Upper cover structure, navigation device and cleaning robot

Abstract

The embodiment of the invention provides an upper cover structure which covers a navigation device of a cleaning robot and comprises a cover body which covers the navigation device; the voice interaction module is arranged between the cover body and the navigation device, the voice interaction module comprises a circuit board and a voice interaction piece, and the voice interaction piece is arranged on the circuit board and located between the circuit board and the cover body; the elastic piece is in sealing fit with the circuit board and the cover body, the elastic piece surrounds the voice interaction piece to form a sealing cavity for containing the voice interaction piece, and the cover body is provided with a sound receiving hole communicated with the containing cavity; and the fixing piece is used for fixing the circuit board on the cover body. According to the upper cover structure provided by the embodiment of the invention, the voice device can be hermetically assembled, and the upper cover structure is simple in structure, convenient to disassemble and assemble and low in manufacturing and after-sale cost. The embodiment of the invention further provides a navigation device and a cleaning robot.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of cleaning robots, and in particular to an upper cover structure, a navigation device and a cleaning robot. Background Art

[0002] With the development of intelligent cleaning technology, a series of cleaning robots such as mopping robots and integrated mopping and sweeping robots are devices that are configured to perform cleaning tasks while traveling in any area without user control.

[0003] At present, with the continuous updating and iteration of technology, cleaning robots have integrated functions such as voice control, voice interaction and autonomous navigation. Users can control the cleaning robots through voice, such as controlling the start, stop and timing of the cleaning robots. At the same time, the cleaning robots can realize autonomous navigation through navigation devices.

[0004] However, existing intelligent cleaning robots usually use multiple plastic parts (such as upper and lower shells), multiple silicone parts and multiple screws to seal and assemble the voice device, so as to achieve various tests such as the consistency of sensitivity before and after the voice device is sealed and the amplitude of the sampled signal. The main disadvantages of this design are that there are many parts, many processes, complex maintenance and disassembly, and high manufacturing and after-sales costs. Summary of the invention

[0005] To achieve the above-mentioned purpose, the embodiments of the present application provide an upper cover structure, a navigation device and a cleaning robot, which can realize the sealed assembly of the voice device, and have a simple structure, are easy to disassemble and assemble, and have low manufacturing and after-sales costs.

[0006] In a first aspect, an embodiment of the present application provides an upper cover structure, which is provided on a navigation device of a cleaning robot, comprising:

[0007] A cover body, which is arranged on the navigation device;

[0008] A voice interaction module is arranged between the cover and the navigation device, the voice interaction module comprises a circuit board and a voice interaction component, the voice interaction component is arranged on the circuit board and located between the circuit board and the cover;

[0009] an elastic member, which is in sealing cooperation with the circuit board and the cover body, wherein the elastic member surrounds the voice interaction member to form a sealed cavity for accommodating the voice interaction member, and the cover body is provided with a sound receiving hole communicating with the accommodating cavity; and

[0010] A fixing member fixes the circuit board to the cover body.

[0011] Further, the elastic member includes a main body and a mortise and tenon portion, the mortise and tenon portion is connected to one side of the main body, the main body is provided with a recess and a through hole, the through hole is arranged at the bottom of the recess, the recess is used to accommodate the voice interaction component, the circuit board includes a first mounting hole, the mortise and tenon portion of the elastic member protrudes from the first mounting hole, and is mortised with the circuit board through the first mounting hole, the cover body is provided with a sound receiving hole, and the position of the through hole of the main body corresponds to the sound receiving hole on the cover body.

[0012] Furthermore, the main body of the elastic member forms an interference fit with the circuit board and the cover body, and the mortise and tenon joint forms an interference fit with the protective cover of the navigation device.

[0013] Furthermore, it also includes a connection terminal, which is arranged on the front side or the back side of the circuit board, and the height of the elastic member extending out of the circuit board is greater than the height of the connection terminal.

[0014] Furthermore, the fixing member is a snap-fit ​​member, which is disposed on the cover body, the circuit board includes a second mounting hole, and an end of the snap-fit ​​member passes through the second mounting hole and forms a snap-fit ​​connection with the circuit board.

[0015] Furthermore, the number of the elastic members and the number of the fixing members are both at least two, and the at least two elastic members and the at least two fixing members are evenly spaced and distributed around the center point of the circuit board.

[0016] Furthermore, the cover body includes a top cover, a connecting column and a base frame, the top cover is connected to the base frame through the connecting column, and the upper cover structure also includes a wire clamping groove, which extends along the axial direction of the connecting column, and the wire clamping groove is located on the inner wall of the connecting column on the left side relative to the forward direction of the cleaning robot.

[0017] In a second aspect, an embodiment of the present application further provides a navigation device, comprising an upper cover structure as described in any one of the above items.

[0018] In a third aspect, an embodiment of the present application further provides a cleaning robot, comprising a navigation device as described in any one of the above items.

[0019] Furthermore, the cleaning robot includes a robot body, the robot body includes a face cover, the face cover is provided with an opening, the navigation device is mounted on the robot body and is located at the opening of the face cover, the cover body is connected to the face cover and is covered above the navigation device, the navigation device includes a protective cover, the top surface of the protective cover abuts against the side of the elastic member facing away from the cover body.

