Upper cover structure, navigation device and cleaning robot

Abstract

The embodiment of the present application provides a kind of upper cover structure, cover is set in the navigation device of cleaning robot, comprising: cover, cover is set on the navigation device;Voice interaction module is arranged between the cover and the navigation device, the voice interaction module includes circuit board and voice interaction piece, the voice interaction piece is arranged on the circuit board, and between the circuit board and the cover;Elastic piece is sealed with the circuit board and the cover fit, the elastic piece is formed with the sealed cavity accommodating the voice interaction piece around the voice interaction piece, the cover is equipped with the sound hole being communicated with the sealed cavity;And fixing piece, the circuit board is fixed to the cover.The upper cover structure provided by the embodiment of the present application can realize the sealing assembly of voice device, and the structure is simple, easy to disassemble and assemble, and the manufacturing and after-sales cost is low.The embodiment of the present application also provides a kind of navigation device and 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 smart cleaning robots typically use multiple plastic parts (such as upper and lower shells), silicone parts, and screws to seal and assemble the voice component. This is necessary to achieve various tests, such as sensitivity consistency before and after sealing and sampling signal amplitude. The main disadvantages of this design are the large number of parts, multiple 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, arranged on the navigation device;

[0008] a voice interaction module disposed between the cover and the navigation device, the voice interaction module comprising a circuit board and a voice interaction component, the voice interaction component being disposed on the circuit board and located between the circuit board and the cover;

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

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

[0011] Furthermore, 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 to 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, and the mortise and tenon joint forms an interference fit with the protective cover of the navigation device.

[0013] Furthermore, it further comprises a connection terminal, which is arranged on the front or 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 arranged on the cover body, the circuit board includes a second mounting hole, and the 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 installed 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 contacts 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 fully utilize the longitudinal space inside the cover and improve the space utilization rate inside the cleaning robot. In addition, by the elastic member and the circuit board and the cover sealing cooperation, and the fixing member fixing the circuit board to the cover, the number of fixed parts such as sound insulation sealing rings, fixed parts, etc. can be reduced, and the installation or disassembly process is reduced, 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 sealed 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 the navigation device provided in Example 1 of the present application;

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

[0024] Figure 3 Schematic diagram of the structure of the elastic member in the 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 Example 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 robots 101、201 Cover 102、202 Voice interaction module 103、203 elastic parts 104、204 Fixings 121、221 circuit boards 122、222 Voice interaction software 123、223 Terminal Blocks 131、231 Main body 132、232 Mortise and tenon 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 chassis 105、205 Wire trough 3 Robot body 4 face cover 41 Opening

[0030] The realization of the objectives, 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 this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 various 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 for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. 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 smart cleaning robots typically use multiple plastic parts (such as upper and lower shells), silicone parts, and screws to seal and assemble the voice component. This is done to ensure consistent sensitivity and sampled signal amplitude before and after sealing. The main drawbacks of this design are the large number of parts, numerous 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 top cover structure 100 and 200 that can achieve sealed assembly of voice devices, and have a simple structure, are easy to assemble and disassemble, and have low manufacturing and after-sales costs.

[0036] Example 1

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

[0038] Compared to existing upper cover structures, the upper cover structure 100 provided in the embodiment of the present application only has a single cover body 101, eliminating the need for upper and lower covers. Furthermore, the voice interaction module 102 is disposed between the cover body 101 and the navigation device 10, fully utilizing the longitudinal space within the cover body 101 and improving the space utilization rate within the cleaning robot. Furthermore, in the upper cover structure 100 provided in the embodiment of the present application, the elastic member 103 seals with the circuit board 121 and the cover body 101, and the fixing member 104 secures the circuit board 121 to the cover body 101. This reduces the number of fixing parts, such as soundproofing seals and other fixing parts, and reduces the number of installation and removal steps, simplifying maintenance and disassembly, and reducing manufacturing and after-sales costs. The elastic member 103 surrounds the voice interaction component 122 to form a sealed cavity that accommodates the voice interaction component 122. The cover body 101 is provided with a sound receiving hole 111 that communicates with the sealed cavity, isolating internal and external noise, thereby further improving the sound resolution and noise reduction effect of the voice interaction component 122 and achieving the consistency of sound receiving sensitivity before and after sealing, as well as the achievement of various tests such as the sampling signal amplitude.

[0039] Specifically, the cover 101 can be made of metal or plastic material, and can be set according to actual needs. The circuit board 121 is a printed circuit board (PCB). The circuit board 121 is provided with connection terminals 123 for connecting external electronic modules. The connection terminals 123 are usually MIPI interfaces, but their 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 terminals 123. In addition, according to actual needs, multiple electronic components such as chips, capacitors, resistors, etc. can be set on the circuit board 121 by welding or plug-in.

