Projection robot

Abstract

This application relates to the field of home appliance technology and discloses a projection robot. The projection robot includes: a shell, which is spherical and has an inner cavity, with a first opening communicating with the inner cavity, and a drive wheel at the bottom of the shell; a projection component located in the inner cavity and rotatably mounted on the shell; and an inner shell located in the inner cavity, fixed to the end of the projection component facing the first opening so that the inner shell can rotate with the projection component. During the rotation of the inner shell with the projection component, the projection of the inner shell onto the outer shell covers the first opening; wherein the inner shell has a projection hole facing the first opening for the projection component to project onto the outside of the inner shell. The projection robot provided in this application employs a double-shell structure and utilizes the rotation of the inner shell with the projection component.

Description

Technical Field

[0001] This application relates to the field of home appliance technology, and in particular to a projection robot. Background Technology

[0002] Existing spherical projection robots can automatically adjust the projection orientation of their projection components, enabling projection onto surfaces such as the ground, walls, and ceiling. To improve the flexibility of projection robots, adding autonomous movement capabilities, allowing them to move autonomously to different locations for projection, has become an industry trend.

[0003] However, existing spherical projection robots typically adjust the projection direction of the projection component by rotating the outer shell, thereby changing the projection direction of the projection component. Summary of the Invention

[0004] This application discloses a projection robot, which provides a new structure that can realize pitch projection function. By adopting a double-shell structure, the inner shell rotates with the projection component.

[0005] To achieve the above objectives, this application discloses a projection robot, comprising:

[0006] The outer shell is spherical and has an inner cavity. The outer shell has a first opening that communicates with the inner cavity. The bottom of the outer shell has a drive wheel.

[0007] A projection assembly, located in the inner cavity and rotatably mounted on the outer shell;

[0008] An inner shell is located in the inner cavity. The inner shell is fixed to one end of the projection assembly facing the first opening so that the inner shell can rotate with the projection assembly. During the rotation with the projection assembly, the projection of the inner shell on the outer shell covers the first opening.

[0009] The inner shell has a projection hole facing the first opening for the projection assembly to project onto the outside of the inner shell.

[0010] Drive wheels are located at the bottom of the outer shell, enabling the projection robot to move. The projection component is located within the inner cavity of the outer shell and can rotate in both directions. This allows the projection robot to move to different positions and project at different angles using the different projection directions of the projection component. Furthermore, the outer shell has a first opening. An inner shell located within the inner cavity is fixed to the projection component. The inner shell can rotate relative to the outer shell as the projection component rotates, allowing the projection component to project onto the outside of the inner shell in different directions through its projection holes. Simultaneously, as the inner shell rotates with the projection component, its projection onto the outer shell covers the first opening, preventing dust and other foreign objects from entering the inner cavity of the outer shell through the first opening. It also shields the projection component, preventing the user from seeing it through the first opening from outside the outer shell.

[0011] In some embodiments of this application, the housing includes:

[0012] Top shell, wherein the top shell is provided with a first notch;

[0013] A bottom shell is connected below the top shell to make the outer shell spherical and to form the inner cavity between the bottom shell and the top shell. The bottom shell is provided with a second notch, and the second notch and the first notch are connected to form the first opening.

[0014] The projection component is mounted on the bottom shell and can be tilted and rotated.

[0015] The bottom shell is connected to the bottom of the top shell, and the top and bottom shells together form a spherical outer shell, creating an inner cavity between them. This allows for easy assembly of the projection robot. The projection components, inner shell, and other parts can be installed onto the bottom shell, and then connected to the top shell via a first notch in the top shell and a second notch in the bottom shell, forming a first opening. This simplifies the assembly of the projection robot. Furthermore, the first opening extends from the top shell to the bottom shell, increasing the projection coverage of the inner shell onto the outer shell, thereby increasing the pitch angle range of the projection components and the inner shell, resulting in a wider projection angle range for the projection components.

[0016] In some embodiments of this application, the projection robot includes sensors;

[0017] The top of the top shell has an outward protrusion located on the rotational circumference of the inner shell, and the protrusion is configured to transmit the electromagnetic signal corresponding to the sensor.

[0018] The protrusion forms a receiving cavity communicating with the inner cavity, and at least one of the sensors is disposed in the receiving cavity to avoid the rotation path of the inner shell.

[0019] By setting a sensor on a protrusion on the top shell, when the projection orientation of the projection component is changed, the inner shell and outer shell form a double-shell structure. The inner shell can pitch and rotate relative to the outer shell, while the outer shell remains stationary. When expanding the autonomous movement function of the projection robot, the sensor can be installed on the outer shell, so that the position of the sensor's spatial coordinate system remains unchanged. The sensor has high detection accuracy and avoids affecting the use of the projection robot and sensor-related functions.

[0020] Furthermore, by providing an outward protrusion at the top of the top shell, a cavity is formed within the protrusion for housing the sensor. This protrusion is configured to transmit the electromagnetic signal corresponding to the sensor. Thus, the electromagnetic signal from the sensor housed in the cavity can be transmitted through the protrusion without being blocked by the top shell, improving the sensor's detection accuracy. Moreover, the outward protrusion from the top of the top shell allows the sensor housed in the cavity to avoid the rotation path of the inner shell, preventing interference between the sensor and the inner shell.

[0021] In some embodiments of this application, the projection robot includes:

[0022] The projection robot includes:

[0023] A support plate is provided at the opening of the accommodating cavity facing the inner cavity;

[0024] A first circuit board is disposed on the side of the support plate facing the protrusion;

[0025] At least one of the sensors is disposed on the first circuit board.

[0026] By placing a support plate at the opening of the accommodating cavity facing the inner cavity, the first circuit board is supported and installed into the accommodating cavity. In this way, the sensor can be set on the first circuit board, and the sensor remains relatively stationary with the top shell and will not change position due to the rotation of the inner shell, resulting in high detection accuracy of the sensor.

[0027] In some embodiments of the application, the protrusion has a third opening communicating with the receiving cavity, and the sensor includes:

[0028] A radar module is disposed on the support plate and electrically connected to the first circuit board. The first circuit board has a first through hole, and the radar module protrudes through the first through hole to the third opening.

[0029] Multiple infrared sensors are located on the side of the first circuit board away from the support plate and are arranged around the radar module.

[0030] The radar module is mounted on a support plate, allowing it to protrude through the first through-hole to the third opening. This prevents the top shell from obstructing the radar module and improves its detection accuracy. Furthermore, using a support plate to electrically connect the radar module to the first circuit board allows the support plate to bear the module's weight, preventing deformation of the circuit board due to pressure. Multiple infrared sensors are mounted on the first circuit board, enabling appliance control. These sensors, arranged around the radar module, provide multi-directional signal transmission, allowing for 360° control of appliances. The compact design of the infrared sensors and radar module saves space, and the height difference between them prevents electromagnetic interference that could affect detection accuracy.

[0031] In some embodiments of the application, the first circuit board has a plurality of protrusions on the side away from the support plate. The plurality of protrusions are arranged around the straight line containing the normal direction of the first circuit board. The distance between the end of the protrusion away from the first circuit board and the straight line containing the normal direction is greater than the distance between the end of the protrusion closer to the first circuit board and the straight line containing the normal direction.

[0032] Each of the protruding pillars has a hollow portion, and the sensor includes multiple infrared sensors, which are respectively disposed in the hollow portions of the multiple protruding pillars.

[0033] An infrared sensor is installed in the hollow part of the protrusion. The protrusion is tilted to the normal direction of the first circuit board, so that the infrared sensor maintains a certain tilt angle. This avoids the infrared sensor from shaking due to external forces, which would change the tilt angle of the infrared sensor and affect its detection accuracy.

[0034] In some embodiments of this application, the protrusion includes:

[0035] The accommodating layer has the accommodating cavity formed therein, and the accommodating layer has a second through hole corresponding to the sensor located in the accommodating cavity. The second through hole is used to emit the electromagnetic signal corresponding to the sensor.

[0036] A cover layer covers the side of the accommodating layer opposite to the accommodating cavity, and the cover layer is configured to be light-transmitting to transmit the electromagnetic signal corresponding to the sensor.

[0037] By setting a second through hole in the housing layer, the sensor can emit electromagnetic signals through the second through hole. Furthermore, by covering the housing layer with a light-transmitting cover layer, dustproof and waterproof properties can be achieved, enabling the sensor to be designed as an invisible device and maintaining its appearance integrity. At the same time, the cover layer can transmit the electromagnetic signals of the sensor to ensure the normal operation of the sensor.

[0038] In some embodiments of this application, the overlay is configured in a ring shape and is disposed around the radar module.

[0039] By constructing the covering layer in a ring shape and setting it around the radar module, the structure is relatively compact, and the covering layer can avoid obstructing the radar module and thus preventing it from affecting the normal operation of the radar module.

[0040] In some embodiments of this application, the projection robot includes:

[0041] A first circuit board is disposed inside the top shell and is electrically connected to the main control board of the projection assembly;

[0042] A communication module is disposed inside the top shell and is electrically connected to the first circuit board to transmit signals between the communication module and the main control board through the wiring between the first circuit board and the main control board.

[0043] Multiple sensors, at least one of which is located on the first circuit board.

[0044] The communication module and sensors located on the top shell are electrically connected to the first circuit board, which in turn is electrically connected to the main control board. This allows for signal transmission between the communication module, sensors, and the main control board. The sensors and communication module share the first circuit board, which reduces the number of circuit boards and simplifies the internal structure of the projection robot. Furthermore, the proximity of the first circuit board and the communication module on the top shell facilitates the wiring of electrical connections between them, thus simplifying the wiring of electrical connections in the projection robot.

[0045] In some embodiments of this application, the inner wall of the top shell is formed with a first plane and a second plane, the first plane and the second plane being located on both sides of the inner shell along the rotation axis;

[0046] The communication module includes:

[0047] A Wi-Fi module is disposed on the first plane;

[0048] The NFC module is located on the second plane, and the NFC module and the Wi-Fi module are located on opposite sides of the inner shell.

[0049] By incorporating a Wi-Fi module in the top shell, the projection robot can receive Wi-Fi signals, enabling it to connect to the internet wirelessly and build a local area network. An NFC module in the top shell allows for data transmission. The NFC and Wi-Fi modules are located on opposite sides of the inner shell, reducing interference and ensuring a balanced distribution of communication modules, thus keeping the robot's center of gravity relatively central. Using a first plane for the Wi-Fi module results in a close and compact fit with the top shell, and the module can be glued to this plane without requiring a protrusion on the inner wall for secure connection, simplifying the top shell's structure. Alternatively, a second plane on the inner wall of the top shell can be used to house the NFC module, again achieving a close and compact fit and similarly requiring glued connection. This also simplifies the top shell's structure.

[0050] In some embodiments of this application, the inner shell is configured in an arc shape and has approximately the same curvature as the sphere.

[0051] By ensuring that the curvature of the inner shell is approximately the same as that of the spherical shape, interference between the inner and outer shells can be avoided when the inner shell rotates relative to the outer shell as the projection component tilts. Furthermore, the inner shell always aligns perfectly with the first opening, thus covering it and achieving waterproofing and dustproofing.

[0052] In some embodiments of this application, the pitch angle of the projection component is α, α ≥ -40°, and / or α ≤ 60°.

[0053] When the projection component rotates relative to the outer shell at a pitch angle α ≥ -40°, the projection position is far from the robot itself (outer shell) when projecting onto the ground, making it difficult for the user to see the projected content. However, when the projection component rotates relative to the outer shell at a pitch angle α ≤ 60°, the robot does not need to move closer to the projection position when projecting onto a ceiling or wall. This allows the robot to project from a greater distance, significantly reducing the limitations of its application scenarios.

[0054] In some embodiments of this application, the inner wall of the top shell is provided with a first shielding portion and a second shielding portion, the first shielding portion and the second shielding portion are respectively located on both sides of the first notch, the extending directions of the first shielding portion and the second shielding portion are parallel to the rotational circumferential direction of the inner shell, and at least one of the inner shells is located between the first shielding portion and the second shielding portion.

[0055] To prevent the inner shell from rotating relative to the outer shell as it follows the projection component, a small gap is typically designed between the inner shell and the inner wall of the outer shell to avoid them fitting together completely. However, this gap connects to the first opening, potentially causing the outer space of the outer shell to communicate with the inner cavity. Therefore, by providing a first and a second shielding portion on both sides of the first notch, extending along the direction of the first notch, and by utilizing at least one inner shell located between the first and second shielding portions, the first and second shielding portions can shield the sides of the inner shell, preventing the internal structure from being visible from the outside of the outer shell through the first opening and the gap between the inner shell and the outer shell's inner wall.