[0020] In the upper cover structure provided in the embodiment of the present application, the cover is provided on the navigation device, and there is only a single cover, without the need for an upper and lower cover structure, and the voice interaction module is provided between the cover and the navigation device, which can make full use of the longitudinal space inside the cover, and improve the space utilization rate inside the cleaning robot. In addition, the elastic member cooperates with the circuit board and the cover seal, and the circuit board is fixed to the cover by the fixing member, which can reduce the number of fixed parts such as sound insulation sealing rings, fixed parts, etc., and the installation or disassembly process is small, the maintenance and disassembly are simple, and the manufacturing and after-sales costs are low. The elastic member surrounds the voice interaction part to form a sealed cavity for accommodating the voice interaction part, and the cover is provided with a sound receiving hole connected to the accommodating cavity, which can isolate internal and external noise, thereby further improving the sound resolution and noise reduction effect of the voice interaction part, and achieving the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the structure of a navigation device provided in Embodiment 1 of the present application;

[0023] Figure 2 for Figure 1 Schematic diagram of the exploded structure of the navigation device;

[0024] Figure 3 is a schematic structural diagram of an elastic member in an upper cover structure provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of a navigation device provided in Embodiment 2 of the present application;

[0026] Figure 5 A schematic diagram of the structure of the cleaning robot provided in Example 2 of the present application;

[0027] Figure 6 for Figure 5 Schematic diagram of the exploded structure of the cleaning robot.

[0028] Description of Figure Numbers:

[0029] Label name Label name 100、200 Upper cover structure 10、20 Navigation device 2 Cleaning Robot 101、201 Cover 102、202 Voice interaction module 103、203 Elastic parts 104、204 Fixings 121、221 Circuit Board 122、222 Voice interaction software 123、223 Terminal Blocks 131、231 Main body 132、232 Joint 133、233 Notch 134、234 Through Hole 124、224 First mounting hole 111、211 Sound hole 11、21 Protective cover 125、225 Second mounting hole 112、212 Top cover 113、213 Connecting column 114、214 Base 105、205 Cable trough 3 Robot body 4 Face Cover 41 Opening

[0030] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0033] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0034] Existing intelligent cleaning robots usually use multiple plastic parts (such as upper and lower shells), multiple silicone parts and multiple screws to seal and assemble the voice device, so as to achieve various tests such as the consistency of sensitivity before and after the voice device is sealed and the amplitude of the sampled signal. The main disadvantages of this design are that there are many parts, many processes, complex maintenance and disassembly, and high manufacturing and after-sales costs.

[0035] Therefore, refer to Figures 1 to 6 The embodiments of the present application provide a cover structure 100 and 200, which can realize the sealed assembly of the voice device, and has a simple structure, is easy to disassemble and assemble, and has low manufacturing and after-sales costs.

[0036] Embodiment 1

[0037] Reference Figure 1 and Figure 2, the embodiment of the present application provides an upper cover structure 100, which is covered on the navigation device 10 of the cleaning robot, and the upper cover structure 100 includes a cover body 101, a voice interaction module 102, an elastic member 103 and a fixing member 104. Among them, the cover body 101 is covered on the navigation device. The voice interaction module 102 is arranged between the cover body 101 and the navigation device 10, and the voice interaction module 102 includes a circuit board 121 and a voice interaction member 122. The voice interaction member 122 is arranged on the circuit board 121 and is located between the circuit board 121 and the cover body 101. The elastic member 103 is sealed with the circuit board 121 and the cover body 101, and the elastic member 103 surrounds the voice interaction member 122 to form a sealed cavity for accommodating the voice interaction member 122, and the cover body 101 is provided with a sound receiving hole 111 connected to the accommodating cavity. The fixing member 104 fixes the circuit board 121 to the cover body 101.

[0038] Compared with the existing upper cover structure, the upper cover structure 100 provided in the embodiment of the present application has only a single cover body 101, and does not require the structure of the upper and lower covers, and the voice interaction module 102 is arranged between the cover body 101 and the navigation device 10, which can make full use of the longitudinal space inside the cover body 101 and improve the space utilization rate inside the cleaning robot. In addition, in the upper cover structure 100 provided in the embodiment of the present application, the elastic member 103 is sealed with the circuit board 121 and the cover body 101, and the fixing member 104 fixes the circuit board 121 to the cover body 101, which can reduce the number of fixed parts such as sound insulation sealing rings, fixed parts, etc., and the installation or disassembly process is small, the maintenance and disassembly are simple, and the manufacturing and after-sales costs are low. The elastic member 103 surrounds the voice interaction part 122 to form a sealed cavity for accommodating the voice interaction part 122, and the cover body 101 is provided with a sound receiving hole 111 connected to the accommodating cavity, which can isolate internal and external noise, thereby further improving the sound resolution and noise reduction effect of the voice interaction part 122, and achieving the consistency of the sound receiving sensitivity before and after sealing, the amplitude of the sampling signal and other tests.

[0039] Specifically, the cover 101 can be made of metal or plastic material, which can be set according to actual needs. The circuit board 121 is a printed circuit board (PCB), and the circuit board 121 is provided with a terminal 123 for connecting an external electronic module. The terminal 123 is usually a MIPI interface, but its number and type can be set according to actual needs. The external electronic module is connected to the circuit board 121 by plugging into the terminal 123. In addition, according to actual needs, the board 121 can be provided with a plurality of electronic components, such as chips, capacitors, resistors, etc., by welding or plug-in.

