An identification module and a cleaning robot

Abstract

The application provides a recognition module and a cleaning robot, and relates to the technical field of cleaning robots. The recognition module comprises a shell, a circuit board, a first light-transmitting piece and a balancing piece. The shell has a containing cavity and is provided with a partition plate to form a first containing groove and a second containing groove in communication; the circuit board is arranged in the first containing groove, and one side of the circuit board facing the second containing groove is provided with a trigger switch; the first light-transmitting piece is movably arranged in the second containing groove, one side of the first light-transmitting piece facing the first containing groove is provided with a trigger piece and a mounting piece, the trigger piece penetrates through a first limiting hole of the partition plate and abuts against the trigger switch, the mounting piece penetrates through a second limiting hole of the partition plate, and a periphery of the mounting piece is provided with an elastic piece, and the elastic piece abuts against a stepped surface of the first light-transmitting piece and the second limiting hole, respectively; the balancing piece is rotationally connected with the first light-transmitting piece, and two ends of the balancing piece are swingingly connected with the partition plate. The recognition module provided by the application effectively improves the obstacle avoidance effect of the cleaning robot.

Description

Technical Field

[0001] This application relates to the field of cleaning robot technology, and more particularly to an identification module and a cleaning robot. Background Technology

[0002] With the rapid development of technology and the continuous improvement of people's living standards, more and more families are starting to use smart home appliances, which improve people's comfort and convenience and have a very broad market prospect. Cleaning robots can replace manual labor in sweeping, vacuuming, mopping, and other tasks, reducing the workload of cleaning floors and alleviating physical fatigue, thus leading to their increasingly widespread application. Cleaning robots need to detect surrounding obstacles during their movement in order to plan their route and avoid obstacles.

[0003] In existing technologies, cleaning robots typically use a combination of cameras and lidar to detect obstacles and thus achieve obstacle avoidance. However, because cameras and lidar have narrow detection ranges and blind spots, they struggle to detect obstacles when cleaning corners, edges, or chair legs, resulting in poor obstacle avoidance capabilities. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art. This application provides a recognition module to solve the technical problem of poor obstacle avoidance function of cleaning robots in the prior art.

[0005] This application provides the following technical solution:

[0006] An identification module, comprising:

[0007] The housing has a receiving cavity and is provided with a partition, the partition dividing the receiving cavity into a first receiving groove and a second receiving groove that are interconnected;

[0008] A circuit board is disposed in the first receiving groove, and a trigger switch is provided on the side of the circuit board facing the second receiving groove;

[0009] A first light-transmitting element is movably installed in the second receiving groove. A trigger and a mounting element are provided on the side of the first light-transmitting element facing the first receiving groove. The partition has a first limiting hole and a second limiting hole. The trigger passes through the first limiting hole and abuts against the trigger switch. The mounting element passes through the second limiting hole, and an elastic element is sleeved around the mounting element. The elastic element abuts against the stepped surfaces of the first light-transmitting element and the second limiting hole, respectively.

[0010] A balance member is rotationally connected with the first light-transmitting member, and two ends of the balance member are swingingly connected with the partition plate.

[0011] In some embodiments of the present application, the balance member comprises a first connecting portion and a second connecting portion, an end of the second connecting portion is connected with one end of the first connecting portion, the other end of the first connecting portion is swingingly connected with the partition plate, and the second connecting portion is rotationally connected with the first light-transmitting member.

[0012] In some embodiments of the present application, a first buckle is arranged on a side of the partition plate away from the first accommodating groove, a second buckle is arranged on a side of the first light-transmitting member facing the first accommodating groove, the other end of the first connecting portion is swingingly connected with the partition plate through the first buckle, and the second connecting portion is rotationally connected with the first light-transmitting member through the second buckle.

[0013] In some embodiments of the present application, an axis of the first connecting portion intersects with an axis of the second connecting portion.

[0014] In some embodiments of the present application, the axis of the first connecting portion is perpendicular to the axis of the second connecting portion.

