with the technical solution in which the part of the radar cover 200 located in the first gap 130 is a closed loop annular structure, the technical solution in which the plurality of flaky flanges 240 are arranged at intervals in the present application can also reduce the weight of the radar cover 200, so as to enhance the sensitivity of the movement of the radar cover 200, and further enhance the sensitivity of the obstacle detection of the cleaning robot.

[0054] The flaky flange 240 extends into the first gap 130, and when the flaky flange 240 contacts with the groove wall, it can prevent the radar cover 200 from continuing to move, and further avoid the radar cover 200 from being excessively moved in the lateral direction and causing the side anti-collision sensor 500 to be crushed.

[0055] For example, when the radar cover 200 moves to trigger the side collision sensor 500 located at the front left, the side collision sensor 500 located at the front left is deformed and shrunk, the radar cover 200 moves towards the direction of the groove wall corresponding to the side collision sensor 500 located at the rear right, and as the radar cover 200 continues to move, the side collision sensor 500 located at the front left continues to be deformed and shrunk, until the side collision sensor 500 located at the front left is shrunk to the minimum size, the flange 240 corresponding to the side collision sensor 500 located at the rear right is in contact with the groove wall, preventing the radar cover 200 from continuing to move, thereby preventing the side collision sensor 500 located at the front left from being damaged. The principle of the flange 240 cooperating with the groove wall to protect other side collision sensors 500 is the same as that of protecting the side collision sensor 500 located at the front left, and will not be described here.

[0056] The application can realize the lateral reset of the radar cover 200 through the self-reset function of the side collision sensor 500 and the reset function of the first elastic member 700, and in a further technical solution, a plurality of second elastic members 800 can be arranged between the radar cover 200 and the base 100, the plurality of second elastic members 800 correspond one-to-one to the side collision sensors 500, and the radar cover 200 can move in the first plane with the extension and contraction of the second elastic members 800, the first plane being perpendicular to the first direction, and the second elastic members 800 extending and contracting in the first plane.

[0057] After the radar cover 200 moves laterally, the corresponding second elastic member 800 is compressed to deform, and after the extrusion force on the side of the radar cover 200 disappears, the corresponding second elastic member 800 recovers the deformation and drives the radar cover 200 to reset. In this case, the second elastic member 800 as a special lateral reset device can assist the reset of the radar cover 200 after lateral movement, improving the reset effect of the radar cover 200 after lateral movement.

[0058] In an alternative embodiment, one end of the second elastic member 800 can be bonded to the base 100, and the other end can be bonded to the radar cover 200, so that the second elastic member 800 is fixedly connected to the base 100 and the radar cover 200.

[0059] In an alternative embodiment, one of the outer side surface of the flaky flange 240 and the side wall of the groove can be provided with a second positioning groove, and the other can be provided with a second positioning column 250. The second elastic member 800 can be a second telescopic spring. The first end of the second telescopic spring can be positioned in the second positioning groove, and the second end of the second telescopic spring can be sleeved on the second positioning column 250. The second positioning groove can be provided on the side wall of the groove, and the second positioning column 250 can be provided on the flaky flange 240 and located on the side of the flaky flange 240 away from the sensor support 400. The second elastic member 800 can also be an elastic column or other elastic structural member, which is not limited in the present application.

[0060] In this case, the assembly of the second elastic member 800 is realized through the second positioning groove and the second positioning column 250, which is simple in structure, convenient to operate, high in assembly stability, facilitates the disassembly and assembly of the radar cover 200 and the second elastic member 800, and facilitates the subsequent maintenance and replacement of the radar cover 200 and the second elastic member 800.

[0061] In addition, the second positioning groove is provided on the side wall of the groove, which can fully utilize the space of the groove and also facilitate the sinking of the second positioning groove and the second positioning column 250, so that the structure of the cleaning robot is more compact.

