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 light transmission assembly and an elastic sealing piece. The shell has a containing cavity; the circuit board is arranged in the containing cavity, and one side of the circuit board is provided with a trigger switch; the light transmission assembly is movably arranged on the shell and located on the side, away from the circuit board, of the trigger switch; the light transmission assembly comprises a first light transmission piece and a second light transmission piece; the first light transmission piece is arranged on the second light transmission piece; the side, facing the containing cavity, of the second light transmission piece is provided with a trigger piece; the shell is provided with a first limiting hole; the trigger piece is arranged in the first limiting hole and abuts against the trigger switch; and the elastic sealing piece abuts against the periphery between the shell and the second light transmission piece. 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 shell has a receiving cavity;

[0008] A circuit board is disposed within the receiving cavity, and a trigger switch is provided on one side of the circuit board;

[0009] A light-transmitting component is movably mounted on the housing and located on the side of the trigger switch away from the circuit board. The light-transmitting component includes a first light-transmitting element and a second light-transmitting element. The first light-transmitting element is disposed on the second light-transmitting element. A trigger element is provided on the side of the second light-transmitting element facing the receiving cavity. The housing has a first limiting hole. The trigger element passes through the first limiting hole and abuts against the trigger switch.

[0010] An elastic seal abuts against the housing and the second light-transmitting element in the circumferential direction.

[0011] In some embodiments of the present application, a first annular placement groove is formed along the circumference of the shell and is adapted to the shape of the elastic sealing member, and a second annular placement groove is formed along the circumference of the second light-transmitting member and is adapted to the shape of the elastic sealing member, and the elastic sealing member abuts against the groove walls of the first and second annular placement grooves, respectively.

[0012] In some embodiments of the present application, the elastic sealing member comprises a first abutting portion, an elastic portion and a second abutting portion, the elastic portion is arranged between the first and second abutting portions, the first abutting portion abuts against the groove wall of the first annular placement groove, and the second abutting portion abuts against the groove wall of the second annular placement groove.

[0013] In some embodiments of the present application, the cross-sectional shape of the elastic portion is arc-shaped, wave-shaped or S-shaped.

[0014] In some embodiments of the present application, the first abutting portion, the elastic portion and the second abutting portion are integrally formed.

[0015] In some embodiments of the present application, the second light-transmitting member is provided with a mounting member on the side facing the accommodating cavity, the shell is provided with a second limiting hole, the mounting member is arranged through the second limiting hole, and an elastic member is arranged around the circumference of the mounting member, the elastic member abuts against the step surface of the second light-transmitting member and the second limiting hole, respectively, and the second light-transmitting member is provided with a placement position adapted to the first light-transmitting member on the side away from the accommodating cavity.

[0016] In some embodiments of the present application, the identification module further comprises a fastener, the mounting member is provided with a mounting hole adapted to the fastener, the fastener is arranged through the mounting hole, and abuts against the end surface of the second limiting hole on the side facing the trigger switch.

[0017] In some embodiments of the present application, the mounting member is provided with at least two, and the two mounting members are arranged on the two opposite sides of the trigger member, respectively.

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

[0019] The application also provides a cleaning robot comprising the identification module as described above.

[0020] The embodiments of the application have the following advantages:

[0021] The application provides an identification module. The identification module comprises a shell, a circuit board, a light-transmitting assembly, and an elastic sealing member. The shell has a receiving cavity. The circuit board is arranged in the receiving cavity. One side of the circuit board is provided with a trigger switch. The light-transmitting assembly is movably arranged on the shell and located at a side of the trigger switch away from the circuit board. The light-transmitting assembly comprises a first light-transmitting member and a second light-transmitting member. The first light-transmitting member is arranged on the second light-transmitting member. The second light-transmitting member is provided with a trigger piece at a side facing the receiving cavity. The shell is provided with a first limiting hole. The trigger piece is arranged in the first limiting hole and abuts against the trigger switch.