[0015] In some embodiments of the present application, a protruding portion is arranged on an end of the trigger member close to the trigger switch, and the protruding portion abuts against the trigger switch.

[0016] In some embodiments of the present application, the identification module further comprises a fastener, the mounting member is provided with a mounting hole matched with the fastener, the fastener is arranged in the mounting hole, and an end surface of an end of the second limiting hole away from the second accommodating groove abuts against the fastener.

[0017] In some embodiments of the present application, the identification module further comprises a second light-transmitting member, a placing groove is arranged on a side of the partition plate away from the first accommodating groove, and the placing groove is used for placing the second light-transmitting member.

[0018] In some embodiments of the present application, the identification module further comprises a first identification module and a second identification module, the first identification module and the second identification module are arranged in the first accommodating groove, and are arranged towards a direction close to the second accommodating groove, the partition plate is provided with a first avoiding hole and a second avoiding hole, the first avoiding hole is used for avoiding the first identification module, the second avoiding hole is used for avoiding the second identification module, the first light-transmitting member is arranged corresponding to the first identification module, and the second light-transmitting member is arranged corresponding to the second identification module.

[0019] In a second aspect, the present application further provides a cleaning robot comprising the identification module as described above.

[0020] Embodiments of the present application have the following advantages:

[0021] The present application provides a recognition module and a cleaning robot. The recognition module comprises a shell, a circuit board, a first light-transmitting piece and a balancing piece. The shell has a receiving cavity and is provided with a partition plate. The partition plate divides the receiving cavity into a first receiving groove and a second receiving groove which are in communication with each other. The circuit board is arranged in the first receiving groove and is provided with a trigger switch on the side facing the second receiving groove. The first light-transmitting piece is movably arranged in the second receiving groove and is provided with a trigger piece and a mounting piece on the side facing the first receiving groove. The partition plate is provided with a first limiting hole and a second limiting hole. The trigger piece is arranged in the first limiting hole and abuts against the trigger switch. The mounting piece is arranged in the second limiting hole and is provided with an elastic piece which abuts against the step surface of the first light-transmitting piece and the second limiting hole. The balancing piece is rotationally connected with the first light-transmitting piece and is swingingly connected with the partition plate at two ends.

[0022] During work, when the first light-transmitting piece collides with an obstacle, the first light-transmitting piece moves towards the first receiving groove under the action of the collision force to drive the trigger piece to abut against and press the trigger switch. At this time, the elastic piece is compressed. The cleaning robot can perform corresponding obstacle avoidance action according to the indication signal of the trigger switch. After the obstacle avoidance is completed, the first light-transmitting piece is reset under the reset elastic force of the elastic piece to drive the trigger piece to move away from the trigger switch. The cleaning robot normally performs cleaning work. The balancing piece is rotationally connected with the first light-transmitting piece and is swingingly connected with the partition plate at two ends. In this way, the first light-transmitting piece is uniformly and balancedly stressed during the movement towards the first receiving groove when the first light-transmitting piece collides with the obstacle and during the reset under the reset elastic force of the elastic piece. The movement balance and stability of the first light-transmitting piece are effectively improved. The avoidance effect of the cleaning robot on the obstacle is effectively improved. The technical problem that the avoidance function of the cleaning robot on the obstacle is poor in the prior art is solved.

[0023] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are used for reference. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0025] Figure 1 A perspective view of the recognition module in some embodiments of the present application is shown.

[0026] Figure 2 Fig. 6 shows another perspective view of the identification module in some embodiments of the present application;

[0027] Figure 3 Fig. 7 shows yet another perspective view of the identification module in some embodiments of the present application;

[0028] Figure 4 Fig. 8 shows a sectional view of the identification module in some embodiments of the present application;

[0029] Figure 5 Fig. 9 shows a perspective exploded view of the identification module in some embodiments of the present application;

[0030] Figure 6 Fig. 10 shows another perspective exploded view of the identification module in some embodiments of the present application;

[0031] Figure 7 Fig. 11 shows a perspective view of the cleaning robot in some embodiments of the present application.