[0040] The voice interaction module 102 in the present application can receive external voice signals, so that it can interact with the cleaning robot through voice, wherein the source of the voice signal can be the user or other devices. In other words, the voice interaction module 102 can realize human-machine voice interaction and machine-to-machine voice interaction. Moreover, the voice interaction with the cleaning robot can be a control signal of the cleaning robot, such as control instructions such as waking up the cleaning robot, turning on the cleaning robot, and turning off the cleaning robot; it can also be a non-control signal, such as controlling the cleaning robot to play music, tracking the cleaning robot, etc. Of course, the voice interaction content in the present application is not limited to this, and the content of the voice interaction can be set according to actual needs.

[0041] The voice interaction module 102 includes a circuit board 121 and a voice interaction component 122. The voice interaction component 122 is arranged on the circuit board 121 and is located between the circuit board 121 and the cover 101. The voice interaction component 122 is usually set as a MIC (microphone). The elastic member 103 surrounds the voice interaction component 122 to form a sealed cavity for accommodating the voice interaction component 122. The cover 101 is provided with a sound receiving hole 111 connected to the accommodating cavity. The user's voice control command can be transmitted to the language interaction component 122 through the sound receiving hole 111. The elastic member 103 can be used to isolate the noise outside the cleaning robot 1, thereby further improving the isolation effect of the external noise signal, and achieving the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0042] Further, refer to Figures 1 to 3 The elastic member 103 includes a main body 131 and a mortise and tenon joint 132, the mortise and tenon joint 132 is connected to one side of the main body 131, the main body 131 is provided with a recess 133 and a through hole 134, the through hole 134 is arranged at the bottom of the recess 133, the recess 133 is used to accommodate the voice interaction member 122, the circuit board 121 includes a first mounting hole 124, the mortise and tenon joint 132 of the elastic member 103 protrudes from the first mounting hole 124, and is mortised with the circuit board 121 through the first mounting hole 124, the cover body 101 is provided with a sound receiving hole 111, and the position of the through hole 134 of the main body 131 corresponds to the sound receiving hole 111 on the cover body 101.

[0043] Therefore, in the upper cover structure 100 of the present application, the circuit board 121 includes a first mounting hole 124, and the mortise and tenon joint 132 of the elastic member 103 protrudes from the first mounting hole 124 and is mortised with the circuit board 121 through the first mounting hole 124, so that the elastic member 103 can be fixed on the circuit board 121. In addition, the voice interaction member 122 is accommodated in the recess 133 of the elastic member 103, and the position of the through hole 134 of the main body 131 corresponds to the sound receiving hole 111 on the cover body 101, which can isolate external noise, thereby improving the sound resolution and noise reduction effect of the voice interaction member 122. At the same time, by setting the voice interaction component 122 to the aforementioned form, the internal noise and vibration of the cleaning robot, such as the interference of the motor running noise and the wind noise of the air outlet on the voice recognition, can be effectively reduced, so as to obtain a clear voice signal. In this way, when the voice interaction component 122 receives the external sound signal through the sound receiving hole 111 on the cover body 101, it can perform accurate recognition, improve the sound receiving effect, reduce the interference of the noise in the environment on the voice interaction component 122, further improve the sound resolution and noise reduction effect of the voice interaction component 122, and achieve the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0044] In addition, if Figure 1 As shown, in some embodiments according to the present application, the main body 131 of the elastic member 103 forms an interference fit with the circuit board 121 and the cover 101 , and the mortise and tenon joint 132 forms an interference fit with the protective cover 11 of the navigation device 10 .

[0045] The elastic member 103 is made of a flexible material, and the above-mentioned flexible material refers to a material with elastic deformation ability, such as rubber, silicone, etc. According to the upper cover structure 100 of the embodiment of the present application, through the above-mentioned setting, the elastic member 103 can be firmly fixed between the cover body 101 and the protective cover 11 of the navigation device 10, and can isolate external noise or have a shock-absorbing effect, thereby improving the sound resolution and noise reduction effect of the voice interaction component 122. At the same time, by setting the voice interaction component 122 to the aforementioned form, the internal noise and vibration of the cleaning robot, such as the interference of the motor running noise and the wind noise of the air outlet on the voice recognition, can be effectively reduced, so as to obtain a clear voice signal. In this way, when the voice interaction component 122 receives an external sound signal, it can accurately identify it, improve the sound reception effect, reduce the interference of the noise in the environment on the voice interaction component 122, and further improve the sound resolution and noise reduction effect of the voice interaction component 122, and achieve the consistency of the sound reception sensitivity before and after sealing, the amplitude of the sampling signal and other tests.

[0046] It should be noted that, in some embodiments of the present application, the navigation device 10 is usually configured as a laser radar, and the protective cover 11 of the navigation device 10 is usually configured as a light-transmitting structure, so that the laser emitted by the laser radar can pass through the protective cover 11 and be projected onto the target object, thereby achieving the navigation effect of the cleaning robot. When the navigation device 10 has a protective cover 11, the mortise and tenon joint 132 of the elastic member 103 forms an interference fit with the protective cover 11 of the navigation device 10, so that on the one hand, it can be used to fix the circuit board 121, and on the other hand, it can isolate the internal or external noise of the cleaning robot. Of course, when the navigation device 10 is not provided with a protective cover 11, the mortise and tenon joint 132 of the elastic member 103 needs to maintain a safe distance from the navigation device 10 to prevent the elastic member 103 from affecting the operation of the navigation device 10, and the specific setting of the safe distance needs to be determined according to the usage.