[0040] The voice interaction module 102 in this 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 a user or other device. 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 waking up the cleaning robot, turning on the cleaning robot, turning off the cleaning robot, and other control instructions; 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 this 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 configured 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 sealed cavity. The user's voice control command can be transmitted to the voice 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 provided at the bottom of the recess 133. The recess 133 is used to accommodate the voice interaction component 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. 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. The mortise and tenon portion 132 of the elastic member 103 protrudes from the first mounting hole 124 and is mortised to the circuit board 121 through the first mounting hole 124, thereby enabling the elastic member 103 to be fixed to the circuit board 121. Furthermore, the voice interaction component 122 is accommodated within the recess 133 of the elastic member 103. The position of the through hole 134 of the main body 131 corresponds to the sound receiving hole 111 on the cover 101, thereby isolating external noise, 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 motor operation noise and wind noise from the air outlet on voice recognition, can be effectively reduced, so as to obtain a clear voice signal. In this way, when the voice interaction component 122 receives external sound signals through the sound receiving hole 111 on the cover body 101, it can perform accurate recognition, improve the sound reception effect, reduce the interference of 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 sound reception sensitivity before and after sealing, the achievement of various tests such as the sampling signal amplitude, etc.

[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, which refers to a material with elastic deformation ability, such as rubber, silicone, etc. According to the above-mentioned configuration of the upper cover structure 100 of the embodiment of the present application, 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 in the aforementioned form, the internal noise and vibration of the cleaning robot, such as the interference of motor operation noise and wind noise from the air outlet on voice recognition, can be effectively reduced, so as to facilitate the acquisition of clear voice signals. In this way, when the voice interaction component 122 receives external sound signals, it can accurately recognize them, improve the sound reception effect, reduce the interference of 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 sound reception sensitivity before and after sealing, the achievement of various tests such as the sampling signal amplitude.

[0046] It should be noted that, in some embodiments of the present application, the navigation device 10 is generally configured as a laser radar, and the protective cover 11 of the navigation device 10 is generally 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. 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 from 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 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 121 by being plugged into the connection terminal 123. In some embodiments according to the present application, the connection terminal 123 is provided 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 of the present application, the fixing member 104 is a snap-fit ​​member, which is arranged 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, if Figure 2 As shown, there are three elastic members 103 and three fixing members 104, 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 elastic members 103 and fixing members 104 is not limited to this 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 axially along 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 multiple openings, so as not to affect the operation of the navigation device 10. Figure 2The cleaning robot's forward direction is indicated by the arrow in the figure. The cable trough 105 extends axially along the connecting column 113. The cable trough 105 is located on the inner wall of the connecting column 113 on the left side relative to the cleaning robot's forward direction. The cable trough 105 accommodates and secures the connecting wires connected to the terminal block 123. This prevents the connecting wires from being visible from the outside of the robot, thereby improving the robot's aesthetics. The cable trough 105 is located on the inner wall of the connecting column 113 on the left side relative to the robot's forward direction, preventing the connecting column 113 from interfering with the navigation device 10. Specifically, when the navigation device 10 is a lidar, the laser camera collects data about objects in front of it for obstacle avoidance. When modeling a space, the right side collects two-dimensional spatial data along the wall. Therefore, installing the cable trough 105 on the left connecting column 113 avoids increasing the thickness or width of the front or right connecting column, thereby preventing the lidar camera from increasing its blind spot and thus preventing it from affecting the lidar data collection. This ensures the accuracy of the data scanned by the navigation device 10.

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

[0056] Example 2

[0057] Reference Figures 4 to 6 , an embodiment of the present application provides an upper cover structure 200 for the navigation device 20 of the cleaning robot 2, 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. 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. The cover body 201 is provided with a sound receiving hole 211 connected to the sealed cavity. The fixing member 204 fixes the circuit board 221 to the cover body 201.

[0058] Compared to existing upper cover structures, the upper cover structure 200 provided in the embodiment of the present application only has a single cover 201, eliminating the need for upper and lower covers. Furthermore, the voice interaction module 202 is positioned between the cover 201 and the navigation device 20, fully utilizing the longitudinal space within the cover 201 and improving the space utilization within the cleaning robot 2. Furthermore, in the upper cover structure 200 provided in the embodiment of the present application, the elastic member 203 seals with the circuit board 221 and the cover 201, and the fixing member 204 secures the circuit board 221 to the cover 201. This reduces the number of fixed parts, such as soundproofing seals and other fixings, and reduces installation and removal steps, simplifying maintenance and disassembly, and reducing manufacturing and after-sales costs. The elastic member 203 surrounds the voice interaction component 222, forming a sealed cavity to accommodate the voice interaction component 222. The cover 201 is provided with a sound receiving hole 211 communicating with the sealed cavity, isolating internal and external noise, thereby further improving the sound resolution and noise reduction effect of the voice interaction component 222 and achieving consistency in sound receiving sensitivity before and after sealing, as well as the sampling signal amplitude, among other tests.