[0032] Main element symbol explanation:

[0033] 100 - identification module; 110 - shell; 111 - containing cavity; 1111 - first containing groove; 1112 - second containing groove; 112 - partition plate; 1121 - first limiting hole; 1122 - second limiting hole; 1123 - placing groove; 1124 - first avoiding hole; 1125 - second avoiding hole; 1126 - first buckle; 120 - circuit board; 121 - trigger switch; 130 - first light-transmitting piece; 131 - trigger piece; 1311 - protruding part; 132 - mounting piece; 1321 - mounting hole; 133 - second buckle; 140 - elastic piece; 150 - balancing piece; 151 - first connecting part; 152 - second connecting part; 160 - fastening piece; 170 - second light-transmitting piece; 180 - first identification module; 190 - second identification module; 1000 - cleaning robot. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals are used throughout the figures to refer to the same or like elements or elements having the same or similar functionality. The embodiments described below are exemplary and are merely intended to explain the present application, and are not to be understood as limiting the present application.

[0035] It is to be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. It will be understood that, when an element is referred to as being "connected" to or "coupled" to another element, it can be directly on, or remote from, the other element and can be mechanically or electrically connected or coupled to the other element. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0036] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and the like, are to be construed in a broad sense, for example, they can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through intermediate medium; can be internal connection of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second" can include one or more of the features explicitly or implicitly. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically defined.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the template herein is only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0039] As Figures 1 to 5 Embodiments of the present application provide an identification module 100, mainly used for cleaning robot 1000. The identification module 100 includes a housing 110, a circuit board 120 and a first light-transmitting piece 130.

[0040] The housing 110 has a receiving cavity 111 and is provided with a partition plate 112, the partition plate 112 separates the receiving cavity 111 to form a first receiving groove 1111 and a second receiving groove 1112 which are in communication with each other. The circuit board 120 is arranged in the first receiving groove 1111, and the circuit board 120 is provided with a trigger switch 121 on the side facing the second receiving groove 1112.

[0041] Referring to Figure 6The first light-transmitting piece 130 is movably mounted in the second accommodating groove 1112, and a side of the first light-transmitting piece 130 facing the first accommodating groove 1111 is provided with a triggering piece 131 and a mounting piece 132. The partition plate 112 is provided with a first limiting hole 1121 and a second limiting hole 1122. The triggering piece 131 penetrates through the first limiting hole 1121 and abuts against the trigger switch 121. The mounting piece 132 penetrates through the second limiting hole 1122, and the mounting piece 132 is circumferentially sleeved with an elastic piece 140, and the elastic piece 140 abuts against the step surface of the first light-transmitting piece 130 and the second limiting hole 1122, respectively. The balance piece 150 is rotationally connected with the first light-transmitting piece 130, and both ends of the balance piece 150 are swingingly connected with the partition plate 112.

[0042] The circuit board 120 is arranged in the first accommodating groove 1111, and the arrangement can be screw connection or buckle connection, so that the circuit board 120 is stably arranged in the first accommodating groove 1111. A side of the circuit board 120 facing the second accommodating groove 1112 is provided with the trigger switch 121, and the trigger switch 121 is electrically connected with the circuit board 120.

[0043] Specifically, the first light-transmitting piece 130 is movably mounted in the second accommodating groove 1112, so that the first light-transmitting piece 130 can move towards the direction close to or away from the first accommodating groove 1111. A side of the first light-transmitting piece 130 facing the first accommodating groove 1111 is provided with the triggering piece 131 and the mounting piece 132. The triggering piece 131 is used for triggering the trigger switch 121, and the mounting piece 132 is used for mounting the elastic piece 140. The elastic piece 140 plays a role of resetting. The partition plate 112 is correspondingly provided with the first limiting hole 1121 and the second limiting hole 1122. The first limiting hole 1121 and the second limiting hole 1122 play a role of guiding and limiting, so as to improve the movement stability and accuracy of the triggering piece 131 and the mounting piece 132.