[0047] Furthermore, if Figure 2 As shown, in some embodiments according to the present application, the upper cover structure 100 also includes a connection terminal 123, which is arranged on the front or back of the circuit board 121, and the height of the elastic member 103 extending out of the circuit board 121 is greater than the height of the connection terminal 123.

[0048] Specifically, the circuit board 121 is provided with a connection terminal 123 for connecting an external electronic module. The connection terminal 123 is usually a MIPI interface, but its number and type can be set according to actual needs. The external electronic module is connected to the circuit board 121 by plugging into the connection terminal 123. In some embodiments according to the present application, the connection terminal 123 is arranged on the front or back of the circuit board 121, and the height of the elastic member 103 extending out of the circuit board 121 is greater than the height of the connection terminal 123. Through the above arrangement, a safe space can be reserved for the connection terminal 123 to prevent interference between the connection terminal 123 and other components of the cleaning robot, such as the navigation device 10, thereby ensuring that the connecting wire on the connection terminal 123 can work stably, that is, the stable operation of the cleaning robot can be ensured.

[0049] Reference Figure 1 In some embodiments according to the present application, the fixing member 104 is a snap-fit ​​member, which is disposed on the cover body 101. The circuit board 121 includes a second mounting hole 125. The end of the snap-fit ​​member 104 passes through the second mounting hole 125 and forms a snap-fit ​​connection with the circuit board 121.

[0050] like Figure 1As shown, when installing the circuit board 121, the operator passes the end of the snap member 104 through the second mounting hole 125 and forms a snap connection with the circuit board 121, so that the circuit board 121 can be fixed on the cover body 101. The installation steps are few, and the circuit board 121 is easy to install and remove quickly. The structure is simple, and the manufacturing and after-sales costs are low.

[0051] Furthermore, if Figure 2 As shown, the number of the elastic members 103 and the number of the fixing members 104 are both at least two, and the at least two elastic members 103 and the at least two fixing members 104 are evenly spaced and distributed around the center point of the circuit board 121 .

[0052] Specifically, Figure 2 As shown, the number of the elastic members 103 and the number of the fixing members 104 are both three, and the three elastic members 103 and the three fixing members 104 are evenly spaced around the center point of the circuit board 121, so that the circuit board 121 can be firmly fixed on the cover 101. Of course, the number of the elastic members 103 and the fixing members 104 is not limited thereto, and can be set according to specific circumstances.

[0053] Reference Figure 2 In some embodiments according to the present application, the cover body 101 includes a top cover 112, a connecting column 113 and a base frame 114, wherein the top cover 112 is connected to the base frame 114 through the connecting column 113, and the upper cover structure 100 also includes a wire clamping groove 105, which extends along the axial direction of the connecting column 113, and the wire clamping groove 105 is located on the inner wall of the connecting column 113 on the left side relative to the forward direction of the cleaning robot.

[0054] Specifically, the connecting column 113 and the base frame 114 form a hollow column, which is used to accommodate the voice interaction module 102 and the navigation device 10, and the hollow column is a hollow structure, that is, its side wall is provided with a plurality of openings, so as not to affect the operation of the navigation device 10. Figure 2, wherein the forward direction of the cleaning robot is shown by the arrow in the figure, the wire slot 105 extends along the axial direction of the connecting column 113, and the wire slot 105 is located on the inner wall of the connecting column 113 on the left side relative to the forward direction of the cleaning robot 1. The function of the wire slot 105 is to accommodate and fix the connecting wire connected to the terminal 123, and it is difficult to see the connecting wire from the outside of the machine, which is conducive to improving the aesthetics of the machine. Relative to the forward direction of the cleaning robot 1, the wire slot 105 is located on the inner wall of the connecting column 113 on the left side, which can prevent the connecting column 113 from interfering with the navigation device 10. Specifically, when the navigation device 10 is a laser radar, the laser camera will collect data of objects in front for obstacle avoidance, and when modeling the space, the right side will collect two-dimensional data of the space along the wall. Therefore, installing the wire slot 105 on the connecting column 113 on the left side will not increase or thicken the thickness or width of the front or right connecting column, and will not increase the blind area of ​​the laser radar camera, so as not to affect the data collection of the laser radar, thereby ensuring the accuracy of the scanning data of the navigation device 10.

[0055] In addition, in some embodiments of the present application, the top cover 112 , the connecting column 113 and the bottom frame 114 of the cover body 101 are an integrally formed structure, so that the production and manufacturing of the cover body 101 is more convenient and the structure is simpler.

[0056] Embodiment 2

[0057] Reference Figures 4 to 6 , the embodiment of the present application provides an upper cover structure 200, which is used for the navigation device 20 of the cleaning robot 2, and the upper cover structure 200 includes a cover body 201, a voice interaction module 202, an elastic member 203 and a fixing member 204. Among them, the cover body 201 is covered on the navigation device. The voice interaction module 202 is arranged between the cover body 201 and the navigation device 20, and the voice interaction module 202 includes a circuit board 221 and a voice interaction member 222. The voice interaction member 222 is arranged on the circuit board 221 and is located between the circuit board 221 and the cover body 201. The elastic member 203 is sealed with the circuit board 221 and the cover body 201, and the elastic member 203 surrounds the voice interaction member 222 to form a sealed cavity for accommodating the voice interaction member 222, and the cover body 201 is provided with a sound receiving hole 211 connected to the accommodating cavity. The fixing member 204 fixes the circuit board 221 to the cover body 201.