[0022] In the working process, when the light-transmitting assembly collides with an obstacle, the light-transmitting assembly moves towards the receiving cavity under the action of the collision force, so as to drive the trigger piece to abut against and press the trigger switch. At this time, the elastic sealing member is compressed. The cleaning robot can perform corresponding obstacle avoidance actions according to the indication signal of the trigger switch. After the obstacle avoidance is completed, the light-transmitting assembly is reset under the resetting force of the elastic sealing member, so as to drive the trigger piece to separate from the trigger switch. The cleaning robot normally performs cleaning work. In this way, the avoidance effect of the cleaning robot on the obstacle can be effectively improved, and 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 application more apparent and easy to understand, the following will describe the preferred embodiments in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some of the embodiments of the 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.

[0025] Figure 1 Fig. 1 shows a perspective view of the identification module from one angle in some embodiments of the application;

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

[0027] Figure 3 Fig. 3 shows a sectional view of the identification module in some embodiments of the application;

[0028] Figure 4 An enlarged schematic view of the structure of A part in FIG. 1 is shown. Figure 3 An enlarged schematic view of the structure of A part in FIG. 1 is shown.

[0029] Figure 5 An enlarged schematic view of the structure of A part in FIG. 1 is shown.

[0030] Figure 6 An enlarged schematic view of the structure of A part in FIG. 1 is shown.

[0031] Figure 7 An enlarged schematic view of the structure of A part in FIG. 1 is shown.

[0032] Main element symbol explanation:

[0033] 100 - recognition module; 110 - shell; 111 - containing cavity; 112 - first limiting hole; 113 - first annular placement groove; 114 - second limiting hole; 115 - first avoiding hole; 116 - second avoiding hole; 120 - circuit board; 121 - trigger switch; 130 - light transmission assembly; 131 - first light transmission piece; 132 - second light transmission piece; 1321 - trigger piece; 1322 - second annular placement groove; 1323 - mounting piece; 13231 - mounting hole; 1324 - placement site; 1325 - third avoiding hole; 140 - elastic sealing piece; 141 - first abutting portion; 142 - elastic portion; 143 - second abutting portion; 150 - elastic piece; 160 - fastening piece; 170 - first recognition device; 180 - second recognition device; 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 and characters are used throughout the figures to denote the same or like components. 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 should 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. Like numbers refer to like elements throughout. The terms "vertical", "horizontal", "left", "right", and the like as used herein are made only with respect to the figures shown and as usual usage by a person skilled in the art.

[0036] In this application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0037] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise clearly specified and limited.

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

[0039] As Figures 1 to 4 Embodiments of the present application provide an identification module 100, mainly used for cleaning robot 1000. The identification module 100 comprises a shell 110, a circuit board 120, a light transmission assembly 130 and an elastic sealing member 140.

[0040] Among them, the shell 110 has a receiving cavity 111, the circuit board 120 is arranged in the receiving cavity 111, and one side of the circuit board 120 is provided with a trigger switch 121.

[0041] The light transmission assembly 130 is movably mounted on the shell 110 and located on the side of the trigger switch 121 away from the circuit board 120. The light transmission assembly 130 comprises a first light transmission member 131 and a second light transmission member 132. The first light transmission member 131 is arranged on the second light transmission member 132. The second light transmission member 132 is provided with a trigger member 1321 on the side facing the receiving cavity 111. The shell 110 is provided with a first limiting hole 112. The trigger member 1321 is arranged in the first limiting hole 112 and abuts against the trigger switch 121.

[0042] Referring to Figure 5 and Figure 6The elastic sealing piece 140 is in abutment with the circumferential direction between the shell 110 and the second light-transmitting piece 132.

[0043] The recognition module 100 provided by the embodiment of the present application is arranged in the accommodating cavity 111 in a fixed manner such as screw connection or buckle connection, so that the circuit board 120 is stably installed in the accommodating cavity 111. One side of the circuit board 120 is provided with a trigger switch 121, which is electrically connected with the circuit board 120.