[0044] The triggering piece 131 penetrates through the first limiting hole 1121 and abuts against the trigger switch 121. The mounting piece 132 penetrates through the second limiting hole 1122, and the mounting piece 132 is circumferentially sleeved with the elastic piece 140 abutting against the step surface of the first light-transmitting piece 130 and the second limiting hole 1122, respectively.

[0045] In the working process, when the first light-transmitting piece 130 collides with the obstacle, under the action of the collision force, the first light-transmitting piece 130 moves towards the direction close to the first containing groove 1111, so as to drive the trigger piece 131 to abut and press the trigger switch 121, at this time, the elastic piece 140 is compressed, and the cleaning robot 1000 can perform corresponding obstacle avoidance action according to the indication signal of the trigger switch 121. After the obstacle avoidance is completed, the first light-transmitting piece 130 is reset under the reset elastic force of the elastic piece 140, so as to drive the trigger piece 131 to move away from the trigger switch 121, and the cleaning robot 1000 normally performs the cleaning work. By arranging the balance piece 150 and the rotating clamping of the first light-transmitting piece 130, and the balance piece 150 is swingingly clamped at both ends of the partition plate 112, so that the first light-transmitting piece 130 moves towards the direction close to the first containing groove 1111 in the process of colliding with the obstacle, and is reset under the reset elastic force of the elastic piece 140, and the stress is uniform and balanced, which effectively improves the movement balance and stability of the first light-transmitting piece 130. Effectively improve the avoidance effect of the cleaning robot 1000 on the obstacle, and improve the technical problem that the avoidance function of the cleaning robot on the obstacle in the prior art is poor.

[0046] For example, the trigger switch 121 can be a micro switch, the material of the first light-transmitting piece 130 can be transparent glass or transparent plastic, the first light-transmitting piece 130, the trigger piece 131 and the mounting piece 132 can be integrally formed, or can be fixedly connected through other fixing modes, the second limiting hole 1122 is a stepped hole with a stepped surface, and the elastic piece 140 can be a spring or a spring piece. The balance piece 150 can be a balance bar or a balance shaft.

[0047] As shown in Figure 3 , Figure 5 and Figure 6 , in an embodiment of the present application, optionally, the balance piece 150 includes a first connecting part 151 and a second connecting part 152, an end of the second connecting part 152 is connected with one end of the first connecting part 151, the other end of the first connecting part 151 is swingingly clamped with the partition plate 112, and the second connecting part 152 is rotationally clamped with the first light-transmitting piece 130.

[0048] In the embodiment, the end of the second connecting part 152 is connected with one end of the first connecting part 151, and the other end of the first connecting part 151 is swingingly connected with the partition plate 112, so that the second connecting part 152 is swingingly connected with the first light-transmitting part 130. In this way, the first light-transmitting part 130 is uniformly and balancedly stressed in the process of moving towards the first containing groove 1111 after colliding with the obstacle and in the process of resetting under the resetting elastic force of the elastic part 140, the movement balance and stability of the first light-transmitting part 130 are effectively improved, and the stability of the obstacle avoidance function of the cleaning robot 1000 is improved.

[0049] For example, the first connecting part 151 and the second connecting part 152 can be metal or non-metal shafts, and two first connecting parts 151 are arranged at two ends of the second connecting part 152.

[0050] As shown in Figure 3 , Figure 5 and Figure 6 , in the above-mentioned embodiments of the application, optionally, the side of the partition plate 112 away from the first containing groove 1111 is provided with a first buckle 1126, and the side of the first light-transmitting part 130 facing the first containing groove 1111 is provided with a second buckle 133, the other end of the first connecting part 151 is swingingly connected with the partition plate 112 through the first buckle 1126, and the second connecting part 152 is swingingly connected with the first light-transmitting part 130 through the second buckle 133.