[0058] Compared with the existing upper cover structure, the upper cover structure 200 provided in the embodiment of the present application has only a single cover body 201, and does not require the structure of the upper and lower covers, and the voice interaction module 202 is arranged between the cover body 201 and the navigation device 20, which can make full use of the longitudinal space inside the cover body 201 and improve the space utilization rate inside the cleaning machine 2. In addition, in the upper cover structure 200 provided in the embodiment of the present application, the elastic member 203 is sealed with the circuit board 221 and the cover body 201, and the fixing member 204 fixes the circuit board 221 to the cover body 201, which can reduce the number of fixed parts such as sound insulation sealing rings, fixed parts, etc., and the installation or disassembly process is small, the maintenance and disassembly are simple, and the manufacturing and after-sales costs are low. The elastic member 203 surrounds the voice interaction part 222 to form a sealed cavity for accommodating the voice interaction part 222, and the cover body 201 is provided with a sound receiving hole 211 connected to the accommodating cavity, which can isolate internal and external noise, thereby further improving the sound resolution and noise reduction effect of the voice interaction part 222, and achieving the consistency of the sound receiving sensitivity before and after sealing, the amplitude of the sampling signal and other tests.

[0059] Specifically, the cover 201 can be made of metal or plastic material, which can be set according to actual needs. The circuit board 221 is a printed circuit board (PCB), and the circuit board 221 is provided with a terminal 223 for connecting an external electronic module. The terminal 223 is usually a MIPI interface, but its number and type can be set according to actual needs. The external electronic module is connected to the circuit board 221 by plugging into the terminal 223. In addition, according to actual needs, the board 221 can be provided with a plurality of electronic components, such as chips, capacitors, resistors, etc., by welding or plug-in.

[0060] The voice interaction module 202 in the present application can receive external voice signals, so that it can interact with the cleaning robot 200 through voice, wherein the source of the voice signal can be the user or other devices. In other words, the voice interaction module 202 can realize human-machine voice interaction and machine-to-machine voice interaction. Moreover, the voice interaction with the cleaning robot 200 can be a control signal of the cleaning robot 100, such as control instructions such as waking up the cleaning robot 200, turning on the cleaning robot 200, and turning off the cleaning robot 200; it can also be a non-control signal, such as controlling the cleaning robot 200 to play music, tracking the cleaning robot 200, etc. Of course, the voice interaction content in the present application is not limited to this, and the content of the voice interaction can be set according to actual needs.

[0061] The voice interaction module 202 includes a circuit board 221 and a voice interaction component 222. The voice interaction component 222 is arranged on the circuit board 221 and is located between the circuit board 221 and the cover 201. The voice interaction component 222 is usually set as a microphone (MIC). The elastic member 203 surrounds the voice interaction component 222 to form a sealed cavity for accommodating the voice interaction component 222. The cover 201 is provided with a sound receiving hole 211 connected to the accommodating cavity. The user's voice control command can be transmitted to the language interaction component 222 through the sound receiving hole 211. The elastic member 203 can be used to isolate the noise outside the cleaning robot 2, thereby further improving the isolation effect of the external noise signal, and achieving the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0062] Further, refer to Figures 4 to 6 The elastic member 203 includes a main body 231 and a mortise and tenon portion 232, the mortise and tenon portion 232 is connected to one side of the main body 231, the main body 231 is provided with a recess 233 and a through hole 234, the through hole 234 is arranged at the bottom of the recess 233, the recess 233 is used to accommodate the voice interaction member 222, the circuit board 221 includes a first mounting hole 224, the mortise and tenon portion 232 of the elastic member 203 protrudes from the first mounting hole 224, and is mortised with the circuit board 221 through the first mounting hole 224, a sound receiving hole 211 is provided on the cover body 201, and the position of the through hole 234 of the main body 231 corresponds to the sound receiving hole 211 on the cover body 201.

[0063] Therefore, in the upper cover structure 200 of the present application, the circuit board 221 includes a first mounting hole 224, and the mortise and tenon joint 232 of the elastic member 203 protrudes from the first mounting hole 224 and is mortised with the circuit board 221 through the first mounting hole 224, so that the elastic member 203 can be fixed on the circuit board 221. In addition, the voice interaction member 222 is accommodated in the recess 233 of the elastic member 203, and the position of the through hole 234 of the main body 231 corresponds to the sound receiving hole 211 on the cover body 201, which can isolate external noise, thereby improving the sound resolution and noise reduction effect of the voice interaction member 222. At the same time, by setting the voice interaction component 222 to the aforementioned form, the internal noise and vibration of the cleaning robot 2, such as the interference of the motor running noise and the wind noise of the air outlet on the voice recognition, can be effectively reduced, so as to obtain a clear voice signal. In this way, when the voice interaction component 222 receives the external sound signal through the sound receiving hole 211 on the cover body 201, it can perform accurate recognition, improve the sound receiving effect, reduce the interference of the noise in the environment on the voice interaction component 222, further improve the sound resolution and noise reduction effect of the voice interaction component 222, and achieve the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0064] In addition, if Figure 5As shown, in some embodiments according to the present application, the main body 231 of the elastic member 203 forms an interference fit with the circuit board 221 and the cover 201 , and the mortise and tenon joint 232 forms an interference fit with the protective cover 21 of the navigation device 210 .