[0062] In order to avoid excessive lowering of the radar cover 200 to crush the upper anti-collision sensor 600, the base 100 can be provided with a first limiting surface 110, and the radar cover 200 can be provided with a second limiting surface 260. The first limiting surface 110 and the second limiting surface 260 can be limited in cooperation in the lowering direction of the radar cover 200. The first triggering surface 210 protrudes from the first limiting surface 110 to ensure that the upper anti-collision sensor 600 can be triggered smoothly. In the case that the first triggering surface 210 triggers the sensing surface of the corresponding upper anti-collision sensor 600 and the upper anti-collision sensor 600 shrinks to the minimum size, the first limiting surface 110 and the second limiting surface 260 are in contact. The number of the first limiting surface 110 and the second limiting surface 260 can be four. Of course, the number of the first limiting surface 110 and the second limiting surface 260 can be adjusted according to requirements, which is not limited in the present application.

[0063] When the top of the radar cover 200 is pressed, the radar cover 200 moves downward and contacts the upper anti-collision sensor 600, which is triggered. The upper anti-collision sensor 600 deforms and shrinks when it is triggered. With the continuous movement of the radar cover 200, the upper anti-collision sensor 600 continuously shrinks until it shrinks to the minimum size, at which time the first limiting surface 110 and the second limiting surface 260 are in contact, preventing the upper anti-collision sensor 600 from continuing to descend, thereby avoiding excessive lowering of the radar cover 200 to crush the upper anti-collision sensor 600.

[0064] In order to avoid the radar cover 200 from moving too much to the side and crushing the side collision sensor 500, in the embodiment of the present application, the base 100 can be provided with a limiting rib 120, and the radar cover 200 can be provided with a third limiting surface, the limiting rib 120 and the third limiting surface are limitedly matched in the side moving direction of the radar cover 200, when the second trigger surface 220 triggers the sensing surface of the corresponding side collision sensor 500 and the side collision sensor 500 is retracted to the minimum size, the limiting rib 120 and the third limiting surface are in contact, preventing the radar cover 200 from continuing to move, thereby avoiding the radar cover 200 from moving too much to the side and crushing the side collision sensor 500.

[0065] As can be seen from the above, the radar cover 200 can be provided with a flange 240, the flange 240 can extend into the first gap 130, and the side wall of the groove can be provided with a second positioning groove, based on this, the limiting rib 120 can be arranged on the groove wall of the second positioning groove and protrude from the groove wall in the direction close to the flange 240, and the third limiting surface can be the surface of the flange 240 facing the second positioning groove.

[0066] In order to realize the movable connection of the radar cover 200 and the base 100, the base 100 can be provided with a plurality of threaded connection holes 140, the radar cover 200 can be provided with a plurality of through holes, the plurality of through holes and the plurality of threaded connection holes 140 are one-to-one corresponding, the radar cover 200 can be connected with the base 100 through a plurality of threaded connecting pieces 1100, each threaded connecting piece 1100 passes through the corresponding through hole and is connected with the threaded connection hole 140, the through hole and the rod part of the threaded connecting piece 1100 are guided in the first direction, and the radar cover 200 can move along the rod part of the threaded connecting piece 1100, so that the radar cover 200 can move in the first direction, the cap body of the threaded connecting piece 1100 and the surface where the port of the through hole is located are prevented from being disengaged, and the rod part of the threaded connecting piece 1100 and the hole wall of the through hole have a second gap, so that the radar cover 200 can move to the side.

[0067] In this case, the movable connection of the radar cover 200 and the base 100 can be realized, and the radar cover 200 can also be prevented from falling off the base 100.

[0068] The cleaning robot further comprises a foam piece 900, the foam piece 900 is arranged between the radar cover 200 and the sensor support 400 and surrounds the radar 300, the foam piece 900 is in elastic contact with the radar cover 200, and the foam piece 900 is connected with the sensor support 400. In this case, the foam piece 900 is elastic, and when the radar cover 200 moves downward or to the side, the foam piece 900 is deformed under pressure, and in the process of restoring the deformation, the foam piece 900 can also drive the radar cover 200 to move, thereby assisting the radar cover 200 to reset.

[0069] Specifically, the radar cover 200 can include a cover body part 200a and a triggering part 200b, the triggering part 200b is fixedly connected to the bottom of the cover body part 200a and is arranged around the cover body part 200a, the inner wall of the cover body part 200a is provided with a convex rib 280, in the case that the radar cover 200 is arranged on the base 100, the bottom surface of the convex rib 280 is loaded on the top of the foam piece 900, and the inner wall of the cover body part 200a surrounds and is in close contact with the foam piece 900.