[0051] In the embodiment, the first buckle 1126 is arranged on the side of the partition plate 112 away from the first containing groove 1111, and the second buckle 133 is arranged on the side of the first light-transmitting part 130 facing the first containing groove 1111. In this way, the other end of the first connecting part 151 can be swingingly connected with the partition plate 112 through the first buckle 1126, and the second connecting part 152 can be swingingly connected with the first light-transmitting part 130 through the second buckle 133. Therefore, the first light-transmitting part 130 is uniformly and balancedly stressed in the process of moving towards the first containing groove 1111 after colliding with the obstacle and in the process of resetting under the resetting elastic force of the elastic part 140, the movement balance and stability of the first light-transmitting part 130 are effectively improved, and the stability of the obstacle avoidance function of the cleaning robot 1000 is improved.

[0052] As shown in Figure 3 , Figure 5 and Figure 6 , in the above-mentioned embodiments of the application, optionally, the axis of the first connecting part 151 intersects with the axis of the second connecting part 152.

[0053] In the embodiment, the axis of the first connecting portion 151 intersects with the axis of the second connecting portion 152, so that the balancing member 150 has a force arm with a certain length, the first connecting portion 151 is the force arm, and the other end of the first connecting portion 151 is the fulcrum. The lever principle is ingeniously used, so that the first light-transmitting member 130 is uniformly and balanced in stress during the movement towards the first accommodating groove 111 and the resetting process under the resetting elastic force of the elastic member 140, the movement balance and stability of the first light-transmitting member 130 are effectively improved, and the stability of the obstacle avoidance function of the cleaning robot 1000 is further improved.

[0054] For example, the included angle between the axis of the first connecting portion 151 and the axis of the second connecting portion 152 can be an acute angle, a right angle or an obtuse angle.

[0055] As shown in Figure 3 , Figure 5 and Figure 6 , preferably, the axis of the first connecting portion 151 is perpendicular to the axis of the second connecting portion 152, that is, the included angle between the axis of the first connecting portion 151 and the axis of the second connecting portion 152 is a right angle.

[0056] As shown in Figure 3 , in an embodiment of the present application, optionally, the end of the trigger member 131 close to the trigger switch 121 is provided with a protruding portion 1311, and the protruding portion 1311 abuts against the trigger switch 121.

[0057] In the embodiment, the protruding portion 1311 is arranged at the end of the trigger member 131 close to the trigger switch 121 and abuts against the trigger switch 121, so as to trigger the trigger switch 121 through the protruding portion 1311.

[0058] Specifically, in the working process, when the first light-transmitting member 130 collides with the obstacle, under the action of the collision force, the first light-transmitting member 130 moves towards the accommodating cavity 111, so as to drive the protruding portion 1311 of the trigger member 131 to abut against and press the trigger switch 121, at this time, the elastic member 140 is compressed, and the cleaning robot 1000 can perform corresponding obstacle avoidance action according to the indication signal of the trigger switch 121. After the obstacle avoidance is completed, the first light-transmitting member 130 is reset under the resetting elastic force of the elastic member 140, so as to drive the protruding portion 1311 of the trigger member 131 to move away from the trigger switch 121, and the cleaning robot 1000 normally performs cleaning work.

[0059] For example, the protruding portion 1311 and the trigger member 131 can be integrally injection molded, and can also be fixedly connected by other ways.

[0060] AsFigure 5 , Figure 6 , Figure 3 and Figure 3 As shown, in one embodiment of this application, optionally, the identification module 100 further includes a fastener 160, the mounting member 132 has a mounting hole 1321 adapted to the fastener 160, the fastener 160 passes through the mounting hole 1321 and abuts against the end face of the second limiting hole 1122 away from the second receiving groove 1112.

[0061] In this embodiment, the mounting member 132 passes through the second limiting hole 1122, and the mounting member 132 has a mounting hole 1321 adapted to the fastener 160. The fastener 160 passes through the mounting hole 1321 and abuts against the end face of the second limiting hole 1122 away from the second receiving groove 1112, that is, the fastener 160 abuts against the side of the partition 112 away from the second receiving groove 1112. In this way, the fixed connection between the fastener 160 and the mounting member 132, and the abutment between the fastener 160 and the side of the partition 112 away from the second receiving groove 1112, can limit the first light-transmitting member 130, prevent the first light-transmitting member 130 from falling out of the second receiving groove 1112, and keep the first light-transmitting member 130 moving within the second receiving groove 1112, thereby improving the stability of the first light-transmitting member 130.