[0044] Specifically, the light-transmitting assembly 130 is movably installed on the shell 110 and located on the side of the trigger switch 121 away from the circuit board 120, so that the light-transmitting assembly 130 can move towards the direction close to or away from the trigger switch 121. The light-transmitting assembly 130 comprises a first light-transmitting piece 131 and a second light-transmitting piece 132. The first light-transmitting piece 131 is fixedly arranged on the second light-transmitting piece 132, so that the first light-transmitting piece 131 can move towards the direction close to or away from the trigger switch 121 synchronously with the second light-transmitting piece 132. The second light-transmitting piece 132 is provided with a trigger piece 1321 on the side towards the accommodating cavity 111, which is used to trigger the trigger switch 121. The shell 110 is provided with a first limiting hole 112, which plays a role of limiting and guiding, so as to improve the moving stability and accuracy of the trigger piece 1321. The trigger piece 1321 is arranged in abutment with the trigger switch 121 through the first limiting hole 112. The elastic sealing piece 140 is in abutment with the circumferential direction between the shell 110 and the second light-transmitting piece 132.

[0045] During the working process, when the light-transmitting assembly 130 collides with an obstacle, under the action of the collision force, the light-transmitting assembly 130 moves towards the direction close to the accommodating cavity 111, so as to drive the trigger piece 1321 to abut and press the trigger switch 121. At this time, the elastic sealing piece 140 is compressed. The cleaning robot 1000 can execute corresponding obstacle avoidance action according to the indication signal of the trigger switch 121. After the obstacle avoidance is completed, the light-transmitting assembly 130 is reset under the reset elastic force of the elastic sealing piece 140, so as to drive the trigger piece 1321 to separate from the trigger switch 121. The cleaning robot 1000 normally performs cleaning work. In this way, the avoidance effect of the cleaning robot 1000 on the obstacle can be effectively improved, and the technical problem that the avoidance function of the cleaning robot on the obstacle is poor in the prior art is solved.

[0046] Specifically, the trigger switch 121 can be a micro switch. The materials of the first light-transmitting piece 131 and the second light-transmitting piece 132 can be transparent glass or transparent plastic. The second light-transmitting piece 132 and the trigger piece 1321 can be integrally formed, or can be fixedly connected through other fixing manners. The material of the elastic sealing piece 140 can be rubber, silicone, EVA or the like, which has sealing performance and elastic reset performance.

[0047] As Figure 1 , Figure 3 and Figure 5 shown in one embodiment of the present application, optionally, a first annular placement groove 113 is formed along the circumference of the shell 110 and is adapted to the shape of the elastic sealing member 140, and a second annular placement groove 1322 is formed along the circumference of the second light-transmitting member 132 and is adapted to the shape of the elastic sealing member 140, and the elastic sealing member 140 abuts against the groove wall of the first annular placement groove 113 and the groove wall of the second annular placement groove 1322, respectively.

[0048] In the embodiment, the first annular placement groove 113 is formed along the circumference of the shell 110 and is adapted to the shape of the elastic sealing member 140, and the second annular placement groove 1322 is formed along the circumference of the second light-transmitting member 132 and is adapted to the shape of the elastic sealing member 140. In this way, the elastic sealing member 140 can be arranged in the first annular placement groove 113 and the second annular placement groove 1322, respectively, and abut against the groove wall of the first annular placement groove 113 and the groove wall of the second annular placement groove 1322, respectively, so as to play a sealing role, realize the dustproof and waterproof function of the identification module 100, effectively protect the circuit board 120 and other electronic components in the accommodating cavity 111, and prolong the service life of the identification module 100. Meanwhile, the elastic sealing member 140 can also play a role of elastic reset to drive the trigger member 1321 to separate from the trigger switch 121, so that the cleaning robot 1000 can normally perform cleaning work.

[0049] As Figure 3 , Figure 4 and Figure 5 shown in the above embodiment of the present application, optionally, the elastic sealing member 140 comprises a first abutting portion 141, an elastic portion 142 and a second abutting portion 143, the elastic portion 142 is arranged between the first abutting portion 141 and the second abutting portion 143, the first abutting portion 141 abuts against the groove wall of the first annular placement groove 113, and the second abutting portion 143 abuts against the groove wall of the second annular placement groove 1322.