[0065] The elastic member 203 is usually made of a flexible material, and the above-mentioned flexible material refers to a material with elastic deformation ability, such as rubber, silicone, etc. According to the upper cover structure 200 of the embodiment of the present application, through the above-mentioned setting, the elastic member 203 can be firmly fixed between the cover body 201 and the protective cover 11 of the navigation device 20, and can isolate external noise or have a shock-absorbing effect, thereby improving the sound resolution and noise reduction effect of the voice interaction member 222. At the same time, by setting the voice interaction member 222 to the aforementioned form, the internal noise and vibration of the cleaning robot 2, such as the interference of the motor running noise and the wind noise of the air outlet on the voice recognition, can be effectively reduced, so as to obtain a clear voice signal, so that when the voice interaction member 222 receives the external sound signal, it can accurately identify it, improve the sound reception effect, reduce the interference of the noise in the environment on the voice interaction member 222, further improve the sound resolution and noise reduction effect of the voice interaction member 222, and achieve the consistency of the sound reception sensitivity before and after sealing, the amplitude of the sampling signal and other tests.

[0066] It should be noted that, in some embodiments of the present application, the navigation device 20 is usually configured as a laser radar, and the protective cover 21 of the navigation device 20 is usually configured as a light-transmitting structure, so that the laser emitted by the laser radar can pass through the protective cover 21 and project onto the target object, thereby achieving the navigation effect of the cleaning robot 2. When the navigation device 20 has a protective cover 21, the mortise and tenon joint 232 of the elastic member 203 forms an interference fit with the protective cover 21 of the navigation device 20, so that on the one hand, it can be used to fix the circuit board 221, and on the other hand, it can isolate the internal or external noise of the cleaning robot 2. Of course, when the navigation device 20 is not provided with a protective cover 21, the mortise and tenon joint 232 of the elastic member 203 needs to maintain a safe distance from the navigation device 20 to prevent the elastic member 203 from affecting the operation of the navigation device 20, and the specific setting of the safe distance needs to be determined according to the usage.

[0067] Furthermore, if Figure 4 As shown, in some embodiments according to the present application, the upper cover structure 200 also includes a terminal 223, which is arranged on the front or back of the circuit board 221, and the height of the elastic member 203 extending out of the circuit board 221 is greater than the height of the terminal 223.

[0068] Specifically, the circuit board 221 is provided with a connection terminal 223 for connecting an external electronic module. The connection terminal 223 is generally a MIPI interface, but its number and type can be set according to actual needs. The external electronic module is connected to the circuit board 221 by plugging into the connection terminal 223. In some embodiments according to the present application, the connection terminal 223 is arranged on the front or back of the circuit board 221, and the height of the elastic member 203 extending out of the circuit board 221 is greater than the height of the connection terminal 223. Through the above arrangement, a safe space can be reserved for the connection terminal 223 to prevent interference between the connection terminal 223 and other components of the cleaning robot 2, such as the navigation device 20, thereby ensuring that the connecting wire on the connection terminal 223 can work stably, that is, the stable operation of the cleaning robot 2 can be ensured.

[0069] Reference Figure 5 and Figure 6 Different from the above-mentioned embodiment 1, in some embodiments according to the present application, the fixing member 204 is a screw, a screw post 212 is provided on the cover body, and the circuit board 221 is fixed to the cover body 201 through the cooperation between the screw 204 and the screw post 212.

[0070] Therefore, the circuit board 221 can be fixed to the cover body 201 through the above-mentioned setting, and the sealing between the elastic part 203 and the voice interaction part 22 can be ensured, so that the elastic part 203 can be used to isolate the noise inside and outside the cleaning robot 2, thereby further improving the isolation effect of internal and external noise signals, and achieving the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0071] Furthermore, if Figure 6 As shown, the number of elastic members 203 is three, and the number of fixing members 204 is six, which are evenly spaced around the center point of the circuit board 221, so that the circuit board 221 can be firmly fixed on the cover 201, and the sealing between the elastic member 203 and the voice interaction member 22 can be further ensured. Of course, the number of elastic members 203 and fixing members 204 is not limited to this, and can be set according to specific circumstances.

[0072] Reference Figure 2 In some embodiments according to the present application, the cover body 201 includes a top cover 212, a connecting column 213 and a base frame 214, wherein the top cover 212 is connected to the base frame 214 through the connecting column 213, and the upper cover structure 200 also includes a wire clamping groove 205, which extends along the axial direction of the connecting column 213, and the wire clamping groove 205 is located on the inner wall of the connecting column 213 on the left side relative to the forward direction of the cleaning robot 2.