[0056] Compared with the prior art, this application has at least the following beneficial effects:

[0057] In this embodiment, a drive wheel is provided at the bottom of the outer shell, enabling the projection robot to move. Simultaneously, the projection component is located within the inner cavity of the outer shell and is rotatable within it. This allows the projection robot to move to different positions and project at different locations and angles by utilizing the different projection directions of the projection component. Furthermore, the outer shell has a first opening. An inner shell located within the inner cavity is fixed to the projection component. The inner shell can rotate relative to the outer shell as the projection component tilts, allowing the projection component to project onto the outside of the inner shell through its projection hole in different directions. During this rotation, the inner shell's projection onto the outer shell covers the first opening, preventing dust and other foreign objects from entering the inner cavity of the outer shell through the first opening and shielding the projection component from view by the user through the first opening. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0059] Figure 1 This is a schematic diagram of the structure of a projection robot provided in an embodiment of this application;

[0060] Figure 2This is a structural schematic diagram of a projection robot (partial shell omitted) provided in an embodiment of this application;

[0061] Figure 3 This is a structural schematic diagram of a projection robot provided in an embodiment of this application from another perspective;

[0062] Figure 4 This is an exploded structural diagram of the inner shell and outer shell provided in an embodiment of this application;

[0063] Figure 5 This is a schematic diagram of the structure of a projection robot (the projection hole corresponds to different positions of the first opening) provided in an embodiment of this application;

[0064] Figure 6 This application provides a schematic diagram of the structure of a top shell;

[0065] Figure 7 This is an exploded structural diagram of a top shell provided in an embodiment of this application;

[0066] Figure 8 This is a partial cross-sectional structural diagram of a top shell provided in an embodiment of this application;

[0067] Figure 9 This is a structural schematic diagram of a top shell provided in an embodiment of this application from another perspective;

[0068] Figure 10 This is a schematic diagram of the structure of the support plate and the first circuit board provided in the embodiments of this application;

[0069] Figure 11 This is a schematic diagram of the structure in which the inner shell and the first circuit board form a gap, according to an embodiment of this application.

[0070] Figure 12 This is an exploded structural diagram of the top shell and multiple sensors provided in an embodiment of this application;

[0071] Figure 13 This is an exploded structural diagram of a projection robot provided in an embodiment of this application;

[0072] Figure 14 This is a schematic diagram of the structure connecting the bottom shell and the projection component according to an embodiment of this application;

[0073] Figure 15 This is an exploded structural diagram of a bottom shell and a projection component provided in an embodiment of this application;

[0074] Figure 16 This is an exploded structural diagram of a driving component and a projection component provided in an embodiment of this application;

[0075] Figure 17This is a schematic diagram of the structure of a driving component provided in an embodiment of this application;

[0076] Figure 18 This is an exploded structural diagram of a projection component provided in an embodiment of this application;

[0077] Figure 19 This is an exploded structural diagram of a projection component provided in an embodiment of this application from another perspective;

[0078] Figure 20 This is a schematic diagram of the connection between the bottom shell and the battery provided in an embodiment of this application;

[0079] Figure 21 This is an exploded structural diagram of a bottom shell and a battery provided in an embodiment of this application;

[0080] Figure 22 This is an exploded structural diagram of a battery and support component provided in an embodiment of this application;

[0081] Figure 23 This is a structural schematic diagram of a projection robot (with a face shell) provided in an embodiment of this application;

[0082] Figure 24 This is an exploded structural diagram of a projection robot (with a face shell) provided in an embodiment of this application;

[0083] Figure 25 This is an exploded structural diagram of a first decorative element and a face shell provided in an embodiment of this application;

[0084] Figure 26 This is an exploded structural diagram of a shell provided in an embodiment of this application;

[0085] Figure 27 This is an exploded structural diagram of a faceplate provided in an embodiment of this application from another perspective;

[0086] Figure 28 This is an exploded structural diagram of a faceplate (sensor omitted) provided in an embodiment of this application;

[0087] Figure 29 yes Figure 28 A magnified structural diagram of point I in the middle.

[0088] Explanation of main figure symbols

[0089] 1000. Projection robot;

[0090] 11. Outer shell; 11a. First opening; 11b. Heat dissipation hole; 11c. Second opening; 11d. First sliding buckle; 111. Bottom shell; 111a. Second notch; 111b. Recess; 111c. Fourth notch; 112. Top shell; 112a. First plane; 112b. Second plane; 112c. Limiting part; 1121. First notch; 1122. First shielding part; 1123. Second shielding part; 1124. Third notch; 113. Protrusion; 113a. Third opening; 1131. Receiving layer; 1131a. Second through hole; 1132. Covering layer;

[0091] 12. Inner shell; 12a. Projection hole; 14. First decorative piece; 14a. Fixing part; 141. Frame part; 142. Extension part; 15. Second decorative piece; 16. Face shell; 16a. Second sliding buckle; 16aa. Cantilever; 16ab. Limiting protrusion; 161. Structural layer; 1611. First light-transmitting hole; 1612. Second light-transmitting hole; 1613. Third light-transmitting hole; 1614. Fourth light-transmitting hole; 1615. Fifth light-transmitting hole; 161a. First flat part; 161b. First recessed part; 161c. Second flat part; 162. Outer layer; 1621. Sixth light-transmitting hole; 1622. Seventh light-transmitting hole; 162a. Third flat part; 162b. Fourth flat part; 163. First light-transmitting cover plate; 164. Second light-transmitting cover plate;

[0092] 20. Projection assembly; 21. First bracket; 211. Mounting substrate; 212. First side plate; 213. Second side plate; 21a. First heat dissipation window; 22. Optical engine; 23. Heat dissipation mechanism; 231. Heat-conducting fins; 232. First fan; 24. Second bracket; 25. Main control board; 251. First sub-board; 252. Second sub-board;

[0093] 31. Drive wheel; 32. Caster wheel;

[0094] 41. First circuit board; 41a. First through hole; 411. Protrusion; 411a. Hollow portion; 42. Support plate; 43. Counterweight; 44. First support frame; 441. First main body; 442. First bending portion; 443. Reinforcing portion; 45. Second support frame; 451. Second main body; 451a. Through groove; 452. Second bending portion; 453. Extension portion; 454. Second reinforcing portion; 46. Second fan; 47. Speaker; 48. Display screen;

[0095] 51. Radar module; 52. Infrared sensor; 53. Microphone; 54. Indicator light; 55. Wi-Fi module; 56. NFC module; 571. First distance sensor; 572. Second distance sensor; 58. First camera; 59. Second camera;

[0096] 60. Drive assembly; 61. Driven shaft mechanism; 611. Bearing housing; 612. Rotating shaft; 62. Motor bracket; 621. First part; 622. Second part; 63. Motor; 641. First rotating component; 641a. First limiting notch; 642. Limiting component; 651. Second rotating component; 651a. Second limiting notch; 652. Photoelectric switch; 66. Buffer pad;

[0097] 711, Support member; 711a, Bearing substrate; 711c, First positioning part; 711d, Second positioning part; 711e, Third positioning part; 711f, Pressing part; 711g, Protrusion; 712, Fixing member; 712a, Fixing plate; 712b, Fourth positioning part; 713, First connecting part; 714, Second connecting part; 715, Third connecting part; 72, Battery; 73, Second circuit board. Detailed Implementation

[0098] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0099] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0100] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0101] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0102] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0103] Before explaining the technical solution of this application, the inventive concept of this application will be explained first.

[0104] Figure 1 This is a structural schematic diagram of a projection robot 1000 provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a projection robot 1000 (with the outer shell 11 omitted) provided in an embodiment of this application.

[0105] With its user-friendly design, the projection robot 1000 not only automatically adjusts the projection orientation of the projection component 20, but also features autonomous movement. Specifically, it is equipped with drive wheels 31, allowing the robot to autonomously move to different positions for projection. To coordinate with the drive wheels 31, the projection robot 1000 typically requires various sensors for obstacle avoidance, sound source localization, and other functions. These sensors can also be used for other functions such as appliance control and projection brightness adjustment.

[0106] However, in existing projection robots 1000, the projection component 20 typically rotates by rotating itself to adjust its projection orientation. This causes the sensors mounted on it to rotate as well. Consequently, when the projection orientation of the projection component 20 changes, the position of the sensor's spatial coordinate system also changes. The sensor cannot maintain its spatial coordinate system position at the same location for detection, resulting in low detection accuracy and affecting the use of sensor-related functions in the projection robot 1000.

[0107] In summary, the projection robot 1000 in the related technology has the problem of difficulty in expanding its autonomous movement function. Based on this, this application provides a projection robot 1000 to solve the above problems.

[0108] The technical solutions of some embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0109] In some embodiments, such as Figure 1 and Figure 2 As shown, the projection robot 1000 includes a shell 11, and the shell 11 forms an inner cavity.

[0110] The outer shell 11 can be spherical, square, or irregular in shape, etc., and this embodiment does not make specific limitations on it.

[0111] The inner cavity of the outer shell 11 provides installation space for and protects the internal structure and circuitry of the projection robot 1000.

[0112] In some embodiments, the projection robot 1000 includes a projection component 20, which is rotatably mounted on the housing 11.

[0113] By rotating the projection component 20 relative to the pitch, the projection orientation of the projection component 20 can be adjusted, so that the projection component 20 can project onto different directions such as the driving plane (ground), wall, and ceiling.

[0114] In some embodiments, the projection robot 1000 includes a drive wheel 31 located at the bottom of the housing 11.

[0115] With the drive wheel 31 located at the bottom of the housing 11, the drive wheel 31 can move the projection robot 1000 to different positions, so that the projection component 20 can project in different places.

[0116] In some embodiments, the outer casing 11 is provided with a first opening 11a, which communicates with the inner cavity.

[0117] The first opening 11a refers to a window opened on the outer shell 11. The window connects the space outside the outer shell 11 with the inner cavity, so that the projection component 20 located in the inner cavity can project onto the space outside the outer shell 11 through the window.

[0118] In some embodiments, an inner shell 12 is included, which is located in the inner cavity. The inner shell 12 is fixed to one end of the projection assembly 20 facing the first opening 11a so that the inner shell 12 can be tilted and rotated with the projection assembly 20. During the tilting and rotation of the inner shell 12 with the projection assembly 20, the projection of the inner shell 12 on the outer shell 11 covers the first opening 11a. The inner shell 12 has a projection hole 12a for the projection assembly 20 to project onto the outside of the inner shell 12.

[0119] The outer shell 11 has a first opening 11a. The inner shell 12 located in the inner cavity is fixed to the projection component 20. The inner shell 12 can tilt and rotate relative to the outer shell 11 with the projection component 20 so that the projection component 20 projects to the outside of the inner shell 12 in different directions through the projection hole 12a. At the same time, during the tilt and rotation with the projection component 20, the inner shell 12 can cover the first opening 11a with the projection on the outer shell 11, which can prevent dust and other foreign objects from entering the inner cavity of the outer shell 11 through the first opening 11a, and can also block the projection component 20, preventing the user from seeing the projection component 20 through the first opening 11a from the outside of the outer shell 11.

[0120] In some embodiments, the outer casing 11 is spherical.

[0121] Since the outer shell 11 is spherical, the extension direction of the first opening 11a is the same as the circumferential direction of the sphere. When the projection component 20 tilts and rotates relative to the outer shell 11, it can better ensure that the inner shell 12 always covers the first opening 11a, thus avoiding motion interference.

[0122] In some embodiments, such as Figure 3 As shown, the inner shell 12 is configured in an arc shape, with a curvature approximately the same as that of a sphere.

[0123] By ensuring that the curvature of the inner shell 12 is approximately the same as that of the sphere, interference between the inner shell 12 and the outer shell 11 can be avoided when the inner shell 12 rotates relative to the outer shell 11 with the projection component 20. Furthermore, the inner shell 12 can always match the first opening 11a, thereby sealing the first opening 11a and achieving waterproofing and dustproofing.

[0124] In this context, "approximately the same" should be understood as meaning completely identical under ideal conditions. However, in reality, due to uncontrollable factors such as processing errors and assembly errors, there may be minor differences, which should also be included in the category of "approximately the same." In other embodiments, the term "approximately" should be understood in the same way.

[0125] In some embodiments, such as Figure 3 and Figure 4 As shown, the outer shell 11 includes a bottom shell 111, and a drive wheel 31 is provided at the bottom of the bottom shell 111. The projection component 20 is mounted on the bottom shell 111 and can be tilted and rotated.

[0126] Drive wheels 31 are installed at the bottom of the base shell 111, which can move the base shell 111, thereby moving the projection robot 1000 to different positions. Furthermore, the projection assembly 20 is tilt-rotatable on the base shell 111. The overall center of the projection robot 1000 is relatively close to the base shell 111, meaning its center of gravity is low, reducing the risk of the projection robot 1000 tipping over. The drive wheels 31 ensure smooth and reliable movement of the projection robot 1000.

[0127] In some embodiments, the outer casing 11 includes a top casing 112, which is connected above the bottom casing 111, and an inner cavity is formed between the top casing 112 and the bottom casing 111.

[0128] By connecting the top shell 112 to the bottom shell 111, different internal structures and circuits of the projection robot 1000 can be installed on the top shell 112 and the bottom shell 111 respectively. Then, the two are connected by covering the top shell 112. The assembly and disassembly of the projection robot 1000 are relatively easy.

[0129] In some embodiments, the top shell 112 is used to connect with the bottom shell 111 to make the outer shell 11 spherical and to form a first opening 11a.

[0130] By connecting the top shell 112 and the bottom shell 111 to make the outer shell 11 spherical, the extension direction of the first opening 11a is the same as the circumferential direction of the sphere. When the projection component 20 tilts and rotates relative to the outer shell 11, it can better ensure that the inner shell 12 always covers the first opening 11a, avoiding motion interference.