[0050] In the embodiment, the first abutting portion 141 abuts against the groove wall of the first annular placement groove 113, and the second abutting portion 143 abuts against the groove wall of the second annular placement groove 1322, so as to play a sealing role, realize the dustproof and waterproof function of the identification module 100, effectively protect the circuit board 120 and other electronic components in the accommodating cavity 111, and prolong the service life of the identification module 100.

[0051] Specifically, the elastic part 142 is arranged between the first abutting part 141 and the second abutting part 143, and the elastic part 142 has good elasticity, thereby playing a role of elastic reset to drive the trigger piece 1321 to separate from the trigger switch 121 and enable the cleaning robot 1000 to normally perform cleaning work.

[0052] For example, the first abutting part 141, the elastic part 142 and the second abutting part 143 can be integrally formed by using rubber, silica gel, EVA or the like, and have sealing and elastic properties.

[0053] As shown in Figure 3 , Figure 4 and Figure 5 , in the above embodiments of the present application, optionally, the cross-sectional shape of the elastic part 142 is arc-shaped, wave-shaped or S-shaped.

[0054] In the present embodiment, the cross-sectional shape of the elastic part 142 is arc-shaped, wave-shaped or S-shaped, so that the elastic part 142 has good elasticity, the reset elastic force is increased, the elastic reset effect of the elastic sealing piece 140 is effectively improved, and the reset effect of the light-transmitting assembly 130 is effectively improved, thereby facilitating the driving of the trigger piece 1321 away from the trigger switch 121 to enable the cleaning robot 1000 to normally perform cleaning work.

[0055] In the above embodiments of the present application, optionally, the first abutting part 141, the elastic part 142 and the second abutting part 143 are integrally formed.

[0056] In the present embodiment, the first abutting part 141, the elastic part 142 and the second abutting part 143 are integrally formed, and the material can be rubber, silica gel, EVA or the like to realize the sealing and elastic properties of the elastic sealing piece 140.

[0057] As shown in Figure 3 , Figure 4 , Figure 5 and Figure 6 , in the above embodiments of the present application, optionally, the second light-transmitting piece 132 is provided with a mounting piece 1323 on the side facing the accommodating cavity 111, the housing 110 is provided with a second limiting hole 114, the mounting piece 1323 penetrates the second limiting hole 114, and the mounting piece 1323 is circumferentially sleeved with an elastic piece 150, the elastic piece 150 abuts against the stepped surface of the second limiting hole 114 and the second light-transmitting piece 132 respectively, and the side of the second light-transmitting piece 132 away from the accommodating cavity 111 is provided with a placing position 1324 matched with the first light-transmitting piece 131.

[0058] In the embodiment, the second light-transmitting piece 132 is provided with a mounting piece 1323 on the side facing the accommodating cavity 111, the shell 110 is provided with a second limiting hole 114 matched with the mounting piece 1323, the second limiting hole 114 serves as a limiting and guiding function to improve the movement stability and accuracy of the mounting piece 1323.

[0059] Specifically, the mounting piece 1323 is arranged in the second limiting hole 114, and the mounting piece 1323 is circumferentially sleeved with an elastic piece 150 abutting against the stepped surface of the second light-transmitting piece 132 and the second limiting hole 114 respectively, and the second light-transmitting piece 132 is provided with a placing position 1324 matched with the first light-transmitting piece 131 on the side away from the accommodating cavity 111, so that the first light-transmitting piece 131 can move towards or away from the trigger switch 121 in a synchronous manner with the second light-transmitting piece 132.