[0062] For example, fastener 160 may be a fastening screw, and mounting hole 1321 may be a fastening screw hole adapted to the fastening screw.

[0063] like Figure 4 , Figure 5 , Figure 6 , Figure 1 and Figure 3 As shown, in one embodiment of this application, optionally, the identification module 100 further includes a second light-transmitting element 170, and a placement groove 1123 is provided on the side of the partition 112 away from the first receiving groove 1111, the placement groove 1123 being used to place the second light-transmitting element 170.

[0064] In this embodiment, by opening a placement groove 1123 for placing the second light-transmitting element 170 on the side of the partition 112 away from the first receiving groove 1111, the second light-transmitting element 170 can be stably placed in the placement groove 1123.

[0065] For example, the placement groove 1123 and the second receiving groove 1112 may be spaced apart along an axis perpendicular to the trigger member 131, and the placement groove 1123 may also be located in the inner circumference of the second receiving groove 1112. The material of the second light-transmitting element 170 may be transparent glass or transparent plastic, the first light-transmitting element 130 may be a linear laser lens, and the second light-transmitting element 170 may be a camera lens.

[0066] like Figure 4 and Figure 5 As shown in the above embodiments of this application, optionally, the identification module 100 further includes a first identification module 180 and a second identification module 190. The first identification module 180 and the second identification module 190 are both disposed in the first receiving groove 1111 and are both oriented towards the second receiving groove 1112. The partition 112 has a first clearance hole 1124 and a second clearance hole 1125. The first clearance hole 1124 is used to avoid the first identification module 180, and the second clearance hole 1125 is used to avoid the second identification module 190. The first light-transmitting element 130 is disposed corresponding to the first identification module 180, and the second light-transmitting element 170 is disposed corresponding to the second identification module 190.

[0067] In this embodiment, both the first identification module 180 and the second identification module 190 are disposed within the first receiving groove 1111, and both are oriented towards the second receiving groove 1112. The partition 112 has a first clearance hole 1124 for avoiding the first identification module 180 and a second clearance hole 1125 for avoiding the second identification module 190. The first light-transmitting element 130 is correspondingly disposed with respect to the first identification module 180, and the second light-transmitting element 170 is correspondingly disposed with respect to the second identification module 190. This allows the first identification module 180 to sequentially identify and detect obstacles through the first clearance hole 1124 and the first light-transmitting element 130, and the second identification module 190 to sequentially identify and detect obstacles through the second clearance hole 1125 and the second light-transmitting element 170.

[0068] For example, the first recognition module 180 can be a linear laser module, and the second recognition module 190 can be a camera module. By combining the linear laser module and the camera module, obstacle information can be detected, and information such as obstacle size, obstacle shape, obstacle type, and distance between the obstacle and the cleaning robot 1000 can be obtained. This enables the obstacle avoidance function, greatly improving the intelligence of the cleaning robot 1000 and enhancing cleaning efficiency.

[0069] like Figure 6 and Figure 3As shown in the above embodiments of this application, optionally, at least two mounting members 132 are provided, and the two mounting members 132 are respectively located on two opposite sides of the trigger member 131.

[0070] In this embodiment, by setting the number of mounting members 132 to at least two, and the two mounting members 132 being located on opposite sides of the trigger member 131, the force on the light-transmitting member 130 is relatively uniform and balanced, which can effectively improve the activity stability of the light-transmitting member 130, so that the light-transmitting member 130 can move stably toward the direction close to the receiving cavity 111, and stably achieve reset under the action of the reset elastic force.

[0071] like Figure 5 , Figure 4 , Figure 6 and Figure 3 As shown in the above embodiments of this application, optionally, at least two elastic members 140 are provided, and the two elastic members 140 are respectively sleeved on the circumference of the two mounting members 132.