[0131] like Figure 3 and Figure 5 As shown, this illustrates the process of the inner shell 12 tilting and rotating with the projection assembly 20. Figure 5 Can be regarded as Figure 3 The inner shell 12 rotates with the projection assembly 20 in a tilting motion, specifically an upward rotation. Figure 5 The projection hole 12a of the inner shell 12 is compared to Figure 3 Closer to the top of the top shell 112.

[0132] In some embodiments, the projection robot 1000 includes sensors (not shown).

[0133] As described above, when the projection orientation of the projection component 20 is changed, the inner shell 12 and the outer shell 11 form a double-layer shell structure. The inner shell 12 rotates relative to the outer shell 11 in pitch, while the outer shell 11 remains stationary. When extending the autonomous movement function of the projection robot 1000, sensors can be installed on the outer shell 11, ensuring that the position of the sensor's spatial coordinate system remains unchanged. This ensures high detection accuracy for the sensors and avoids affecting the use of sensor-related functions of the projection robot 1000.

[0134] In some embodiments, at least one sensor is disposed on the top housing 112.

[0135] By placing at least one sensor on the top shell 112, when the projection assembly 20 is tilted to change the projection orientation of the projection assembly 20, the top shell 112 remains stationary. Thus, the position of the spatial coordinate system of the sensor placed on the top shell 112 remains unchanged, and the sensor has high detection accuracy, avoiding affecting the use of sensor-related functions of the projection robot 1000.

[0136] In some embodiments, such as Figure 6 As shown, the top of the top shell 11 is provided with an outward protrusion 113. The protrusion 113 is located in the rotational circumference of the inner shell 12. The protrusion 113 is configured to transmit electromagnetic signals corresponding to the sensor. The protrusion 113 forms a receiving cavity communicating with the inner cavity. At least one sensor is provided in the receiving cavity to avoid the rotational path of the inner shell.

[0137] By providing a protrusion 113 on the top shell 11 to house the sensor, when the projection orientation of the projection assembly 20 is changed, the inner shell 12 and the outer shell 11 form a double-shell structure. The inner shell 12 can pitch and rotate relative to the outer shell 11, while the outer shell 11 remains stationary. When expanding the autonomous movement function of the projection robot 1000, the sensor can be installed on the outer shell 11, so that the position of the sensor's spatial coordinate system remains unchanged. The sensor has high detection accuracy and avoids affecting the use of sensor-related functions of the projection robot 1000. Furthermore, by providing an outward protrusion 113 on the top of the top shell 11, the protrusion 113 forms a cavity for housing the sensor. The protrusion 113 is configured to transmit the electromagnetic signal corresponding to the sensor. The electromagnetic signal of the sensor located in the cavity can be transmitted through the protrusion 113, and the electromagnetic signal transmitted from the protrusion 113 will not be blocked by the top shell 11, thereby improving the detection accuracy of the sensor. Furthermore, the protrusion 113 protrudes outward from the top of the top shell 11, allowing the sensor located in the accommodating cavity to avoid the rotation path of the inner shell 12, thus preventing interference between the sensor and the inner shell 12.

[0138] In some embodiments, such as Figure 7 As shown, the protrusion 113 includes a receiving layer 1131 and a covering layer 1132. The receiving layer 1131 forms a receiving cavity. The receiving layer 1131 has a second through hole 1131a corresponding to the sensor located in the receiving cavity. The second through hole 1131a is used to emit the electromagnetic signal corresponding to the sensor. The covering layer 1132 covers the side of the receiving layer 1131 away from the receiving cavity. The covering layer 1132 is configured to be light-transmitting so as to transmit the electromagnetic signal corresponding to the sensor.

[0139] By providing a second through hole 1131a in the accommodating layer 1131, the sensor can emit electromagnetic signals through the second through hole 1131a. Furthermore, by covering the accommodating layer 1131 with a light-transmitting cover layer 1132, dustproof and waterproof properties can be achieved, enabling the sensor to be designed as an invisible sensor and maintaining its appearance integrity. Additionally, the cover layer 1132 can transmit the electromagnetic signals of the sensor to ensure its normal operation.

[0140] In some embodiments, at least one sensor is disposed on the bottom housing 111.

[0141] By placing at least one sensor on the bottom shell 111, when the projection assembly 20 is tilted to change the projection orientation of the projection assembly 20, the bottom shell 111 remains stationary. Thus, the position of the spatial coordinate system of the sensor placed on the bottom shell 111 remains unchanged, and the sensor has high detection accuracy, avoiding affecting the use of the projection robot 1000 and the sensor-related functions.

[0142] In some embodiments, such as Figure 7 and Figure 8 As shown, the sensor includes a microphone 53.

[0143] By using microphone 53 to pick up sound, the projection robot 1000 can achieve sound source localization.

[0144] In some embodiments, the sensor includes a radar module 51.

[0145] By acquiring obstacle information in real time through radar module 51, the projection robot 1000 can be provided with accurate positioning and navigation, realizing obstacle avoidance positioning function, thereby improving the safety of the projection robot 1000's movement.

[0146] In some embodiments, the sensor includes an infrared sensor 52.

[0147] By emitting infrared signals through infrared sensor 52, projection robot 1000 can realize home appliance control functions.

[0148] In some embodiments, the sensor includes an ambient light sensor.

[0149] By collecting the brightness of ambient light in real time through an ambient light sensor, the projection component 20 can adjust its own projection brightness according to the different brightness levels, thereby obtaining a better projection display effect.

[0150] In some embodiments, the sensor includes a distance sensor.

[0151] By using distance sensors to detect the distance between the projection robot 1000 and obstacles in real time, the safety of the projection robot 1000's movement can be improved.

[0152] In some embodiments, the sensor includes a camera.

[0153] The footage captured by the camera can be used to enable the projection robot 1000 to record video, take pictures, and create maps.

[0154] In some embodiments, the first circuit board 41 is provided with an indicator light 54, which protrudes out of the protrusion 113.

[0155] Indicator 54 protrudes from protrusion 113 on the first circuit board 41, and indicator 54 can provide indication to the user.

[0156] In some embodiments, such as Figures 7 to 9 As shown, the projection robot 1000 includes a support plate 42, which is disposed on the top shell 112.

[0157] The support plate 42 is provided on the top shell 112, which can provide support and installation space, making it convenient to install the first circuit board 41 on the top shell 112.

[0158] In some embodiments, the projection robot 1000 includes a first circuit board 41 disposed on the side of the support plate 42 facing the protrusion 113, and at least one sensor is disposed on the first circuit board 41.

[0159] By setting at least one sensor and electrically connecting it through the first circuit board 41, the sensor can be controlled. The distance of the electrical connection trace is short, the assembly difficulty is low, and the risk of electrical connection failure can be reduced.

[0160] In some embodiments, the first circuit board 41 is provided with a first through hole 41a, the protrusion 113 is provided with a third opening 113a corresponding to the first circuit board 41, the radar module 51 is provided on the support plate 42 and electrically connected to the first circuit board 41, and the radar module 51 protrudes through the first through hole 41a to the third opening 113a.

[0161] The radar module 51 is mounted on the support plate 42, and the radar module 51 is controlled by the first circuit board 41, which can also receive signals detected by the radar module 51. Furthermore, the radar module 51 protrudes to the third opening 113a through the first through hole 41a of the first circuit board 41, which can prevent the housing 11 from blocking the signal of the radar module 51 and improve the detection accuracy of the radar module 51.

[0162] In some embodiments, the multiple sensors include a plurality of infrared sensors 52, which are disposed on the side of the first circuit board 41 away from the support plate 42 and arranged around the radar module 51.

[0163] With multiple infrared sensors 52 arranged around the radar module 51, the multiple infrared sensors 52 can realize 360° all-around home appliance control function, thereby remotely controlling home appliances.

[0164] In some embodiments, combined with Figure 10 As shown, the first circuit board 41 is provided with a plurality of protrusions 411. The plurality of protrusions 411 extend along a straight line inclined to the normal direction of the first circuit board 41. The distance between the end of the protrusion 411 away from the first circuit board 41 and the straight line of the normal direction is greater than the distance between the end of the protrusion 411 close to the first circuit board 41 and the straight line of the normal direction. Each protrusion 411 has a hollow portion 411a. A plurality of infrared sensors 52 are respectively disposed in the hollow portion 411a of the plurality of protrusions 411.

[0165] An infrared sensor 52 is installed in the hollow part 411a of the protrusion 411. By using the protrusion 411 to tilt along the straight line where the normal direction of the first circuit board 41 is located, the infrared sensor 52 maintains a certain tilt angle, thus preventing the infrared sensor 52 from shaking due to external forces and changing the tilt angle of the infrared sensor 52, which would affect the detection accuracy of the infrared sensor 52.

[0166] In some embodiments, the overlay 1132 is configured in a ring shape and is disposed around the radar module 51.

[0167] By constructing the covering layer 1132 into a ring shape and setting the covering layer 1132 around the radar module 51, the structure is relatively compact, and the covering layer 1132 can avoid the radar module 51, thus avoiding the situation of obstructing the radar module 51 and affecting its normal operation.

[0168] In some embodiments, such as Figure 9 As shown, the projection robot 1000 includes a communication module (not shown), which is located on the top shell 112.

[0169] By setting a communication module in the top shell 112, the projection robot 1000 can communicate with the outside world using the communication module.

[0170] In some embodiments, the communication module is electrically connected to the first circuit board 41.

[0171] By having the sensors and communication module located on the top shell 112 share the first circuit board 41, the number of circuit boards can be reduced, simplifying the internal structure of the projection robot 1000. Furthermore, the first circuit board 41 located on the top shell 112 is close to the communication module, facilitating the electrical connection wiring between the first circuit board 41 and the communication module.

[0172] In some embodiments, the projection assembly 20 includes a main control board 25, and a gap is formed between the inner shell 12 and the first circuit board 41 for electrical connection wiring between the main control board 25 and the first circuit board 41.

[0173] By creating a gap between the inner shell 12 and the first circuit board 41, the main control board 25 can make electrical connections with the first circuit board 41 through the gap, thereby transmitting signals between the communication module and the main control board 25. Furthermore, the gap maintained between the inner shell 12 and the first circuit board 41 during the pitch rotation relative to the outer shell 11 prevents interference between the inner shell 12 and the aforementioned electrical connection traces, thus avoiding electrical connection failure.

[0174] In some embodiments, such as Figure 11 As shown, a gap is formed between the inner shell 12 and the support plate 42, which is used for the electrical connection wiring between the communication module and the first circuit board 41.

[0175] The gap between the inner shell 12 and the support plate 42 allows the electrical connection traces of the communication module to extend through the gap and connect electrically to the first circuit board 41. Furthermore, the gap between the inner shell 12 and the support plate 42, maintained during the pitch rotation relative to the outer shell 11, prevents interference between the inner shell 12 and the electrical connection traces of the communication module, thus avoiding electrical connection failure.

[0176] In some embodiments, such as Figure 9 and Figure 12 As shown, the communication module includes a Wi-Fi module 55, which is located on the top cover 112.

[0177] By setting a wifi module 55 on the top shell 112, the projection robot 1000 can receive wifi signals and achieve functions such as wireless internet access and building a local area network.

[0178] In some embodiments, the inner wall of the top shell 112 is formed with a first plane 112a, and the Wi-Fi module 55 is disposed on the first plane 112a.

[0179] By forming a first plane 112a on the inner wall of the top shell 112, the wifi module 55 is set on the first plane 112a. The wifi module 55 fits and is compact with the top shell 112. The wifi module 55 can be connected to the first plane 112a by adhesive. There is no need to form a protrusion on the inner wall of the top shell 112 to achieve the fixed connection of the wifi module 55. The structure of the top shell 112 is relatively simple.

[0180] In some embodiments, the communication module includes an NFC module 56, which is disposed on the top shell 112, and the NFC module 56 and the Wi-Fi module 55 are located on opposite sides of the inner shell 12.

[0181] By installing an NFC module 56 on the top shell 112, the projection robot 1000 can use the NFC module 56 for data transmission. Furthermore, the NFC module 56 and the Wi-Fi module 55 are located on opposite sides of the inner shell 12, thus separating them and reducing the possibility of signal interference. The distribution of the communication modules on the top shell 112 is also relatively balanced, resulting in a more centrally located center of gravity for the projection robot 1000.

[0182] In some embodiments, the inner wall of the top shell 112 is formed with a second plane 112b, and the NFC module 56 is disposed on the second plane 112b.

[0183] By forming a second plane 112b on the inner wall of the top shell 112, the NFC module 56 is set on the second plane 112b. The NFC module 56 fits and is compact with the top shell 112. The NFC module 56 can be connected to the second plane 112b by adhesive. There is no need to form a protrusion on the inner wall of the top shell 112 to achieve the fixed connection of the NFC module 56. The structure of the top shell 112 is relatively simple.

[0184] In some embodiments, the first plane 112a and the second plane 112b are located on both sides of the inner shell 12, respectively.

[0185] By positioning the first plane 112a and the second plane 112b on opposite sides of the inner shell 12, the first plane 112a and the second plane 112b, after respectively equipping the Wi-Fi module 55 and the NFC module 56, will be positioned on opposite sides of the inner shell 12.