[0060] During work, when the light-transmitting assembly 130 collides with an obstacle, under the action of the collision force, the first light-transmitting piece 131 and the second light-transmitting piece 132 move towards the accommodating cavity 111 in a synchronous manner to drive the trigger piece 1321 to abut against and press the trigger switch 121, at this time, the elastic piece 150 and the elastic sealing piece 140 are 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 131 and the second light-transmitting piece 132 are reset under the combined action of the reset elastic force of the elastic piece 150 and the elastic sealing piece 140 to drive the trigger piece 1321 away from the trigger switch 121, and the cleaning robot 1000 normally performs cleaning work. The avoidance effect of the cleaning robot 1000 on the obstacle is effectively improved, and the technical problem that the avoidance function of the cleaning robot on the obstacle is poor in the prior art is improved.

[0061] As shown in Figure 3 , Figure 4 , Figure 5 and Figure 6 , in the above-mentioned embodiments of the present application, optionally, the identification module 100 further comprises a fastener 160, the mounting piece 1323 is provided with a mounting hole 13231 matched with the fastener 160, the fastener 160 is arranged in the mounting hole 13231, and abuts against the end surface of the second limiting hole 114 facing the trigger switch 121.

[0062] In the embodiment, the mounting member 1323 is arranged in the second limiting hole 114, and the mounting member 1323 is provided with a mounting hole 13231 which is adapted to the fastener 160, the fastener 160 is arranged in the mounting hole 13231 and abuts against the end surface of the end of the second limiting hole 114 which is directed to the trigger switch 121, that is, the fastener 160 abuts against the cavity wall of the accommodating cavity 111. In this way, the second light-transmitting member 132 is limited by the fixing connection between the fastener 160 and the mounting member 1323 and the abutment between the fastener 160 and the cavity wall of the accommodating cavity 111, so that the second light-transmitting member 132 is prevented from falling off from the shell 110, and the second light-transmitting member 132 always moves on the shell 110, thereby improving the moving stability of the second light-transmitting member 132.

[0063] For example, the fastener 160 can be a fastening screw, and the mounting hole 13231 can be a fastening hole which is adapted to the fastening screw.

[0064] As shown in Figure 3 , Figure 4 , Figure 5 and Figure 6 in the above embodiment, optionally, the mounting member 1323 is provided with at least two, and the two mounting members 1323 are respectively located on the two opposite sides of the trigger member 1321.

[0065] In the embodiment, the number of the mounting member 1323 is set to be at least two, and the two mounting members 1323 are respectively located on the two opposite sides of the trigger member 1321, so that the force on the second light-transmitting member 132 is relatively uniform and balanced, which can effectively improve the moving stability of the second light-transmitting member 132 and the first light-transmitting member 131, so that the second light-transmitting member 132 and the first light-transmitting member 131 can stably move towards the direction close to the accommodating cavity 111 and stably reset under the action of the reset elastic force.

[0066] As shown in Figure 3 , FIG. 4 and Figure 5As shown in one embodiment of this application, optionally, the identification module 100 further includes a first identification device 170 and a second identification device 180. The first identification device 170 and the second identification device 180 are both disposed in the receiving cavity 111 and are both oriented towards the light-transmitting component 130. The housing 110 has a first clearance hole 115 and a second clearance hole 116. The second light-transmitting component 132 has a third clearance hole 1325 corresponding to the second clearance hole 116. The first clearance hole 115 is used to avoid the first identification device 170, and the second clearance hole 116 and the third clearance hole 1325 are used to avoid the second identification device 180. The second light-transmitting component 132 is disposed corresponding to the first identification device 170, and the first light-transmitting component 131 is disposed corresponding to the second identification device 180.

[0067] In this embodiment, both the first identification device 170 and the second identification device 180 are disposed within the receiving cavity 111 and are both oriented towards the light-transmitting component 130. The housing 110 has a first clearance hole 115 for avoiding the first identification device 170 and a second clearance hole 116 for avoiding the second identification device 180. The second light-transmitting component 132 has a third clearance hole 1325 for avoiding the second identification device 180. The second light-transmitting component 132 is correspondingly disposed to the first identification device 170, and the first light-transmitting component 131 is correspondingly disposed to the second identification device 180. This allows the first identification device 170 to sequentially identify and detect obstacles through the first clearance hole 115 and the second light-transmitting component 132, and the second identification device 180 to sequentially identify and detect obstacles through the second clearance hole 116, the third clearance hole 1325, and the first light-transmitting component 131.