[0070] When the radar cover 200 moves downward, the bottom surface of the convex rib 280 extrudes the foam piece 900, so that the foam piece 900 deforms, when the downward external force acting on the radar cover 200 disappears, the foam piece 900 restores the deformation and drives the radar cover 200 to reset through the bottom surface of the convex rib 280, when the radar cover 200 moves laterally, the inner wall of the cover body part 200a extrudes the foam piece 900, so that the foam piece 900 deforms, when the lateral external force acting on the radar cover 200 disappears, the foam piece 900 restores the deformation and drives the radar cover 200 to reset through the inner wall of the cover body part 200a.

[0071] The first triggering surface 210 and the second triggering surface 220 are both arranged on the triggering part 200b, and the first positioning column 230, the sheet-shaped flange 240, the second positioning column 250 and the second limiting surface 260 mentioned above are all arranged on the triggering part 200b. The lateral hollow hole 270 mentioned below can be arranged on the cover body part 200a.

[0072] In a further technical solution, the cleaning robot further comprises a decorative panel 1000, the decorative panel 1000 is fixed on the base 100, the decorative panel 1000 is provided with a avoiding hole 1010, the radar cover 200 is arranged in the avoiding hole 1010 and protrudes from the decorative panel 1000, the radar cover 200 is provided with a lateral hollow hole 270, and the foam is filled in the avoiding hole 1010 and shields at least part of the lateral hollow hole 270.

[0073] In this case, the decorative panel 1000 can cover the base 100, avoiding the circuit board and electronic devices on the base 100 from being exposed, the lateral hollow hole 270 of the radar cover 200 can be used for the radar 300 to transmit and receive signals, avoiding the problem that the radar cover 200 is closed inside the cleaning robot, resulting in that the radar 300 is not sensitive in transmitting and receiving signals, the foam piece 900 shields part of the lateral hollow hole 270, which can prevent the circuit board and other components on the base 100 from being exposed through the lateral hollow hole 270 to some extent, thereby improving the aesthetics of the cleaning robot.

[0074] The sensor support 400 can be a disc-shaped structure, the side collision sensor 500 can be four, and the upper collision sensor 600 can be two. Each side edge is provided with two side collision sensors 500, and the included angle between adjacent two side collision sensors 500 or between the adjacent side collision sensor 500 and the upper collision sensor 600 can be 60°. Of course, the sensor support 400 can also be other shapes, and the included angle between adjacent collision sensors can also be adjusted according to specific requirements.

[0075] In this case, the installation space of the sensor support 400 can be more evenly utilized, so that the plurality of upper collision sensors 600 and the plurality of side collision sensors 500 can be evenly installed on the sensor support 400. At the same time, the setting mode of the angle makes the four side collision sensors 500 realize side collision detection in four directions as much as possible, and further takes into account the balanced arrangement and the side detection in a larger range.

[0076] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are only illustrative but not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims.