[0072] In this embodiment, by setting the number of elastic elements 140 to at least two, and having the two elastic elements 140 respectively fitted around the two mounting members 132 in the circumference, the reset elastic force can be effectively increased to improve the elastic reset effect of the light-transmitting element 130. At the same time, the force on the light-transmitting element 130 can be relatively uniform and balanced, effectively improving the activity stability of the light-transmitting element 130, so that the light-transmitting element 130 can move stably toward the direction close to the receiving cavity 111, and stably reset under the action of the reset elastic force.

[0073] like Figure 4 Figure 5 Figure 6 Figure 7 As shown in the illustration, this application also provides a cleaning robot 1000, including the identification module 100 from the above embodiments. For example, the identification module 100 may be disposed at the front end of the cleaning robot 1000.

[0074] The cleaning robot 1000 has the identification module 100 in any of the above embodiments, and therefore has all the beneficial effects of the identification module 100, which will not be described in detail here.

[0075] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0076] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0077] The above embodiments only express several implementation ways of the present application, and the description is more specific and detailed, but it should not be understood as a limitation to the scope of the present application. It should be pointed out that, for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application.

Claims

1. An identification module, characterized in that The recognition module comprises: a housing having a containing cavity and provided with a partition plate, the partition plate separating the containing cavity into a first containing groove and a second containing groove in communication with each other; a circuit board arranged in the first containing groove, the circuit board being provided with a trigger switch on a side facing the second containing groove; a first light-transmitting piece movably mounted in the second containing groove, the first light-transmitting piece being provided with a trigger piece and a mounting piece on a side facing the first containing groove, the partition plate being provided with a first limiting hole and a second limiting hole, the trigger piece penetrating through the first limiting hole and abutting against the trigger switch, the mounting piece penetrating through the second limiting hole, and a resilient piece being peripherally sleeved on the mounting piece, the resilient piece abutting against a stepped surface of the second limiting hole and the first light-transmitting piece respectively; a balancing piece, the balancing piece being rotationally connected with the first light-transmitting piece, and two ends of the balancing piece being swingingly connected with the partition plate respectively; the balancing piece comprising a first connecting portion and a second connecting portion, an end of the second connecting portion being connected with one end of the first connecting portion, the other end of the first connecting portion being swingingly connected with the partition plate, and the second connecting portion being rotationally connected with the first light-transmitting piece; the partition plate being provided with a first buckle on a side away from the first containing groove, the first light-transmitting piece being provided with a second buckle on a side facing the first containing groove, the other end of the first connecting portion being swingingly connected with the partition plate through the first buckle, and the second connecting portion being rotationally connected with the first light-transmitting piece through the second buckle; an axis of the first connecting portion intersecting with an axis of the second connecting portion.

2. The identification module of claim 1, wherein the axis of the first connecting portion being perpendicular to the axis of the second connecting portion.

3. The identification module of claim 1, wherein the trigger piece being provided with a protruding portion on an end close to the trigger switch, the protruding portion abutting against the trigger switch.

4. The identification module of claim 1, wherein the recognition module further comprising a fastener, the mounting piece being provided with a mounting hole matched with the fastener, the fastener penetrating through the mounting hole and abutting against an end surface of the second limiting hole away from the second containing groove.

5. The identification module according to any one of claims 1 to 4, characterized in that, the recognition module further comprising a second light-transmitting piece, the partition plate being provided with a placing groove on a side away from the first containing groove, the placing groove being used for placing the second light-transmitting piece.

6. The identification module of claim 5, wherein, the recognition module further comprising a first recognition module and a second recognition module, the first recognition module and the second recognition module being arranged in the first containing groove and facing the second containing groove respectively, the partition plate being provided with a first avoiding hole and a second avoiding hole, the first avoiding hole being used for avoiding the first recognition module, and the second avoiding hole being used for avoiding the second recognition module, the first light-transmitting piece being arranged corresponding to the first recognition module, and the second light-transmitting piece being arranged corresponding to the second recognition module.

7. A cleaning robot, characterized in that, the recognition module comprising any one of claims 1 to 6.

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