[0059] Specifically, the cover 201 can be made of metal or plastic material, and can be set according to actual needs. The circuit board 221 is a printed circuit board (PCB). The circuit board 221 is provided with connection terminals 223 for connecting to external electronic modules. The connection terminals 223 are generally MIPI interfaces, but their 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 terminals 223. In addition, according to actual needs, multiple electronic components such as chips, capacitors, resistors, etc. can be set on the circuit board 221 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 2 through voice, wherein the source of the voice signal can be a user or other device. 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 2 can be a control signal of the cleaning robot 2, such as waking up the cleaning robot 2, turning on the cleaning robot 2, turning off the cleaning robot 2, etc.; it can also be a non-control signal, such as controlling the cleaning robot 2 to play music, tracking the cleaning robot 2, etc. Of course, the content of the voice interaction 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 configured 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 sealed cavity. The user's voice control command can be transmitted to the voice 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 joint 232. The mortise and tenon joint 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 provided at the bottom of the recess 233. The recess 233 is used to accommodate the voice interaction component 222. The circuit board 221 includes a first mounting hole 224. 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. A sound receiving hole 211 is provided on the cover body 201. 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. The mortise and tenon portion 232 of the elastic member 203 protrudes from the first mounting hole 224 and is mortised to the circuit board 221 through the first mounting hole 224, thereby securing the elastic member 203 to the circuit board 221. Furthermore, the voice interaction component 222 is accommodated within the recess 233 of the elastic member 203. The through hole 234 of the main body 231 is positioned to correspond to the sound receiving hole 211 on the cover 201, thereby isolating external noise and improving the sound resolution and noise reduction effect of the voice interaction component 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 reception 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 reception 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 typically made of a flexible material, which refers to a material with elastic deformation capabilities, such as rubber, silicone, etc. According to the upper cover structure 200 of the embodiment of the present application, through the above-mentioned configuration, the elastic member 203 can be firmly fixed between the cover body 201 and the protective cover 21 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 component 222. At the same time, by configuring the voice interaction component 222 in the aforementioned form, the internal noise and vibration of the cleaning robot 2, such as the interference of motor operation noise and wind noise from the air outlet on voice recognition, can be effectively reduced, so as to facilitate the acquisition of clear voice signals. In this way, when the voice interaction component 222 receives external sound signals, it can accurately recognize them, improve the sound reception effect, reduce the interference of environmental noise 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 sound reception sensitivity before and after sealing, the sampling signal amplitude and other tests.

[0066] It should be noted that, in some embodiments of the present application, the navigation device 20 is generally configured as a laser radar, and the protective cover 21 of the navigation device 20 is generally configured as a light-transmitting structure, so that the laser emitted by the laser radar can pass through the protective cover 21 and be projected 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. 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 wiring terminal 223, which is arranged on the front or back of the circuit board 221, and the height of the elastic member 203 extending from the circuit board 221 is greater than the height of the wiring 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 connection terminal 223 to achieve communication with the circuit board 221. In some embodiments according to the present application, the connection terminal 223 is set on the front or back of the circuit board 221, and the height of the elastic member 203 extending from 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, it can ensure the stable operation of the cleaning robot 2.

[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, and a screw post is provided on the cover body 201. The circuit board 221 is fixed to the cover body 201 through the cooperation between the screw 204 and the screw post.

[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 as to utilize the elastic part 203 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, there are three elastic members 203 and six fixing members 204, which are evenly spaced around the center of the circuit board 221. This ensures that the circuit board 221 is firmly fixed to the cover 201 and further ensures the sealing between the elastic members 203 and the voice interaction member 22. 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 axially along the connecting column 213. 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 multiple openings, so as not to affect the operation of the navigation device 20. Figure 6 The cleaning robot 2 is traveling in the direction indicated by the arrow in the figure. The cable trough 205 extends axially along the connecting post 213. The cable trough 205 is located on the inner wall of the connecting post 213 on the left side relative to the robot's direction of travel. The cable trough 205 accommodates and secures the connecting wires connected to the terminal block 223. This prevents the connecting wires from being visible from the outside of the robot, thereby improving the robot's aesthetics. The cable trough 205 is located on the inner wall of the connecting post 213 on the left side relative to the robot's direction of travel. This prevents the connecting post 213 from interfering with the navigation device 20. Specifically, when the navigation device 20 is a lidar, the laser camera collects data about objects in front of it for obstacle avoidance. When modeling a space, the right side collects two-dimensional spatial data along the wall. Therefore, installing the cable trough 205 on the left connecting post 213 avoids increasing the thickness or width of the connecting post on the front or right side, thereby preventing the lidar camera from increasing its blind spot and thus preventing interference with the lidar data collection. This ensures the accuracy of the data scanned by the navigation device 20.