[0068] For example, the first identification device 170 can be a linear laser device, and the second identification device 180 can be a camera device. By combining the linear laser device and the camera device, 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, thereby realizing the obstacle avoidance function, greatly improving the intelligence of the cleaning robot 1000 and enhancing cleaning efficiency.

[0069] like 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.

[0070] 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.

[0071] In all of the examples shown and described herein, any specific values should be interpreted as merely exemplary and not limiting, and thus other examples of the example embodiments can have different values.

[0072] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and therefore once an item is defined in one drawing, it is not necessary to further define and explain it in the subsequent drawings.

[0073] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed in order to provide a thorough understanding of the present application. However, it should be understood that the present application is not limited to the above-described embodiments, and that several modifications and improvements can be made by those skilled in the art without departing from the spirit of the present application, and these should be construed as falling within the scope of the present application.

Claims

1. An identification module, characterized in that The recognition module comprises a shell having a receiving cavity; a circuit board arranged in the receiving cavity, one side of the circuit board being provided with a trigger switch; a light-transmitting assembly movably mounted on the shell and located on the side of the trigger switch away from the circuit board, the light-transmitting assembly comprising a first light-transmitting piece and a second light-transmitting piece, the first light-transmitting piece being arranged on the second light-transmitting piece, the side of the second light-transmitting piece facing the receiving cavity being provided with a trigger piece, the shell being provided with a first limiting hole, the trigger piece being arranged in the first limiting hole and abutting against the trigger switch; and an elastic sealing piece abutting against the periphery between the shell and the second light-transmitting piece. A first annular placement groove compatible with the shape of the elastic sealing piece is formed along the periphery of the shell, and a second annular placement groove compatible with the shape of the elastic sealing piece is formed along the periphery of the second light-transmitting piece, the elastic sealing piece abutting against the groove walls of the first and second annular placement grooves, respectively. The elastic sealing piece comprises a first abutting portion, an elastic portion and a second abutting portion, the elastic portion being arranged between the first and second abutting portions, the first abutting portion abutting against the groove wall of the first annular placement groove, and the second abutting portion abutting against the groove wall of the second annular placement groove. The cross-sectional shape of the elastic portion is arc-shaped, wave-shaped or S-shaped. The first abutting portion, the elastic portion and the second abutting portion are integrally formed. The side of the second light-transmitting piece facing the receiving cavity is provided with a mounting piece, the shell is provided with a second limiting hole, the mounting piece is arranged in the second limiting hole, and an elastic piece is sleeved around the periphery of the mounting piece, the elastic piece abutting against the step surface of the second light-transmitting piece and the second limiting hole, respectively, and the side of the second light-transmitting piece away from the receiving cavity is provided with a placement position compatible with the first light-transmitting piece. The recognition module further comprises a fastener, the mounting piece is provided with a mounting hole compatible with the fastener, the fastener is arranged in the mounting hole, and abuts against the end surface of the end of the second limiting hole facing the trigger switch. The mounting piece is provided with at least two mounting pieces, respectively located on the two opposite sides of the trigger piece. The recognition module further comprises a first identification device and a second identification device, the first and second identification devices are arranged in the receiving cavity and face the light-transmitting assembly, the shell is provided with a first avoiding hole and a second avoiding hole, the second light-transmitting piece is provided with a third avoiding hole corresponding to the second avoiding hole, the first avoiding hole is used for avoiding the first identification device, and the second avoiding hole and the third avoiding hole are used for avoiding the second identification device, the second light-transmitting piece is arranged corresponding to the first identification device, and the first light-transmitting piece is arranged corresponding to the second identification device.

2. The identification module of claim 1, wherein The recognition module comprises any one of claims 1 to 5.

3. The identification module of claim 2, wherein ​ 4. The identification module of claim 2, wherein ​ 5. The identification module of claim 1, wherein, ​ 6. A cleaning robot characterized by, ​

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