[0073] Specifically, the connecting column 213 and the base frame 214 form a hollow column, which is used to accommodate the voice interaction module 202 and the navigation device 20, and the hollow column is a hollow structure, that is, its side wall is provided with a plurality of openings, so as not to affect the operation of the navigation device 20. Figure 6 , wherein the forward direction of the cleaning robot 2 is shown by the arrow in the figure, the wire slot 205 extends along the axial direction of the connecting column 213, and the wire slot 205 is located on the inner wall of the connecting column 213 on the left side relative to the forward direction of the cleaning robot 2. The function of the wire slot 205 is to accommodate and fix the connecting wire connected to the terminal 223, and it is difficult to see the connecting wire from the outside of the machine, which is conducive to improving the aesthetics of the machine. Relative to the forward direction of the cleaning robot 2, the wire slot 205 is located on the inner wall of the connecting column 213 on the left side, which can prevent the connecting column 213 from interfering with the navigation device 20. Specifically, when the navigation device 20 is a laser radar, the laser camera will collect data of objects in front for obstacle avoidance, and when modeling the space, the right side will collect two-dimensional data of the space along the wall. Therefore, installing the wire slot 205 on the connecting column 213 on the left side will not increase or thicken the thickness or width of the front or right connecting column, and will not increase the blind area of ​​the laser radar camera, so as not to affect the data collection of the laser radar, thereby ensuring the accuracy of the scanning data of the navigation device 20.

[0074] In addition, in some embodiments of the present application, the top cover 212, the connecting column 213 and the bottom frame 214 of the cover body 201 are an integrally formed structure, so that the production and manufacturing of the cover body 201 is more convenient and the structure is simpler.

[0075] Reference Figure 1 and Figure 4 , Figure 1 This is a schematic diagram of the structure of the navigation device provided in Example 1 of the present application. Figure 4 This is a schematic diagram of the structure of a navigation device provided in Embodiment 2 of the present application. The present application provides a navigation device 10 and 20, which includes the upper cover structures 100 and 200 as described above. The specific structures of the upper cover structures 10 and 20 have been discussed above and will not be repeated here.

[0076] Reference Figures 1 to 6The embodiment of the present application provides an upper cover structure 100, 200, which is covered by the navigation device 10, 20 of the cleaning robot 112, and the upper cover structure 100, 200 includes a cover body 101, 201, a voice interaction module 102, 202, an elastic member 103, 203 and a fixing member 104, 204. Among them, the cover body 101, 201 is covered on the navigation device. The voice interaction module 102, 202 is arranged between the cover body 101, 201 and the navigation device 10, 20, and the voice interaction module 102, 202 includes a circuit board 121, 221 and a voice interaction member 122, 222, and the voice interaction member 122, 222 is arranged on the circuit board 121, 221 and is located between the circuit board 121, 221 and the cover body 101, 201. The elastic member 103, 203 is mortised with the circuit board 121, 221 and surrounds the voice interaction member 122, 222. The fixing members 104 , 104 fix the circuit boards 121 , 221 to the covers 101 , 201 .

[0077] Compared with the existing upper cover structure, the upper cover structure 100, 200 provided in the embodiment of the present application has only a single cover body 101, 201, and does not require an upper and lower cover structure, and the voice interaction module 102, 202 is arranged between the cover body 101, 201 and the navigation device 10, 20, which can make full use of the longitudinal space inside the cover body 101, 201 and improve the space utilization rate inside the cleaning robot 1, 2. In addition, in the upper cover structure 100, 200 provided in the embodiment of the present application, the circuit board 121, 221 is fixed to the cover body 101, 201 by the elastic member 103, 203 and the mortise and tenon joint, and the fixing member 104, 204 fixes the circuit board 121, 221 to the cover body 101, 201, which can reduce the number of fixed parts such as sound insulation sealing rings, fixed parts, etc., and the installation or disassembly process is small, the maintenance and disassembly are simple, and the manufacturing and after-sales costs are low. The elastic parts 103 and 203 surround the voice interaction parts 122 and 222, and can isolate external noise, thereby further improving the sound resolution and noise reduction effect of the voice interaction parts 122 and 222, and achieving the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0078] It should be noted that the navigation devices 10 and 20 provided in the embodiments of the present application have a columnar structure and are accommodated in the hollow cylinder of the cover body 101, 201, and the navigation devices 10 and 20 are usually configured as laser radars, which include two laser cameras for scanning target objects and providing data for the cleaning robots 1 and 2, thereby realizing navigation functions such as obstacle avoidance and modeling.

[0079] Reference Figure 5 and Figure 6 , Figure 5This is a schematic diagram of the structure of the cleaning robot 2 provided in the second embodiment of the present application. The present embodiment also provides a cleaning robot 2, which includes the upper cover structure 100, 200 as described above. The specific structure of the upper cover structure 100, 200 has been discussed above and will not be repeated here.

[0080] Reference Figures 1 to 6 The embodiment of the present application provides an upper cover structure 100, 200, which is covered by the navigation device 10, 20 of the cleaning robot 112, and the upper cover structure 100, 200 includes a cover body 101, 201, a voice interaction module 102, 202, an elastic member 103, 203 and a fixing member 104, 204. Among them, the cover body 101, 201 is covered on the navigation device. The voice interaction module 102, 202 is arranged between the cover body 101, 201 and the navigation device 10, 20, and the voice interaction module 102, 202 includes a circuit board 121, 221 and a voice interaction member 122, 222, and the voice interaction member 122, 222 is arranged on the circuit board 121, 221 and is located between the circuit board 121, 221 and the cover body 101, 201. The elastic member 103, 203 is mortised with the circuit board 121, 221 and surrounds the voice interaction member 122, 222. The fixing members 104 , 104 fix the circuit boards 121 , 221 to the covers 101 , 201 .