[0186] In some embodiments, the second plane 112b is provided with a plurality of limiting portions 112c, which abut against the periphery of the NFC module 56.

[0187] By providing multiple limiting portions 112c protruding from the second plane 112b, the multiple limiting portions 112c can provide installation position indication when the NFC is assembled to the top shell 112, reducing the assembly difficulty. After assembly, the multiple limiting portions 112c abut against the periphery of the NFC module 56, which can keep the relative position of the NFC module 56 and the second plane 112b unchanged, avoiding the position of the NFC module 56 from shifting and affecting data transmission.

[0188] When the angle α of the pitch rotation of the inner shell 12 relative to the outer shell 11 with the projection component 20 is negative, the inner shell 12 rotates downward, and the projection direction of the projection component 20 is tilted downward, enabling projection onto the ground. When the angle α of the pitch rotation of the inner shell 12 relative to the outer shell 11 with the projection component 20 is positive, the inner shell 12 rotates upward, and the projection direction of the projection component 20 is tilted upward, enabling projection onto a wall or ceiling.

[0189] In some embodiments, the pitch angle of the projection component 20 relative to the housing 11 is α, where α ≥ -40°.

[0190] If the pitch angle α of the projection component 20 relative to the outer shell 11 is less than -40°, then when the projection component 20 projects onto the ground, the distance between the projection position and the projection robot 1000 itself (outer shell 11) is relatively close, making it difficult for the user to see the projected content. Therefore, the pitch angle α of the projection component 20 relative to the outer shell 11 can be α ≥ -40°. When the projection component 20 projects onto the ground, the distance between the projection position and the projection robot 1000 itself (outer shell 11) is relatively far, making it difficult for the user to see the projected content. Furthermore, the pitch angle α of the projection component 20 relative to the outer shell 11 can be -40°, -35°, -30°, -25°, -20°, -15°, -10°, -5°, etc., and this embodiment does not specifically limit it.

[0191] In some embodiments, α ≤ 60°.

[0192] If the pitch angle α of the projection component 20 relative to the outer casing 11 is greater than 60°, then when the projection component 20 projects onto the ceiling or wall, the projection robot 1000 needs to move to a location closer to the projection position, making it impossible to project from a greater distance, thus significantly limiting the application scenarios of the projection robot 1000. Therefore, the pitch angle α of the projection component 20 relative to the outer casing 11 can be α ≤ 60°. When the projection component 20 projects onto the ceiling or wall, the projection robot 1000 does not need to move to a location closer to the projection position, allowing it to project from a greater distance, thus reducing the limitations on its application scenarios. Furthermore, the pitch angle α of the projection component 20 relative to the outer casing 11 can be 5°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc., and this embodiment does not specifically limit this value.

[0193] In some embodiments, the first opening 11a extends from the bottom shell 111 to the top shell 112, and the two ends of the first opening 11a are not connected along the circumferential direction of the sphere.

[0194] Extending from the bottom shell 111 to the top shell 112 through the first opening 11a, the first opening 11a covers a wide area on the outer shell 11. When the projection assembly 20 tilts relative to the outer shell 11, the inner shell 12 rotates accordingly, and the projection hole 12a of the inner shell 12 can rotate to a position corresponding to the top shell 112 or the bottom shell 111. The projection hole 12a of the inner shell 12 can rotate to a wide range of different positions corresponding to the outer shell 11, and the adjustable range of the projection orientation of the projection assembly 20 is large.

[0195] In some embodiments, such as Figure 13 As shown, the top shell 112 is provided with a first notch 1121, which extends to the edge of the top shell 112.

[0196] By providing a first notch 1121 in the top shell 112, and extending the first notch 1121 to the edge of the top shell 112, when the top shell 112 and the bottom shell 111 are closed and connected, the first notch 1121 can extend to the closing connection between the top shell 112 and the bottom shell 111.

[0197] In some embodiments, the bottom shell 111 is provided with a second notch 111a, which extends to the edge of the bottom shell 111.

[0198] By providing a second notch 111a in the bottom shell 111, and extending the second notch 111a to the edge of the bottom shell 111, when the top shell 112 is closed and connected to the bottom shell 111, the second notch 111a can extend to the closing connection between the bottom shell 111 and the top shell 112.

[0199] In some embodiments, the second notch 111a is used to enclose the first notch 1121 to form the first opening 11a.

[0200] The top shell 112 and the bottom shell 111 are closed together. At this time, the second notch 111a and the first notch 1121 can be closed to form the first opening 11a. The assembly of the top shell 112 and the bottom shell 111 is relatively easy.

[0201] In some embodiments, such as Figure 12 As shown, the top shell 112 is provided with a first blocking part 1122 and a second blocking part 1123. The first blocking part 1122 and the second blocking part 1123 are located on both sides of the first notch 1121 at intervals. The extending direction of the first blocking part 1122 and the second blocking part 1123 is the same as the extending direction of the first notch 1121. At least one inner shell 12 is located between the first blocking part 1122 and the second blocking part 1123.

[0202] To prevent the inner shell 12 from pitching relative to the outer shell 11 as it rotates with the projection assembly 20, a small gap is typically designed between the inner shell 12 and the inner wall of the outer shell 11 to prevent them from fitting together completely. This gap communicates with the first opening 11a, which could easily lead to communication between the external space of the outer shell 11 and the inner cavity. Therefore, by providing a first shielding portion 1122 and a second shielding portion 1123 on both sides of the first notch 1121, with the first shielding portion 1122 and the second shielding portion 1123 extending along the extension direction of the first notch 1121, and by utilizing the fact that at least one of the inner shell 12 is located between the first shielding portion 1122 and the second shielding portion 1123, the first shielding portion 1122 and the second shielding portion 1123 can shield the positions on both sides of the inner shell 12, preventing the structure inside the cavity from being seen from the outside of the outer shell 11 through the first opening 11a and the gap between the inner shell 12 and the inner wall of the outer shell 11.

[0203] In some embodiments, such as Figures 14 to 16 As shown, the drive assembly 60 includes a driven shaft mechanism 61, which is located on the bottom shell 111 and connected to one side of the projection assembly 20 so that the projection assembly 20 can be tilted relative to the bottom shell 111.

[0204] The projection component 20 is driven to pitch and rotate relative to the outer shell 11 by the drive component 60, so that the projection robot 1000 can automatically adjust the projection orientation of the projection component 20.

[0205] In some embodiments, such as Figure 16 As shown, the drive assembly 60 includes a driven shaft mechanism 61, which is located on the bottom shell 111 and connected to one side of the projection assembly 20 so that the projection assembly 20 can be tilted relative to the bottom shell 111.

[0206] By providing a driven shaft mechanism 61 on the bottom shell 111 and connecting the driven shaft mechanism 61 to one side of the projection assembly 20, the projection assembly 20 can be tilted and rotated relative to the bottom shell 111.

[0207] In some embodiments, the drive assembly 60 includes a motor bracket 62 disposed on the bottom shell 111.

[0208] By setting up the motor bracket 62, the motor bracket 62 can provide a mounting point for the motor 63.

[0209] In some embodiments, the drive assembly 60 includes a motor 63, which is mounted on a motor bracket 62 and connected to the side of the projection assembly 20 away from the driven shaft mechanism 61. The rotation axis of the drive shaft of the motor 63 coincides with the rotation axis of the driven shaft mechanism 61 to drive the projection assembly 20 to pitch relative to the housing 11.

[0210] Motor 63 is mounted on motor bracket 62 and connected to the side of projection component 20 away from driven shaft mechanism 61. Motor 63 can drive projection component 20 to tilt and rotate relative to housing 11. Furthermore, the connection positions of motor 63 and projection component 20, and the connection positions of driven shaft and projection component 20, are located on both sides of projection component 20, respectively. When projection component 20 tilts and rotates relative to housing 11, the forces are balanced, and the tilting and rotation is relatively smooth.

[0211] In some embodiments, the axis of rotation substantially coincides with the horizontal center plane of the sphere.

[0212] By designing the rotation axis to roughly coincide with the horizontal center plane of the sphere, the projection component 20 is located at the center of the inner cavity. The distance between the projection component 20 and the inner wall of the outer shell 11 is relatively large, which can reduce the risk of interference between the projection component 20 and the outer shell 11 when the projection component 20 rotates relative to the outer shell 11. This reduces the limitation on the rotation angle of the projection component 20 relative to the outer shell 11, and the adjustable range of the projection orientation of the projection component 20 is large.

[0213] In some embodiments, such as Figure 16 and Figure 17 As shown, the motor bracket 62 includes a first part 621, which is disposed on the bottom shell 111.

[0214] The first part 621 is provided on the bottom shell 111, and the connection between the motor bracket 62 and the bottom shell 111 is realized by the first part 621.

[0215] In some embodiments, the motor bracket 62 includes a second portion 622, which extends from the edge of the first portion 621 near the projection assembly 20 in a direction toward the top of the inner cavity. The motor 63 is fixedly mounted on the second portion 622, and the drive shaft of the motor 63 passes through the second portion 622 and is connected to the side of the projection assembly 20 away from the driven shaft mechanism 61.

[0216] The second part 622 extends from the edge of the first part 621 near the projection assembly 20 in the direction toward the top of the inner cavity. The motor 63 is fixed to the second part 622 and can form a gap with the first part 621, so as to avoid the vibration generated by the motor 63 during operation being directly transmitted to the first part 621 and then to the bottom shell 111.

[0217] In some embodiments, the drive assembly 60 includes a first limiting mechanism for limiting the rotation of the motor 63.

[0218] The rotation of the motor 63 is limited by the first limiting mechanism, thereby limiting the pitch rotation angle of the projection component 20 relative to the outer shell 11. This prevents the pitch rotation angle of the projection component 20 relative to the outer shell 11 from exceeding the design range, which would cause interference between the projection component 20 and the outer shell 11, as well as other internal components.

[0219] In some embodiments, the first limiting mechanism includes a first rotating member 641, which is disposed on the side of the projection assembly 20 facing the second part 622 and is fixed to the drive shaft of the motor 63. The first rotating member 641 is provided with a first limiting notch 641a, which extends along the rotational circumference of the first rotating member 641.

[0220] A first rotating member 641 is disposed on the side of the projection assembly 20 facing the second part 622. The first rotating member 641 is fixed to the drive shaft of the motor 63. Therefore, when the motor 63 drives the projection assembly 20 to tilt relative to the outer casing 11, the first rotating member 641 can rotate along with the tilt of the projection assembly 20. Furthermore, a first limiting notch 641a is provided on the first rotating member 641. The first limiting notch 641a extends along the circumferential direction of the first rotating member 641. Different positions of the first limiting notch 641a can indicate different projection orientations of the projection assembly 20, that is, they also indicate the rotation angle of the motor 63.

[0221] In some embodiments, the first limiting mechanism includes a limiting member 642, which is disposed on the side of the second portion 622 facing the projection assembly 20. The limiting member 642 is used to abut against the first limiting notch 641a to limit the rotation of the motor 63.

[0222] By providing a limiting member 642 on the side of the second part 622 facing the projection assembly 20, when the motor 63 drives the projection assembly 20 to pitch and rotate relative to the outer shell 11, the relative position of the first limiting notch 641a of the first rotating member 641 that follows the rotation and the limiting member 642 changes. When the limiting member 642 abuts against the first limiting notch 641a, it can prevent the first rotating member 641 from continuing to rotate, thereby limiting the rotation angle of the first rotating member 641, and thus achieving rotation limiting of the motor 63.

[0223] In some embodiments, the driven shaft mechanism 61 includes a bearing housing 611 disposed on the side of the second support frame 45 facing the top shell 112.

[0224] By providing a bearing seat 611 on the side of the second support frame 45 facing the top shell 112, the bearing seat 611 can provide a rotatable connection position, so that the projection assembly 20 can be tilted and rotated on the bottom shell 111.

[0225] In some embodiments, the driven shaft mechanism 61 includes a rotating shaft 612, one end of which is rotatably connected to a bearing housing 611, and the other end of which is fixedly connected to the side of the projection assembly 20 facing the bearing housing 611.

[0226] One end of the rotating shaft 612 is rotatably connected to the bearing seat 611, and the rotating shaft 612 can rotate relative to the bearing seat 611. The other end of the rotating shaft 612 is fixedly connected to the side of the projection component 20 facing the bearing seat 611, so that the projection component 20 can rotate relative to the bearing seat 611, thereby realizing the tilt-rotation setting of the projection component 20 and the bottom shell 111.

[0227] In some embodiments, the drive assembly 60 includes a second limiting mechanism for limiting the rotation of the shaft 612 relative to the bearing housing 611.

[0228] The rotation of the rotating shaft 612 relative to the bearing seat 611 is limited by the second limiting mechanism, thereby limiting the pitch rotation angle of the projection component 20 relative to the outer shell 11. This prevents the pitch rotation angle of the projection component 20 relative to the outer shell 11 from exceeding the design range, which would cause interference between the projection component 20 and the outer shell 11, as well as other internal components.

[0229] In some embodiments, the second limiting mechanism includes a second rotating member 651, which is fixedly disposed on the rotating shaft 612. The second rotating member 651 is provided with a second limiting notch 651a, which extends along the rotational circumference of the second rotating member 651.