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

[0075] Reference Figure 1 and Figure 4 , Figure 1 This is a structural diagram of the navigation device provided in Example 1 of the present application. Figure 4 Schematic diagram of the structure of the navigation device provided in the second embodiment of the present application. The embodiment of the present application provides a navigation device 10 and 20, which includes the upper cover structures 100 and 200 as described above. The specific structure of the upper cover structures 100 and 200 has 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 provided to cover the navigation device 10, 20 of the cleaning robot 2. 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. The cover body 101, 201 is provided to cover the navigation device. The voice interaction module 102, 202 is provided between the cover body 101, 201 and the navigation device 10, 20. The voice interaction module 102, 202 includes a circuit board 121, 221 and a voice interaction member 122, 222. The voice interaction member 122, 222 is provided 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 to the circuit board 121, 221 and surrounds the voice interaction member 122, 222. The fixing members 104 , 204 fix the circuit boards 121 , 221 to the covers 101 , 201 .

[0077] Compared to existing upper cover structures, the upper cover structures 100, 200 provided in the embodiments of the present application only have a single cover body 101, 201, eliminating the need for upper and lower cover structures. Furthermore, the voice interaction modules 102, 202 are disposed between the cover bodies 101, 201 and the navigation devices 10, 20, making full use of the longitudinal space within the cover bodies 101, 201 and improving the space utilization rate within the cleaning robots 1, 2. Furthermore, in the upper cover structures 100, 200 provided in the embodiments of the present application, the elastic members 103, 203 are mortised to the circuit boards 121, 221, and the fixing members 104, 204 fix the circuit boards 121, 221 to the cover bodies 101, 201. This reduces the number of fixing parts, such as soundproofing seals and other fixing parts, and reduces installation and disassembly steps, simplifying maintenance and disassembly, and reducing manufacturing and after-sales costs. 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 reception 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 embodiment of the present application also provides a cleaning robot 2, which includes the upper cover structures 100 and 200 as described above. The specific structures of the upper cover structures 100 and 200 have 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 provided to cover the navigation device 10, 20 of the cleaning robot 2. 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. The cover body 101, 201 is provided to cover the navigation device. The voice interaction module 102, 202 is provided between the cover body 101, 201 and the navigation device 10, 20. The voice interaction module 102, 202 includes a circuit board 121, 221 and a voice interaction member 122, 222. The voice interaction member 122, 222 is provided 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 to 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 to existing upper cover structures, the upper cover structures 100, 200 provided in the embodiments of the present application only have a single cover body 101, 201, eliminating the need for upper and lower cover structures. Furthermore, the voice interaction modules 102, 202 are disposed between the cover bodies 101, 201 and the navigation devices 10, 20, making full use of the longitudinal space within the cover bodies 101, 201 and improving the space utilization rate within the cleaning robots 1, 2. Furthermore, in the upper cover structures 100, 200 provided in the embodiments of the present application, the elastic members 103, 203 are mortised to the circuit boards 121, 221, and the fixing members 104, 204 fix the circuit boards 121, 221 to the cover bodies 101, 201. This reduces the number of fixing parts, such as soundproofing seals and other fixing parts, and reduces installation and disassembly steps, simplifying maintenance and disassembly, and reducing manufacturing and after-sales costs. 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 reception 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 provided above the navigation device 20, and the navigation device 20 includes a protective cover 21, the top surface of the protective cover 21 abuts against the side of the elastic member 203 facing away from the cover body 201. Therefore, placing the navigation device 20 above the cleaning robot 2 can increase the field of view of the camera of the navigation device 20, thereby better playing 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 between the cover body 201 and the face cover 4, and the abutment between the elastic member 203 and the protective cover 21, thereby ensuring 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 combination. 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 thereto.

[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 transformations made by using the contents of the present application description and drawings under the inventive concept of the present application, or direct / indirect application 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, arranged on the navigation device; a voice interaction module disposed between the cover and the navigation device, the voice interaction module comprising a circuit board and a voice interaction component, the voice interaction component being disposed on the circuit board and located between the circuit board and the cover; an elastic member, sealingly engaged with the circuit board and the cover, wherein the elastic member surrounds the voice interaction component to form a sealed cavity for accommodating the voice interaction component, and the cover is provided with a sound receiving hole communicating with the sealed cavity; and A fixing member fixes the circuit board to the cover.

2. The upper cover structure according to claim 1, wherein: 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 to 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, 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 or back side of the circuit board. The height of the elastic member extending from 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, which extends along the axial direction of the connecting column. 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 according to 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, wherein: 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 provided above the navigation device, the navigation device includes a protective cover, the top surface of the protective cover contacts the side of the elastic member facing away from the cover body.

Images