Claims

1. A cleaning robot, characterized in that, The application relates to a radar cover for a cleaning robot, comprising a base (100), a radar cover (200), a radar (300), a sensor support (400), a plurality of side anti-collision sensors (500) and two upper anti-collision sensors (600), wherein: The radar (300) is fixed on the base (100), the radar cover (200) is movably connected to the base (100) and covers the radar (300); The two upper anti-collision sensors (600) are respectively arranged at the front side edge of the sensor support (400) and the rear side edge of the sensor support (400), the sensing surface of the upper anti-collision sensor (600) faces upward of the cleaning robot, and the plurality of side anti-collision sensors (500) are arranged at the two side edges of the sensor support (400) at intervals, and the sensing surface of the side anti-collision sensor (500) faces the side of the cleaning robot; The radar cover (200) has a first trigger surface (210) and a second trigger surface (220), the first trigger surface (210) is arranged opposite to the sensing surface of the upper anti-collision sensor (600) one by one, and the second trigger surface (220) is arranged opposite to the sensing surface of the side anti-collision sensor (500) one by one; A plurality of first elastic members (700) are arranged between the radar cover (200) and the base (100), the radar cover (200) can be lifted and lowered along the stretching and contracting of the plurality of first elastic members (700) in a first direction, and the radar cover (200) can move in a first plane, and the first plane is perpendicular to the first direction; The base (100) is provided with a groove, a first gap (130) is formed between the sensor support (400) and the side wall of the groove, the radar cover (200) has a plurality of flaky flanges (240), the plurality of flaky flanges (240) all extend into the first gap (130), the opening of the first gap (130) faces upward of the cleaning robot, the inner side surface of the flaky flange (240) facing the sensor support (400) is the second trigger surface (220), the plurality of flaky flanges (240) are arranged opposite to the plurality of side anti-collision sensors (500) one by one, the second trigger surface (220) is arranged opposite to the sensing surface of the side anti-collision sensor (500), and the first trigger surface (210) is perpendicular to the second trigger surface (220). The base (100) is provided with a first limiting surface (110), the radome (200) is provided with a second limiting surface (260), the first limiting surface (110) and the second limiting surface (260) are limitedly matched in the descending direction of the radome (200), the first trigger surface (210) protrudes from the first limiting surface (110), the first trigger surface (210) triggers the sensing surface of the corresponding upper anti-collision sensor (600), and in the case that the upper anti-collision sensor (600) is retracted to the minimum size, the first limiting surface (110) is in contact with the second limiting surface (260).

2. The cleaning robot according to claim 1, wherein, Among the base (100) and the radome (200), one is provided with a first positioning groove, and the other is provided with a first positioning column (230), the first elastic member (700) is a first extension spring, the first end of the first extension spring is positioned in the first positioning groove, and the second end of the first extension spring is sleeved on the first positioning column (230).

3. The cleaning robot according to claim 1, wherein, A plurality of second elastic members (800) are arranged between the radome (200) and the base (100), the plurality of second elastic members (800) correspond to the side anti-collision sensors (500) one by one, the radome (200) can move in the first plane along with the extension and retraction of the second elastic members (800), the first plane is perpendicular to the first direction, and the second elastic members (800) extend and retract in the first plane.

4. The cleaning robot according to claim 3, wherein, The outer surface of the sheet-shaped flange (240) and the sidewall of the groove are provided with a second positioning groove and a second positioning column (250) respectively, the second elastic member (800) is a second extension spring, the first end of the second extension spring is positioned in the second positioning groove, and the second end of the second extension spring is sleeved on the second positioning column (250).

5. The cleaning robot according to claim 1, wherein, The base (100) is provided with a plurality of threaded connection holes (140), the radome (200) is provided with a plurality of through holes, the plurality of through holes correspond to the plurality of threaded connection holes (140) one by one, the radome (200) is connected with the base (100) through a plurality of threaded connecting members (1100), each threaded connecting member (1100) passes through the corresponding through hole and is connected with the threaded connection hole (140), the through hole and the rod part of the threaded connecting member (1100) are guided in the first direction, the cap body of the threaded connecting member (1100) and the surface where the port of the through hole is located are prevented from being separated, and the rod part of the threaded connecting member (1100) and the hole wall of the through hole have a second gap.

6. The cleaning robot according to claim 1, wherein, The cleaning robot further comprises a foam member (900), the foam member (900) is arranged between the radome (200) and the sensor support (400) and surrounds the radar (300), and the foam member (900) is in elastic contact with the radome (200).

7. The cleaning robot according to claim 6, wherein, The cleaning robot further comprises a decorative panel (1000) fixed to the base (100), the decorative panel (1000) is provided with a avoiding hole (1010), the radar cover (200) is arranged in the avoiding hole (1010) and protrudes from the decorative panel (1000), the radar cover (200) is provided with a lateral hollow hole (270), the foam piece (900) is filled in the avoiding hole (1010) and at least partially covers the lateral hollow hole (270).

8. The cleaning robot of claim 1, wherein, The sensor support (400) is a disc-shaped structure, the number of the side anti-collision sensors (500) is four, and the number of the upper anti-collision sensors (600) is two. Each side edge is provided with two side anti-collision sensors (500), and the included angle between adjacent two side anti-collision sensors (500) or between the adjacent side anti-collision sensor (500) and the upper anti-collision sensor (600) is 60°.

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