[0230] With the second rotating member 651 mounted on the rotating shaft 612, when the projection assembly 20 tilts relative to the outer casing 11, the rotating shaft 612 rotates relative to the bearing seat 611, and the second rotating member 651 can rotate along with the tilting rotation of the projection assembly 20. Furthermore, by providing a second limiting notch 651a along the circumferential direction of rotation of the second rotating member 651, the different positions of the second limiting notch 651a can indicate different projection orientations of the projection assembly 20, that is, also indicate the rotation angle of the rotating shaft 612 relative to the bearing seat 611.

[0231] In some embodiments, the second limiting mechanism includes a photoelectric switch 652, which is disposed on the second support frame 45. The photoelectric switch 652 is used to detect the second limiting notch 651a to control the rotation of the motor 63 to limit the rotation of the shaft 612 relative to the bearing seat 611.

[0232] The second limiting notch 651a is detected by photoelectric switch 652. When the projection component 20 tilts relative to the outer shell 11, the relative position of the second limiting notch 651a of the rotating component 651 and the photoelectric switch 652 changes, thereby determining the different projection orientation directions of the projection component 20. Thus, the rotation angle of the rotating shaft 612 relative to the bearing seat 611 can be controlled according to the real-time projection orientation direction of the projection component 20, thereby realizing the rotation limiting of the rotating shaft 612 relative to the bearing seat 611 by controlling the rotation of the motor 63.

[0233] In some embodiments, the projection robot 1000 includes a first support frame 44 and a second support frame 45, the first support frame 44 and the second support frame 45 are disposed on the bottom shell 111, the driven shaft mechanism 61 is disposed on the side of the second support frame 45 facing the top shell 112, and the motor bracket 62 is disposed on the side of the first support frame 44 facing the top shell 112.

[0234] By setting a first support frame 44 and a second support frame 45 on the bottom shell 111, and using the first support frame 44 and the second support frame 45 to set the motor bracket 62 and the driven shaft mechanism 61 respectively, the motor 63 and the driven shaft mechanism 61 are supported and assembled.

[0235] In some embodiments, the projections of the first support frame 44 and the second support frame 45 onto the bottom shell 111 are located on both sides of the projection of the projection assembly 20 onto the bottom shell 111.

[0236] With the projections of the first support frame 44 and the second support frame 45 onto the bottom shell 111 located on both sides of the projection of the projection component 20 onto the bottom shell 111, when the first support frame 44 and the second support frame 45 are respectively equipped with the motor bracket 62 and the driven shaft mechanism 61, the weight of the drive component 60 can be distributed relatively evenly on both sides of the projection component 20 with the projection component 20 as the center, so that the overall center of gravity of the projection robot 1000 is relatively centered.

[0237] In some embodiments, a buffer pad 66 is provided between the first support frame 44 and the motor bracket 62.

[0238] By providing a buffer pad 66 between the first support frame 44 and the motor bracket 62, the buffer pad 66 can buffer the vibration generated by the motor 63 during operation.

[0239] In some embodiments, the first support frame 44 includes a first main body 441, and the motor bracket 62 is disposed on the first main body 441.

[0240] The first main body 441 provides an installation position for the motor bracket 62 and supports the motor bracket 62.

[0241] The first main body 441 may be a plate-like structure, a block-like structure, etc., and this embodiment does not specifically limit it.

[0242] In some embodiments, the first support frame 44 includes two first bends 442, which are spaced apart from the first main body 441 and extend from the first main body 441 in a direction away from the motor bracket 62, and are connected to the bottom shell 111.

[0243] Two first bends 442 are spaced apart on the first main body 441 and connected to the bottom shell 111, enabling the assembly of the first support frame 44 and the bottom shell 111. Furthermore, the first bends 442 extend from the first main body 441 away from the motor bracket 62, thus moving the first main body 441 away from the bottom shell 111. Therefore, the rotation axis of the motor 63 can be approximately aligned with the spherical horizontal center plane by using first bends 442 of varying lengths.

[0244] In some embodiments, the first support frame 44 includes a reinforcing part 443, which is disposed on the side of the first main body 441 away from the motor bracket 62, and the two ends of the reinforcing part 443 are respectively connected to two first bending parts 442.

[0245] By providing a reinforcing part 443 on the side of the first main body away from the motor bracket 62, and by connecting the two ends of the reinforcing part 443 to the two first bending parts 442 respectively, the bending resistance of the first main body 441 can be improved, and the first bending parts 442 can better support the motor bracket 62 and the motor 63.

[0246] The first support frame 44 can be made of sheet metal, and the first main body 441 and the first bent part 442 are formed by bending.

[0247] In some embodiments, the second support frame 45 includes a second main body 451, and the driven shaft mechanism 61 is disposed on the second main body 451.

[0248] The second main body 451 provides an installation position for the driven shaft mechanism 61 and supports the driven shaft mechanism 61.

[0249] The second main body 451 may be a plate-like structure, a block-like structure, etc., and this embodiment does not make specific limitations on it.

[0250] In some embodiments, the second support frame 45 includes two second bends 452, which are spaced apart from the second main body 451 and extend from the second main body 451 in a direction away from the driven shaft mechanism 61, and are connected to the bottom shell 111.

[0251] Two second bends 452 are spaced apart on the second main body 451 and connected to the bottom shell 111, enabling the assembly of the second support frame 45 and the bottom shell 111. Furthermore, the second bends 452 extend from the second main body 451 away from the driven shaft mechanism 61, thus moving the second main body 451 away from the bottom shell 111. Therefore, by using second bends 452 of varying lengths, the rotation axis of the driven shaft mechanism 61 can be made to approximately coincide with the spherical horizontal center plane.

[0252] The second support frame 45 can be made of sheet metal, and the second main body 451 and the second bent part 452 can be formed by bending.

[0253] In some embodiments, the second support frame 45 includes a second reinforcing part 454, which is disposed on the side of the second main body 451 away from the driven shaft mechanism 61, and the two ends of the second reinforcing part 454 are respectively connected to two second bending parts 452.

[0254] By providing a second reinforcing part 454 on the side of the second main body 451 away from the motor bracket 62, and by connecting the two ends of the second reinforcing part 454 to the two second bending parts 452 respectively, the bending resistance of the second main body 451 can be improved, and the second bending parts 452 can better support the motor bracket 62 and the motor 63.

[0255] In some embodiments, such as Figure 20 As shown, the bottom shell 111 has two recesses 111b, and the space formed by the recesses outside the bottom shell 111 is used to accommodate the drive wheel 31.

[0256] In some embodiments, a first bend 442 is connected to a recess 111b facing the top surface of the top shell 112, another first bend 442 is connected to the bottom shell 111, a second bend 452 is connected to another recess 111b facing the top surface of the top shell 112, and another second bend 452 is connected to the bottom shell 111.

[0257] The first main body 441 provides an installation position for the motor bracket 62 and supports the motor bracket 62. Simultaneously, two first bending portions 442 are spaced apart on the first main body 441 and connect to the bottom shell 111 and the top surface of the recessed portion 111b facing the top shell 112, enabling the assembly of the first support frame 44 and the bottom shell 111. Furthermore, the first bending portions 442 extend from the first main body 441 away from the motor bracket 62, thus moving the first main body 441 away from the bottom shell 111. Therefore, the rotation axis of the motor 63 can be approximately aligned with the horizontal center plane of the sphere by using first bending portions 442 of varying lengths. The second main body 451 provides an installation position for the driven shaft mechanism 61 and supports the driven shaft mechanism 61. Simultaneously, two second bends 452 are spaced apart on the second main body 451 and connect to the bottom shell 111 and the top surface of the recessed portion 111b facing the top shell 112, enabling the assembly of the second support frame 45 with the bottom shell 111. Furthermore, the second bends 452 extend from the second main body 451 away from the driven shaft mechanism 61, thus moving the second main body 451 away from the bottom shell 111. Therefore, by using second bends 452 of varying lengths, the rotation axis of the driven shaft mechanism 61 can be made to approximately coincide with the spherical horizontal center plane.

[0258] In some embodiments, the bottom shell 111 is provided with a counterweight 43, the projection of the counterweight 43 at the bottom of the inner cavity at least partially overlaps with the projection of the motor 63 at the bottom of the inner cavity.

[0259] Because the motor 63 is larger than the driven shaft mechanism 61, the projection of the motor 63 on the bottom shell 111 is closer to the center of the bottom shell 111 than the projection of the driven shaft mechanism 61. That is, the weight of the motor 63 causes the overall center of gravity of the projection robot 1000 to deviate from the center of the bottom shell 111 and move closer to the driven shaft mechanism 61. Therefore, by setting a counterweight 43 on the bottom shell 111, and ensuring that the projection of the counterweight 43 on the bottom of the inner cavity at least partially overlaps with the projection of the motor 63 on the bottom of the inner cavity, the weight of the counterweight 43 compensates for the shift in the overall center of gravity of the projection robot 1000 caused by the weight of the motor 63, thus making the center of gravity of the projection robot 1000 more centrally located.

[0260] In some embodiments, such as Figure 16 and Figure 17 As shown, the second support frame 45 includes an extension 453, which is disposed on the second main body 451. The extension 453 extends from the second main body 451 to the space between the bearing seat 611 and the projection assembly 20. The photoelectric switch 652 is disposed on the side of the extension 453 facing the bearing seat 611.

[0261] By providing an extension 453 in the second main body 451, the extension 453 provides an installation position for the photoelectric switch 652, so that the photoelectric switch 652 can correspond to the position of the second rotating member 651 to detect the second limiting notch of the second rotating member 651.

[0262] In some embodiments, the second main body 451 is provided with a through groove 451a corresponding to the second rotating member 651, and the second rotating member 651 is partially inserted through the through groove 451a.

[0263] By providing a through groove 451a in the second main body 451, the second rotating member 651 is avoided by using the through groove 451a. The second rotating member 651 is partially inserted through the through groove 451a, which can prevent the second rotating member 651 from interfering with the second main body 451.

[0264] In some embodiments, such as Figure 18 and Figure 19 As shown, the projection assembly 20 includes a first bracket 21, which is rotatably mounted on the bottom shell 111 and connected to the inner shell 12.

[0265] The first bracket 21 is rotatably mounted on the bottom shell 111 and can drive the projection component 20 to rotate relative to the bottom shell 111. Furthermore, the first bracket 21 is connected to the inner shell 12, and the inner shell 12 can rotate accordingly when the first bracket 21 rotates.

[0266] In some embodiments, the projection assembly 20 includes an optical engine 22, which is disposed on the side of the first bracket 21 opposite to the bottom shell 111.

[0267] By setting an optical engine 22 on the side of the first bracket 21 away from the bottom shell 111, the optical engine 22 can perform projection, and the projection direction of the optical engine 22 can be adjusted by the pitch and rotation of the first bracket 21 relative to the bottom shell 111.

[0268] In some embodiments, the rotation axis of the first support 21 is approximately coincident with the horizontal center plane of the sphere.

[0269] With the rotation axis of the first support 21 roughly coinciding with the horizontal center plane of the sphere, the projection component 20 is located at the center of the inner cavity. The distance between the projection component 20 and the inner wall of the outer shell 11 is relatively large, which reduces the risk of interference between the projection component 20 and the outer shell 11 when the projection component 20 rotates relative to the outer shell 11. This reduces the limitation on the rotation angle of the optical engine 22 relative to the outer shell 11, and the adjustable range of the projection orientation of the optical engine 22 is large. Furthermore, since the optical engine 22 is close to the horizontal center plane of the sphere, the inner cavity of the outer shell 11 at the horizontal center plane has a large space to accommodate the optical engine 22. The outer shell 11 does not need to be designed with a large volume, and the overall volume of the projection robot 1000 is small.

[0270] In some embodiments, the first support 21 includes a mounting substrate 211, a first side plate 212, and a second side plate 213. The mounting substrate 211 is provided with an optical engine 22 on the side facing the top shell 112. The first side plate 212 extends from the first edge of the mounting substrate 211 in the direction toward the top shell 112. The first side plate 212 is rotatably connected to the first support frame 44. The second side plate 213 extends from the second edge of the mounting substrate 211 in the direction toward the top shell 112. The second side plate 213 is rotatably connected to the second support frame 45. The second edge is the edge on the mounting substrate 211 opposite to the first edge.

[0271] The optical engine 22 is mounted on the mounting base plate 211, and the first side plate 212 and the second side plate 213 are respectively tilted and rotatably connected to the first support frame 44 and the second support frame 45, so that the first bracket 21 can tilt and rotate relative to the outer shell 11. Furthermore, the optical engine 22 is closer to the axis of rotation of the first bracket 21 relative to the outer shell 11, that is, closer to the horizontal center plane of the sphere.

[0272] In some embodiments, the projection assembly 20 includes a second bracket 24 connected to the first bracket 21 and spaced apart from it, and the optical engine 22 is located in the gap between the first bracket 21 and the second bracket 24.

[0273] By connecting the second bracket 24 to the first bracket 21, and by using the space between the second bracket 24 and the first bracket 21, the space between the first bracket 21 and the second bracket 24 can be used to accommodate the optical engine 22. Furthermore, the second bracket 24 can provide mounting positions for other components of the projection assembly 20.

[0274] In some embodiments, the projection assembly 20 includes a main control board 25, which is disposed on the side of the second bracket 24 away from the optical engine 22 and is electrically connected to the optical engine 22.