[0081] Compared with the existing upper cover structure, the upper cover structure 100, 200 provided in the embodiment of the present application has only a single cover body 101, 201, and does not require an upper and lower cover structure, and the voice interaction module 102, 202 is arranged between the cover body 101, 201 and the navigation device 10, 20, which can make full use of the longitudinal space inside the cover body 101, 201 and improve the space utilization rate inside the cleaning robot 1, 2. In addition, in the upper cover structure 100, 200 provided in the embodiment of the present application, the circuit board 121, 221 is fixed to the cover body 101, 201 by the elastic member 103, 203 and the mortise and tenon joint, and the fixing member 104, 204 fixes the circuit board 121, 221 to the cover body 101, 201, which can reduce the number of fixed parts such as sound insulation sealing rings, fixed parts, etc., and the installation or disassembly process is small, the maintenance and disassembly are simple, and the manufacturing and after-sales costs are low. The elastic parts 103 and 203 surround the voice interaction parts 122 and 222, and can isolate external noise, thereby further improving the sound resolution and noise reduction effect of the voice interaction parts 122 and 222, and achieving the consistency of the sound receiving sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0082] In addition, if Figure 5 and Figure 6As shown, in some embodiments of the present application, the cleaning robot 2 includes a robot body 3, the robot body 3 includes a face cover 4, the face cover 4 is provided with an opening 41, the navigation device 20 is mounted on the robot body 3 and is located at the opening 41 of the face cover 4, the cover body 201 is connected to the face cover 4, and is covered on the top of the navigation device 20, and the navigation device 20 includes a protective cover 21, and the top surface of the protective cover 21 abuts against the side of the elastic member 203 away from the cover body 201. Therefore, the navigation device 20 is placed above the cleaning robot 2, which can increase the field of view of the camera of the navigation device 20, so as to better play the role of navigation, and the cleaning robot 2 according to the embodiment of the present application can firmly fix the navigation device 20 above the cleaning robot body 3 through the cooperation of the cover body 201 and the face cover 4, and the abutment of the elastic member 203 and the protective cover 21, which can ensure the stable operation of the navigation device 20.

[0083] It should be noted that Figure 5 and Figure 6 The cleaning robot 2 shown is a self-propelled sweeper, a self-propelled scrubber, or a self-propelled sweeper-washer-in-one machine. Figure 5 and Figure 6 The cleaning robot 2 shown is only an example, and the specific structure of the cleaning robot 2 is not limited to this.

[0084] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the inventive concept of the present application, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A cover structure, covering a navigation device of a cleaning robot, characterized in that: include: A cover body, which is arranged on the navigation device; A voice interaction module is arranged between the cover and the navigation device, the voice interaction module comprises a circuit board and a voice interaction component, the voice interaction component is arranged on the circuit board and located between the circuit board and the cover; An elastic member, sealingly matched with the circuit board and the cover body, the elastic member surrounds the voice interaction member to form a sealed cavity for accommodating the voice interaction member, and the cover body is provided with a sound receiving hole communicating with the accommodating cavity; and A fixing member fixes the circuit board to the cover body.

2. The upper cover structure according to claim 1, characterized in that: The elastic member includes a main body and a mortise and tenon portion, the mortise and tenon portion is connected to one side of the main body, the main body is provided with a recess and a through hole, the through hole is arranged at the bottom of the recess, the recess is used to accommodate the voice interaction component, the circuit board includes a first mounting hole, the mortise and tenon portion of the elastic member protrudes from the first mounting hole, and is mortised with the circuit board through the first mounting hole, and the position of the through hole of the main body corresponds to the sound receiving hole on the cover body.

3. The upper cover structure according to claim 2, characterized in that: The main body of the elastic member forms an interference fit with the circuit board and the cover body, and the mortise and tenon joint forms an interference fit with the protective cover of the navigation device.

4. The upper cover structure according to claim 3, characterized in that: It also includes a connection terminal, which is arranged on the front side or the back side of the circuit board, and the height of the elastic member extending out of the circuit board is greater than the height of the connection terminal.

5. The upper cover structure according to claim 4, characterized in that: The fixing member is a snap-fit ​​member, which is arranged on the cover body. The circuit board includes a second mounting hole. The end of the snap-fit ​​member passes through the second mounting hole and forms a snap-fit ​​connection with the circuit board.

6. The upper cover structure according to claim 5, characterized in that: The number of the elastic members and the number of the fixing members are both at least two, and the at least two elastic members and the at least two fixing members are evenly spaced and distributed around the center point of the circuit board.

7. The upper cover structure according to any one of claims 1 to 6, characterized in that: The cover body includes a top cover, a connecting column and a base frame, the top cover is connected to the base frame through the connecting column, the upper cover structure also includes a wire clamping groove, the wire clamping groove extends along the axial direction of the connecting column, and the wire clamping groove is located on the inner wall of the connecting column on the left side relative to the forward direction of the cleaning robot.

8. A navigation device, characterized in that: It comprises the upper cover structure as claimed in any one of claims 1 to 7.

9. A cleaning robot, characterized in that: Comprising the navigation device as claimed in claim 8.

10. The cleaning robot according to claim 9, characterized in that: The cleaning robot comprises a robot body, the robot body comprises a face cover, the face cover is provided with an opening, the navigation device is mounted on the robot body and is located at the opening of the face cover, the cover body is connected to the face cover and is covered above the navigation device, the navigation device comprises a protective cover, the top surface of the protective cover abuts against the elastic member on the side facing away from the cover body.

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