[0275] The main control board 25 is mounted on the second bracket 24, and is electrically connected to the optical engine 22 to control the optical engine 22. Furthermore, the optical engine 22 and the main control board 25 are located on different sides of the second bracket 24, which can prevent the heat generated by both during operation from affecting each other and is conducive to heat dissipation.

[0276] In some embodiments, at least one sensor is disposed on the top shell 112, and the main control board 25 includes a first sub-board 251. The first sub-board 251 is disposed on the side of the second bracket 24 away from the optical engine 22, and the first sub-board 251 is electrically connected to the sensor disposed on the top shell 112.

[0277] The sensor assembly of the top shell 112 is electrically connected to the first sub-board 251, thereby enabling control of the sensor assembly of the top shell 112.

[0278] In some embodiments, the main control board 25 includes a second sub-board 252, which is disposed on the side of the first sub-board 251 away from the second bracket 24. The second sub-board 252 is electrically connected to the first sub-board 251 and to the optomechanical system 22.

[0279] The second daughterboard 252 is electrically connected to the optomechanical system 22, and the second daughterboard 252 is used to control the optomechanical system 22.

[0280] Furthermore, by electrically connecting the first sub-board 251 and the second sub-board 252 to the optomechanical system 22 and the sensor located on the top shell 112, respectively, compared to using a single circuit board for control, which has a larger area, the stacked arrangement of the first sub-board 251 and the second sub-board 252 reduces the space occupied. Moreover, the second sub-board 252 and the optomechanical system 22 rotate with the first bracket 21, and their relative positions are unaffected by the rotation of the first bracket 21. When the first sub-board 251 rotates with the first bracket 21, the relative position of the first sub-board 251 and the sensor located on the top shell 112 changes. By using the first sub-board 251, which is closer to the horizontal center plane of the sphere, to electrically connect with the sensor, the positional offset of the first sub-board 251 is smaller, minimizing the possibility of the electrical connection between the first sub-board 251 and the sensor being pulled and causing connection failure.

[0281] In some embodiments, the projection assembly 20 includes a heat-conducting fin 231, which is disposed on the first support 21 and located around the optical engine 22.

[0282] The heat-conducting fins 231 are provided on the first support 21 and are located on the periphery of the optical engine 22. The heat-conducting fins 231 can conduct heat generated by the optical engine 22 during operation and achieve heat dissipation.

[0283] In some embodiments, the first bracket 21 is provided with a first heat dissipation window 21a corresponding to the heat-conducting fins 231, and the air inlet of the first fan 232 is provided corresponding to the first heat dissipation window 21a.

[0284] The first heat dissipation window 21a is set by the first bracket 21, and the air inlet of the first fan 232 can correspond to the heat conduction fins 231 through the first heat dissipation window 21a. Thus, the heat of the heat conduction fins 231 can be drawn in through the air inlet of the first fan 232 and discharged and dissipated through the air outlet of the first fan 232.

[0285] In some embodiments, see again Figure 14 and Figure 15 The outer shell 11 is provided with heat dissipation holes 11b, which are connected to the inner cavity. The projection robot 1000 includes a second fan 46, which is located on the inner wall of the outer shell 11. The air outlet of the second fan 46 is set towards a portion of the heat dissipation holes 11b.

[0286] With the air outlet of the second fan 46 facing the heat dissipation holes 11b, the heat generated by the internal components (such as the optical engine 22 and circuit boards) of the projection robot 1000 can be carried out of the inner cavity by the air generated by the operation of the second fan 46, thus avoiding the accumulation of heat in the inner cavity and the occurrence of high operating temperature of the projection robot 1000.

[0287] In some embodiments, during the pitching and rotation of the first bracket 21 relative to the housing 11, the air inlet of the second fan 46 is located on the air outlet path of the first fan 232.

[0288] When the first bracket 21 tilts and rotates relative to the outer casing 11, the air inlet of the second fan 46 is located on the air outlet path of the first fan 232. Therefore, the first fan 232 can always blow the heat generated by the optical engine 22 through the air outlet of the first fan 232 to the air inlet of the second fan 46, and carry it out of the inner cavity through the air outlet of the second fan 46 to the heat dissipation hole 11b, resulting in better heat dissipation.

[0289] In some embodiments, when the first bracket 21 is tilted relative to the housing 11 until the projection direction of the optical engine 22 is parallel to the horizontal center plane of the sphere, the direction of the air outlet of the first fan 232 is approximately the same as the direction of the air inlet of the second fan 46.

[0290] By tilting the first bracket 21 relative to the outer casing 11 until the projection direction of the optical engine 22 is parallel to the horizontal center plane of the sphere, the projection direction of the optical engine 22 is in its initial direction. The direction of the exhaust port of the first fan 232 roughly coincides with the direction of the intake port of the second fan 46. This allows the airflow from the exhaust port of the first fan 232 to reach the intake port of the second fan 46 as much as possible, resulting in better heat dissipation. When the projection direction of the optical engine 22 is adjusted upwards or downwards from its initial direction, the exhaust port of the first fan 232 and the intake port of the second fan 46 are offset, but they still maintain a significant overlap.

[0291] In some embodiments, when the pitch angle α of the first bracket 21 (projection assembly 20) relative to the housing 11 is asymmetrical with 0° as the center, the state in which the direction of the air outlet of the first fan 232 is approximately coincident with the direction of the air inlet of the second fan 46 can be: the first bracket 21 is in a state where the projection direction of the optical engine 22 is not parallel to the horizontal center plane of the sphere.

[0292] The asymmetry of the pitch angle α around 0° means that the absolute values ​​of the two endpoints of the pitch angle α's range are not equal, resulting in different pitch rotation amplitudes of the first support 21. For example, if the absolute value of -40° is less than the absolute value of 60°, the downward pitch rotation amplitude of the first support 21 is less than the upward pitch rotation amplitude. In this case, the first support 21 can be positioned with a pitch angle α of 10°, such that the direction of the air outlet of the first fan 232 roughly coincides with the direction of the air inlet of the second fan 46.

[0293] In some embodiments, such as Figures 20 to 22 As shown, the projection robot 1000 includes a support member 711, which is located on the bottom shell 111.

[0294] By providing a support member 711 on the bottom shell 111, the support member 711 can be used to provide an installation position for the components of the projection robot 1000 located on the bottom shell 111.

[0295] In some embodiments, the projection robot 1000 includes a battery 72 disposed on a support member 711. The side of the support member 711 facing away from the projection assembly 20 forms a predetermined height gap with the bottom of the inner cavity. When the inner shell 12 pitches and rotates relative to the outer shell 11, the inner shell 12 at least partially passes through the gap between the battery 72 and the bottom shell 111.

[0296] With the battery 72 mounted on the support member 711, and the side of the support member 711 away from the projection assembly 20 forming a predetermined height gap with the bottom of the inner cavity, the inner shell 12 can avoid the inner shell 12 when it pitches and rotates relative to the outer shell 11, allowing the inner shell 12 to pass through at least partially. This ensures that the inner shell 12 can pitch and rotate at a large angle while achieving mutual avoidance between the inner shell 12 and the battery 72, thus preventing interference between the inner shell 12 and the battery 72.

[0297] The battery 72 provides power to the projection robot 1000. Furthermore, by housing the battery 72 within the bottom shell 111, it also serves as a counterweight for the projection robot 1000.

[0298] In some embodiments, the support member 711 includes a carrier substrate 711a, which is suspended on the bottom shell 111, and the battery 72 is disposed on the side of the carrier substrate 711a facing the projection assembly 20.

[0299] By suspending the carrier substrate 711a on the bottom shell 111, a gap can be formed between the carrier substrate 711a and the bottom of the inner cavity, and the carrier substrate 711a can be used to set the battery 72.

[0300] In some embodiments, the support member 711 includes a first positioning portion 711c, which extends from the first edge of the support substrate 711a in a direction toward the projection assembly 20.

[0301] By providing a first positioning part 711c on the carrier substrate 711a, and by extending the first positioning part 711c from the first edge of the carrier substrate 711a in the direction toward the projection assembly 20, the first positioning part 711c can be used to abut against one side of the battery 72 in the first horizontal direction, thereby positioning the battery 72 in the first horizontal direction.

[0302] In some embodiments, the support member 711 includes a second positioning portion 711d, which extends from the second edge of the support substrate 711a in a direction toward the projection assembly 20, and the second edge is an edge on the support substrate 711a that is opposite to the first edge in a first horizontal direction.

[0303] By providing a second positioning portion 711d on the carrier substrate 711a, and by extending the second positioning portion 711d from the second edge of the carrier substrate 711a in the direction toward the projection assembly 20, the second positioning portion 711d can be used to abut against one side of the battery 72 in the first horizontal direction, thereby positioning the battery 72 in the first horizontal direction.

[0304] In some embodiments, the first positioning part 711c abuts against one side of the battery 72, and the second positioning part 711d abuts against the side of the battery 72 opposite to the first positioning part 711c.

[0305] By supporting the battery 72 on the substrate 711a, and with the first positioning part 711c and the second positioning part 711d respectively abutting against both sides of the battery 72, the first positioning part 711c and the second positioning part 711d can jointly clamp and fix the battery 72.

[0306] In some embodiments, the end of the first positioning portion 711c away from the support substrate 711a is provided with a first connecting portion 713, and the end of the second positioning portion 711d away from the support substrate 711a is provided with a second connecting portion 714. The first connecting portion 713 and the second connecting portion 714 are both connected to the bottom shell 111, so that a gap is formed between the side of the support substrate 711a away from the projection assembly 20 and the bottom of the inner cavity.

[0307] By providing a first connecting part 713 and a second connecting part 714 at the ends of the first positioning part 711c and the second positioning part 711d respectively, the first connecting part 713 and the second connecting part 714 are connected to the bottom shell 111 to realize the assembly of the support member 711 and the bottom shell 111, and a preset height interval is formed between the side of the bearing substrate 711a away from the projection assembly 20 and the bottom of the inner cavity.

[0308] In some embodiments, the edge of the support substrate 711a is provided with a third connecting portion 715, and the first connecting portion 713 and the second connecting portion 714 are connected to the third connecting portion 715 at different positions of the bottom shell 111 to form a height difference.

[0309] By providing a first connecting part 713, a second connecting part 714, and a third connecting part 715 to connect with the bottom shell 111, the support member 711 and the bottom shell 111 are assembled. Since the bottom shell 111 is hemispherical to fit with the top shell 112, the outer shell 11 is spherical. By utilizing the height difference between the first connecting part 713, the second connecting part 714, and the third connecting part 715, when the support member 711 is assembled with the bottom shell 111, the first connecting part 713, the second connecting part 714, and the third connecting part 715 can connect different positions of the bottom shell 111 to adapt to the hemispherical shape of the bottom shell 111. The bottom shell 111 does not need to be provided with an additional connecting structure so that the different connection positions of the bottom shell 111 and the support member 711 are at the same height, which simplifies the structure of the bottom shell.

[0310] In some embodiments, the projection robot 1000 includes two drive wheels 31, and the bottom shell 111 is provided with two recesses 111b corresponding to the two drive wheels 31. The space formed by each recess 111b outside the bottom shell 111 is used to accommodate the drive wheels 31. A first connecting part 713 is connected to the top surface of one recess 111b facing the top shell 112, and a second connecting part 714 is connected to the top surface of the other recess 111b facing the top shell 112.

[0311] Two recessed portions 111b are provided on the bottom shell 111 corresponding to the two drive wheels 31. The space formed by the recessed portions 111b outside the bottom shell 111 accommodates the drive wheels 31, which can hide the drive wheels 31 and reduce the space occupied by the drive wheels outside the bottom shell, resulting in a smaller overall volume of the projection robot 1000. Furthermore, the first connecting portion 713 and the second connecting portion 714 are connected to the top surface of the recessed portion 111b facing the top shell 112. The extension length of the first positioning portion 711c and the second positioning portion 711d can be adapted to the concave depth of the recessed portion 111b inside the bottom shell 111, and the recessed portion 111b is used as the connection position between the support member 711 and the bottom shell 111.

[0312] In some embodiments, the support member 711 includes a third positioning portion 711e, which extends from the third edge of the support substrate 711a in the direction toward the projection assembly 20. The third edge is the edge on the support substrate 711a that is adjacent to the first edge and the second edge. The third positioning portion 711e abuts against one side of the battery 72 along the second horizontal direction.

[0313] By abutting against one side of the battery 72 along the second horizontal direction with the third positioning part 711e, the battery 72 can be positioned from the second horizontal direction.

[0314] In some embodiments, the second horizontal direction is perpendicular to the first horizontal direction.

[0315] Since the second horizontal direction is perpendicular to the first horizontal direction, the battery 72 can be positioned in both the first and second horizontal directions, thus the position of the battery 72 in the horizontal direction can be kept fixed.

[0316] In some embodiments, the support member 711 includes a fixing member 712, which is connected to the support member 711 and abuts against the side of the battery 72 away from the support member 711.

[0317] The battery 72 is connected to the support member 711 by the fastener 712. The fastener 712 abuts against the side of the battery 72 away from the support member 711, so that the fastener 712 can press the battery 72 tightly against the support member 711, thereby achieving clamping and fixing of the battery 72.

[0318] In some embodiments, the fixing member 712 includes a fixing plate 712a and a fourth positioning part 712b. The two ends of the fixing plate 712a are respectively connected to the first positioning part 711c and the second positioning part 711d. The fixing plate 712a abuts against the side of the battery 72 away from the support substrate 711aa. The fourth positioning part 712b extends from the edge of the fixing plate 712a away from the third positioning part 711e in the second horizontal direction toward the support substrate 711aa. The fourth positioning part 712b abuts against the side of the battery 72 away from the third positioning part 711e.

[0319] The fourth positioning part 712b abuts against the side of the battery 72 away from the third positioning part 711e, and the fourth positioning part 712b and the third positioning part 711e together clamp and fix the battery 72 along the second horizontal direction.

[0320] In some embodiments, the support member 711 includes a pressing portion 711f, which extends along a second horizontal direction from the end of the third positioning portion 711e away from the support substrate 711a, so that the pressing portion 711f abuts against the side of the battery 72 away from the support substrate 711a.

[0321] The clamping part 711f abuts against the side of the battery 72 away from the support substrate 711a, pressing the battery 72 firmly against the support substrate 711a, thus clamping and fixing the battery 72. Furthermore, the battery 72 is also pressed against the support substrate 711a by the fixing member 712. The fixing member 712 and the clamping part 711f are spaced apart along the second horizontal direction, and the clamping forces exerted on the battery 72 by the fixing member 712 and the clamping part 711f are relatively balanced. The gap between the fixing member 712 and the clamping part 711f allows the battery 72 to dissipate heat, avoiding a situation where a large contact area with the battery 72 during clamping results in poor heat dissipation.

[0322] In some embodiments, the carrier substrate 711a is provided with a second heat dissipation window, which is provided corresponding to the battery 72.

[0323] By providing a second heat dissipation window on the support substrate 711a, the heat generated by the battery 72 can be dissipated through the second heat dissipation window, preventing heat accumulation between the battery 72 and the support substrate 711a. On the other hand, the second heat dissipation window can reduce the overall weight of the support substrate 711a, achieving a lightweight design for the support member 711.

[0324] In some embodiments, the battery 72 includes a second circuit board 73 disposed on the support member 711 and electrically connected to the battery 72.

[0325] The second circuit board 73 is provided on the support member 711 and is electrically connected to the battery 72, thereby controlling the power supply to the battery 72.

[0326] In some embodiments, the second circuit board 73 is disposed on the side of the support 711 opposite to the battery 72.

[0327] By having the second circuit board 73 located on the side of the support member 711 away from the battery 72, the support member 711 separates the second circuit board 73 and the battery 72, which can prevent the heat generated by both during operation from affecting each other and facilitates heat dissipation.

[0328] In some embodiments, the support member 711 includes a plurality of protrusions 711g, which protrude from the side of the carrier substrate 711a away from the battery 72, and the second circuit board 73 is disposed at one end of the plurality of protrusions 711g away from the carrier substrate 711a.

[0329] A second circuit board 73 is disposed at one end of a plurality of protrusions 711g away from the support substrate 711a, and a gap is formed between the second circuit board 73 and the support substrate 711a to facilitate the dissipation of heat generated by the second circuit board 73.

[0330] In some embodiments, the projection robot 1000 includes two speakers 47 disposed on the bottom shell 111.

[0331] By setting two speakers 47 on the bottom shell 111, the projection robot 1000 can emit sound using the speakers 47.

[0332] In some embodiments, the projections of the two speakers 47 onto the bottom shell 111 are located on either side of the projection of the projection assembly 20 onto the bottom shell 111.

[0333] The projections of the two speakers 47 onto the bottom shell 111 are located on both sides of the projection of the projection assembly 20 onto the bottom shell 111. The weight of the two speakers 47 can be distributed relatively evenly on both sides of the projection assembly 20 with the projection assembly 20 as the center, so that the overall center of gravity of the projection robot 1000 is relatively central.

[0334] In some embodiments, the bottom shell 111 is provided with a sound outlet corresponding to the speaker 47.

[0335] A sound outlet is provided in the bottom shell 111, which allows the sound emitted by the speaker 47 to be transmitted to the outside of the bottom shell 111.

[0336] In some embodiments, such as Figure 23 and Figure 24 As shown, the outer shell 11 is provided with a second opening 11c, which is connected to the inner cavity.

[0337] The second opening 11c refers to a window opened on the outer shell 11, which connects the space outside the outer shell 11 with the inner cavity.

[0338] In some embodiments, combined with Figure 25 The outer casing 11 includes a face shell 16, which is detachably connected to the second opening 11c. A display screen 48 is provided on the side of the face shell 16 facing the inner cavity.

[0339] The projection robot 1000 is detachably connected to the second opening 11c via the face shell 16. During assembly, components such as the projection assembly 20 located within the cavity are installed onto the outer shell 11. The inner shell 12 covers the first opening 11a as the projection assembly 20 is installed. Then, the face shell 16 is connected to the second opening 11c, covering the second opening 11c, resulting in a complete appearance for the outer shell 11. The assembly of the projection robot 1000 is relatively simple. For disassembly and maintenance, the face shell 16 can be detached from the second opening 11c first. Especially when assembling or maintaining devices mounted on the face shell 16 (e.g., the display screen 48), only the face shell 16 needs to be assembled or disassembled from the outer shell 11, making the operation relatively simple.

[0340] The display screen 48 can be viewed from the side of the faceplate 16 away from the inner cavity. The display screen 48 can be used for facial expression display, video interaction, etc., but this embodiment does not specifically limit its use.

[0341] In some embodiments, the first opening 11a and the second opening 11c are arranged opposite to each other.

[0342] The second opening 11c is positioned opposite to the first opening 11a. The faceplate 16 is detachably connected to the second opening 11c. A display screen 48 is provided on the side of the faceplate 16 facing the cavity. The user can view the display screen 48 from the side of the faceplate 16 away from the cavity. That is, when the projection component 20 projects outside the first opening 11a, the direction in which the user views the projected content of the projection component 20 is usually roughly the same as the projection direction of the projection component 20. At this time, the user can simultaneously view the side of the second opening 11c opposite to the first opening 11a on the outer shell 11. Thus, the user can view the content displayed on the display screen 48 from the side of the faceplate 16 away from the cavity to interact with the projection robot 1000.

[0343] In some embodiments, such as Figure 23 and Figure 24 As shown, the top shell 112 is provided with a third notch 1124, which extends to the edge of the top shell 112.

[0344] By providing a third notch 1124 in the top shell 112, and extending the third notch 1124 to the edge of the top shell 112, when the top shell 112 and the bottom shell 111 are closed and connected, the third notch 1124 can extend to the closing connection between the top shell 112 and the bottom shell 111.

[0345] In some embodiments, the bottom shell 111 is provided with a fourth notch 111c, which extends to the edge of the bottom shell 111.

[0346] By providing a fourth notch 111c in the bottom shell 111, and extending the fourth notch 111c to the edge of the bottom shell 111, when the top shell 112 is closed and connected to the bottom shell 111, the fourth notch 111c can extend to the closing connection between the bottom shell 111 and the top shell 112.

[0347] In some embodiments, the fourth notch 111c is used to enclose the third notch 1124 to form the second opening 11c.

[0348] With the top shell 112 and bottom shell 111 covering each other, the fourth notch 111c and the third notch 1124 can be closed to form the second opening 11c, making the assembly of the top shell 112 and bottom shell 111 easier. Furthermore, the second opening 11c can extend from the top shell 112 to the bottom shell 111, increasing the area ratio of the front shell 16 on the outer shell 11, thus allowing the front shell 16 to have a larger size for mounting devices (e.g., display screen 48). For example, the screen size of the display screen 48 can have a wider range of options.

[0349] In some embodiments, combined with Figure 25 As shown, the outer shell 11 is provided with a first sliding buckle 11d, and the face shell 16 is provided with a second sliding buckle 16a. The second sliding buckle 16a is used to rotate with the face shell 16 relative to the outer shell 11 to engage with the first sliding buckle 11d.

[0350] By providing a first sliding buckle 11d on the outer shell 11 and a second sliding buckle 16a on the front shell 16, the front shell 16 can be detachably connected to the top shell 112 and the bottom shell 111 through the engagement of the first sliding buckle 11d and the second sliding buckle 16a. Furthermore, the front shell 16 can be assembled and disassembled from the outer shell 11 simply by rotating it, making the operation relatively simple.

[0351] In some embodiments, such as Figure 26 and Figure 27 As shown, the faceplate 16 includes a structural layer 161, and a second sliding buckle 16a is provided on the side of the structural layer 161 facing the inner cavity.

[0352] The structural layer 161 is configured to provide an installation position for the display screen 48, and the second sliding buckle 16a of the structural layer 161 is fastened to the first sliding buckle 11d, thereby enabling a detachable connection between the structural layer 161 and the second opening 11c.

[0353] In some embodiments, the structural layer 161 is provided with a first light-transmitting hole 1611, and the display screen 48 is disposed on the side of the structural layer 161 facing the inner cavity and facing the first light-transmitting hole 1611.

[0354] With the display screen 48 facing the first light-transmitting hole 1611, the display screen 48 can be viewed from the side of the structural layer 161 away from the inner cavity.

[0355] In some embodiments, the faceplate 16 includes an outer layer 162 disposed on the side of the structural layer 161 opposite to the second opening 11c, and the outer layer 162 is configured to be light-transmitting.

[0356] By having the outer layer 162 disposed on the side of the structural layer 161 opposite to the second opening 11c, the outer layer 162 enables the display screen 48 to be designed to be invisible, maintaining the integrity of the appearance. Furthermore, by utilizing the light-transmitting outer layer 162, users can view the content displayed on the display screen 48 through the outer layer 162.

[0357] In some embodiments, such as Figures 25 to 27 As shown, the outer shell 11 includes a first decorative element 14, which is annular and located at the second opening 11c. It is fixed to the top shell 112 and the bottom shell 111. The first decorative element 14 is provided with a first sliding buckle 11d.

[0358] By having a first decorative element 14 arranged around the edge of the second opening 11c, the first decorative element 14 can visually separate the top shell 112 and bottom shell 111 from the front shell 16. Furthermore, by using the annular first decorative element 14 in the second opening 11c, the first decorative element 14 can fix the relative position of the top shell 112 and bottom shell 111 after assembly, preventing misalignment of the relative position between the top shell 112 and bottom shell 111 before the projection robot 1000 completes overall assembly, thus avoiding any impact on further assembly. Furthermore, considering the assembly error between the top shell 112 and the bottom shell 111, placing the first sliding buckle 11d on the top shell 112 and the bottom shell 111 could easily lead to the first sliding buckle 11d being misaligned, resulting in the first sliding buckle 11d being unable to cooperate with the second sliding buckle 16a. Therefore, the first sliding buckle 11d is set using the first decorative piece 14. The position of the first sliding buckle 11d on the first decorative piece 14 is fixed and unaffected by the assembly of the projection robot 1000, which can ensure that the second sliding buckle 16a of the face shell 16 cooperates with the first sliding buckle 11d.

[0359] In some embodiments, the first decorative member 14 is provided with a plurality of fixing parts 14a, which are distributed at intervals around the circumference of the first decorative member 14, and the plurality of fixing parts 14a are connected to the bottom shell 111 and the top shell 112.

[0360] The first decorative element 14 is connected to the bottom shell 111 and the top shell 112 by multiple fixing parts 14a, thereby realizing the assembly of the first decorative element 14 with the top shell 112 and the bottom shell 111. Furthermore, the multiple fixing parts 14a are distributed at intervals around the circumference of the first decorative element 14, resulting in high assembly strength and relatively balanced force distribution between the first decorative element 14 and the top shell 112 and the bottom shell 111.

[0361] In some embodiments, the first decorative element 14 includes a frame portion 141, which is ring-shaped.

[0362] In some embodiments, the first decorative member 14 includes an extension 142, which extends from the inner peripheral edge of the frame portion 141 toward the annular center, and the first sliding buckle 11d is a buckle hole provided in the extension 142.

[0363] In some embodiments, such as Figure 28 and Figure 29 As shown, the second sliding buckle 16a includes a cantilever 16aa and a limiting protrusion 16ab. The cantilever 16aa is located on the side of the face shell 16 facing the inner cavity, and the limiting protrusion 16ab is located at the end of the cantilever 16aa facing the inner cavity. The cantilever 16aa passes through the buckle hole, and the limiting protrusion 16ab abuts against the portion of the extension 142 located on the buckle hole side to fix the face shell 16 to the first decorative member 14.

[0364] By designing the first sliding buckle 11d as a locking hole in the extension 142, the faceplate 16 can be matched with the annular frame 141 when assembled with the first decorative piece 14. Simultaneously, by utilizing the cantilever 16aa of the second sliding buckle 16a, which is positioned in the locking hole, the faceplate 16 can be rotated so that the limiting protrusion 16ab of the second sliding buckle 16a abuts against the portion of the extension 142 located on the locking hole side, thereby fixing the faceplate 16 to the first decorative piece 14 and installing the faceplate 16 onto the first decorative piece 14. Rotating the faceplate 16 relative to the first decorative piece 14 until the limiting protrusion 16ab aligns with the locking hole allows the cantilever 16aa and the limiting protrusion 16ab to pass through the locking hole, thus separating the faceplate 16 from the first decorative piece 14 and disassembling the faceplate 16.

[0365] In some embodiments, at least one sensor is disposed on the side of the structural layer 161 opposite to the outer layer 162, the power terminals of the sensor are disposed facing the horizontal center plane, and are electrically connected to the main control board 25 of the projection assembly 20.

[0366] By oriented the sensor's power terminals toward the horizontal center plane, the distance between the sensor's power terminals and the main control board 25 of the projection assembly 20 can be reduced, thereby facilitating the electrical connection wiring between the sensor's power terminals and the main control board 25.

[0367] In some embodiments, the sensor includes a distance sensor, which enables distance measurement.

[0368] Among them, the distance sensor can be a TOF (Time of Flight) sensor.

[0369] In some embodiments, the distance sensor includes a first distance sensor 571 and a second distance sensor 572, which are disposed on the side of the structural layer 161 opposite to the outer layer 162.

[0370] The orientation of the first distance sensor 571 and the second distance sensor 572 and their height at the structural layer 161 (i.e., the distance from the bottom of the outer shell 11) can be different, so as to cooperate with each other to measure distance.

[0371] In some embodiments, such as Figure 26 and Figure 27 As shown, a first planar portion 161a is formed on the side of the structural layer 161 facing the inner cavity. The first planar portion 161a is provided with a second light-transmitting hole 1612. The outer layer 162 is formed with a third planar portion 162a corresponding to the first planar portion 161a. The first distance sensor 571 is disposed on the first planar portion 161a and is disposed facing the second light-transmitting hole 1612.

[0372] By providing a first distance sensor 571 on the first flat portion 161a and using a second light-transmitting hole 1612 to avoid obstructing the first distance sensor 571, the first distance sensor 571 is not blocked by the structural layer 161. This allows light to be emitted and received through the light-transmitting outer layer 162, thus achieving the distance measurement function. Furthermore, by providing a third flat portion 162a on the outer layer 162, when the first distance sensor 571 emits and receives light to achieve distance measurement, the third flat portion 162a can prevent light refraction and scattering when passing through the outer layer 162, thereby improving the distance measurement accuracy of the first distance sensor 571.

[0373] In some embodiments, such as Figure 28 and Figure 29 As shown, a first recessed portion 161b is formed on the side of the structural layer 161 facing the inner cavity. The first recessed portion 161b is recessed from the structural layer 161 toward the direction close to the inner cavity to form a second planar portion 161c. The second planar portion 161c is provided with a third light-transmitting hole 1613. The outer layer 162 is formed with a fourth planar portion 162b corresponding to the second planar portion 161c. The second distance sensor 572 is disposed on the second planar portion 161c and is disposed toward the third light-transmitting hole 1613.

[0374] By providing a second distance sensor 572 on the second planar portion 161c and using a third light-transmitting hole 1613 to avoid obstructing the second distance sensor 572, the second distance sensor 572 is not blocked by the structural layer 161. This allows light to be emitted and received through the light-transmitting outer layer 162, thus achieving the distance measurement function. Furthermore, by providing a fourth planar portion 162b on the outer layer 162, when the second distance sensor 572 emits and receives light to achieve distance measurement, the fourth planar portion 162b can prevent light refraction and scattering when passing through the outer layer 162, thereby improving the distance measurement accuracy of the second distance sensor 572.

[0375] In some embodiments, the second planar portion 161c is disposed near the bottom of the housing 11 relative to the first planar portion 161a.

[0376] By setting the second flat portion 161c relative to the first flat portion 161a near the bottom of the outer shell 11, and the second distance sensor 572 relative to the first distance sensor 571 near the bottom of the outer shell 11, the second flat portion 161c is formed by using the first recessed portion 161b to set the second distance sensor 572. This method can minimize the distance of the second distance sensor 572 from the bottom of the outer shell, making it easier for the second distance sensor 572 to detect the driving plane on which the projection robot is placed.

[0377] In some embodiments, such as Figure 26 and Figure 27 As shown, the sensor includes a first camera 58, which is located on the side of the structural layer 161 facing the inner cavity. The first camera 58 is used to capture a view outward from the outer layer 162.

[0378] By setting a first camera 58 on the side of the structural layer 161 facing the inner cavity, and using the first camera 58 to take a view outside the outer layer 162, the outer layer 162 can achieve the invisible design of the first camera 58 and maintain the integrity of the appearance.

[0379] In some embodiments, the sensor includes a second camera 59, which is disposed on the side of the structural layer 161 facing the inner cavity and is disposed relative to the first camera 58 near the bottom of the outer shell 11. The second camera 59 is used to capture a view outward from the outer shell 162.

[0380] By placing a second camera 59 on the side of the structural layer 161 facing the inner cavity, and using the second camera 59 to capture images from outside the outer layer 162, the outer layer 162 can achieve an invisible design for the first camera 58, maintaining the integrity of its appearance. Furthermore, by positioning the second camera 59 and the first camera 58 at different positions along the height of the projection robot 1000 on the structural layer 161, the second camera 59 and the first camera 58 can compensate for each other's captured images and can also be used to achieve different functions. For example, the first camera 58 can be used to capture environmental images for mapping, while the second camera 59 can be used for human-computer interaction.

[0381] In some embodiments, the structural layer 161 is provided with a fourth light-transmitting hole 1614 corresponding to the first camera 58, and the first camera is positioned facing the fourth light-transmitting hole 1614. The outer layer 162 is provided with a sixth light-transmitting hole 1621, which communicates with the fourth light-transmitting hole 1614. The faceplate 16 includes a first light-transmitting cover plate 163, which covers the sixth light-transmitting hole 1621.

[0382] The first camera 58 can be directed to the outside of the outer layer 162 for framing through the fourth light-transmitting hole 1614, the sixth light-transmitting hole 1621 and the first light-transmitting cover plate 163. At the same time, the first light-transmitting cover plate 163 and the outer layer 162 work together to achieve the invisible design of the first camera 58, maintaining the integrity of the appearance while protecting the first camera 58.

[0383] In some embodiments, the structural layer 161 is provided with a fifth light-transmitting hole 1615 corresponding to the second camera 59, and the second camera 59 is disposed facing the fifth light-transmitting hole 1615. The outer layer 162 is provided with a seventh light-transmitting hole 1622, which communicates with the fifth light-transmitting hole 1615. The faceplate 16 includes a second light-transmitting cover plate 164, which covers the seventh light-transmitting hole 1622.

[0384] The second camera 59 can be directed to the outside of the outer layer 162 for framing through the fifth light-transmitting hole 1615, the seventh light-transmitting hole 1622, and the second light-transmitting cover plate 164. At the same time, the second light-transmitting cover plate 164, together with the outer layer 162, can achieve the invisible design of the second camera 59, maintaining the integrity of the appearance while protecting the second camera 59.

[0385] In some embodiments, such as Figure 1 and Figure 3 As shown, the bottom of the outer casing 11 is provided with a caster wheel 32. The diameter of the caster wheel 32 is smaller than the diameter of the drive wheel 31. The caster wheel 32 is located at the bottom of the outer casing 11, closer to the first opening 11a relative to the drive wheel 31. The drive wheel 31 is located at the bottom of the outer casing 11, closer to the second opening 11c relative to the caster wheel 32.

[0386] With the omnidirectional wheels 32 positioned at the bottom of the outer shell 11, near the first opening 11a relative to the drive wheels 31, and the drive wheels 31 positioned at the bottom of the outer shell 11, near the second opening 11c relative to the omnidirectional wheels 32, the space near the first opening 11a of the outer shell 11 is larger than that near the second opening 11c. This allows the inner shell 12 to be positioned within the larger space of the outer shell 11, allowing it to be as close as possible to the driving plane of the projection robot 1000, while the outer shell 16 can be positioned further away from the driving plane. Furthermore, without increasing the overall height of the projection robot 1000, the use of large-sized drive wheels 31 in combination with small-sized omnidirectional wheels 32 increases the driving efficiency during movement.

[0387] In some embodiments, the caster wheel 32 is located on the vertical line of the line connecting the two drive wheels 31.

[0388] Two drive wheels 31 are spaced apart on the base shell 111. When the projection robot 1000 moves autonomously, the movement is relatively smooth and the power is sufficient. Furthermore, the omnidirectional wheel 32, located on the vertical line connecting the two drive wheels 31, enables the projection robot 1000 to turn during autonomous movement. The omnidirectional wheel 32 and the two drive wheels 31 jointly support the base shell 111, reducing the risk of the projection robot 1000 tipping over.

[0389] In some embodiments, a second decorative element 15 is provided at the cover connection between the top shell 112 and the bottom shell 111.

[0390] By providing a second decorative element 15 at the junction of the top shell 112 and the bottom shell 111, the top shell 112 and the bottom shell 111 are visually separated, resulting in a better visual effect.

[0391] The foregoing has provided a detailed description of a projection robot disclosed in this application. This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the projection robot and its core ideas in this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A projection robot, characterized in that, include: The outer shell is spherical and has an inner cavity. The outer shell has a first opening that communicates with the inner cavity. The bottom of the outer shell has a drive wheel. A projection assembly, located in the inner cavity and rotatably mounted on the outer shell; An inner shell is located in the inner cavity. The inner shell is fixed to one end of the projection assembly facing the first opening so that the inner shell can rotate with the projection assembly. During the rotation with the projection assembly, the projection of the inner shell on the outer shell covers the first opening. The inner shell has a projection hole facing the first opening for the projection assembly to project onto the outside of the inner shell.

2. The projection robot according to claim 1, characterized in that, The outer casing includes: Top shell, the top shell having a first notch: A bottom shell is connected below the top shell to make the outer shell spherical and form the inner cavity between the bottom shell and the top shell. The bottom shell is provided with a second notch, which is connected to the first notch to form the first opening. The projection component is mounted on the bottom shell and can be tilted and rotated.

3. The projection robot according to claim 2, characterized in that, The projection robot includes sensors; The top of the top shell has an outward protrusion located on the rotational circumference of the inner shell, and the protrusion is configured to transmit the electromagnetic signal corresponding to the sensor. The protrusion forms a receiving cavity communicating with the inner cavity, and at least one of the sensors is disposed in the receiving cavity to avoid the rotation path of the inner shell.

4. The projection robot according to claim 3, characterized in that, The projection robot includes: A support plate is provided at the opening of the accommodating cavity facing the inner cavity; A first circuit board is disposed on the side of the support plate facing the protrusion; At least one of the sensors is disposed on the first circuit board.

5. The projection robot according to claim 4, characterized in that, The protrusion has a third opening communicating with the accommodating cavity, and the sensor includes: A radar module is disposed on the support plate and electrically connected to the first circuit board. The first circuit board has a first through hole, and the radar module protrudes through the first through hole to the third opening. Multiple infrared sensors are located on the side of the first circuit board away from the support plate and are arranged around the radar module.

6. The projection robot according to claim 4, characterized in that, The first circuit board has a plurality of protrusions on the side away from the support plate. The plurality of protrusions are arranged around the straight line containing the normal direction of the first circuit board. The distance between the end of the protrusion away from the first circuit board and the straight line containing the normal direction is greater than the distance between the end of the protrusion closer to the first circuit board and the straight line containing the normal direction. Each of the protruding pillars has a hollow portion, and the sensor includes multiple infrared sensors, which are respectively disposed in the hollow portions of the multiple protruding pillars.

7. The projection robot according to claim 3, characterized in that, The protrusion includes: The accommodating layer has the accommodating cavity formed therein, and the accommodating layer has a second through hole corresponding to the sensor located in the accommodating cavity. The second through hole is used to emit the electromagnetic signal corresponding to the sensor. A cover layer covers the side of the accommodating layer opposite to the accommodating cavity, and the cover layer is configured to be light-transmitting to transmit the electromagnetic signal corresponding to the sensor.

8. The projection robot according to claim 2, characterized in that, The projection robot includes: A first circuit board is disposed inside the top shell and is electrically connected to the main control board of the projection assembly; A communication module is disposed inside the top shell and is electrically connected to the first circuit board to transmit signals between the communication module and the main control board through the wiring between the first circuit board and the main control board. Multiple sensors, at least one of which is located on the first circuit board.

9. The projection robot according to claim 8, characterized in that, The inner wall of the top shell has a first plane and a second plane, which are located on both sides of the inner shell along the rotation axis, respectively. The communication module includes: A Wi-Fi module is disposed on the first plane; The NFC module is located on the second plane, and the NFC module and the Wi-Fi module are located on opposite sides of the inner shell.

10. The projection robot according to claim 1, characterized in that, The inner shell is constructed in an arc shape and has approximately the same curvature as the sphere.

11. The projection robot according to claim 1, characterized in that, The pitch angle of the projection component is α, where α ≥ -40° and / or α ≤ 60°.

12. The projection robot according to claim 2, characterized in that, The inner wall of the top shell is provided with a first shielding part and a second shielding part. The first shielding part and the second shielding part are respectively located on both sides of the first notch. The extending directions of the first shielding part and the second shielding part are parallel to the circumferential rotation direction of the inner shell. At least one of the inner shells is located between the first shielding part and the second shielding part.

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