Induction mechanism and self-moving device

Abstract

The application provides a sensing mechanism and a self-moving device, and relates to the technical field of self-moving devices, and is used for solving the problem that the surface of a detection mechanism is easy to attach dust and sundries when the self-moving device is in use. The sensing mechanism comprises a mounting seat, a driving mechanism, a detection module, a cleaning mechanism and a spraying mechanism. The driving mechanism is arranged on the mounting seat. The detection module is connected with the driving mechanism, and the driving mechanism is used for driving the detection module to rotate. The cleaning mechanism is arranged on the mounting seat. In the direction perpendicular to the rotating axis of the detection module, the cleaning mechanism is located at the periphery of the detection module and is in contact with the detection module. The spraying mechanism is arranged on the mounting seat and has a spraying opening. The spraying opening faces the detection module. The sensing mechanism is used for detecting and sensing the external environment.

Description

Technical Field

[0001] This application relates to the field of self-moving device technology, and more particularly to a sensing mechanism and a self-moving device. Background Technology

[0002] Self-moving devices are those capable of autonomous movement and task execution. For example, robotic vacuum cleaners or lawnmowers can move autonomously to perform cleaning or mowing tasks.

[0003] Self-moving devices typically include a detection mechanism that detects the external environment and moves accordingly. However, during use, dust and debris easily accumulate on the surface of the detection mechanism, affecting its accuracy and thus hindering the autonomous movement and operation of the device. Summary of the Invention

[0004] This application provides a sensing mechanism and a self-moving device to solve the problem that dust and debris easily adhere to the surface of the sensing mechanism when the self-moving device is in use.

[0005] In a first aspect, this application provides a sensing mechanism, including a mounting base, a drive mechanism, a detection module, a cleaning mechanism, and a spraying mechanism. The drive mechanism is mounted on the mounting base. The detection module is connected to the drive mechanism, which drives the detection module to rotate. The cleaning mechanism is mounted on the mounting base. Along a direction perpendicular to the rotation axis of the detection module, the cleaning mechanism is located around the detection module and contacts it. The spraying mechanism is mounted on the mounting base and has spray nozzles. The spray nozzles face the detection module.

[0006] The sensing mechanism provided in this application includes a mounting base that serves as the mounting component for the entire sensing mechanism, allowing for its overall installation and fixation. Since the detection module is connected to the drive mechanism, the drive mechanism can rotate the detection module. When the drive mechanism rotates the detection module, the cleaning mechanism comes into contact with it. During the rotation, different positions of the detection module can contact the cleaning mechanism, thereby removing dust or debris from the surface of the detection module and keeping its surface clean. Simultaneously, the spray mechanism can spray water onto the surface of the detection module through spray nozzles, cleaning the surface and removing dust and debris adsorbed thereon. It can also remove stains left after the cleaning mechanism contacts the detection module, improving the cleaning effect.

[0007] In some embodiments, the spraying mechanism includes a housing and a spray pipe. The housing is disposed on a mounting base and is used to hold liquid. One end of the spray pipe has a spray nozzle, and the other end is connected to the housing.

[0008] In some embodiments, there are multiple spray pipes. Along the rotation direction of the detection module, the spray nozzles of the multiple spray pipes are spaced apart on the periphery of the detection module.

[0009] In some embodiments, the mounting base has an internal mounting cavity with a probe hole communicating with the cavity. A probe module is installed within the mounting cavity, with a portion of the probe module extending out of the cavity through the probe hole. A cleaning mechanism contacts the portion of the probe module extending out of the cavity, with the spray nozzle facing that portion.

[0010] In some embodiments, the sensing mechanism further includes a transmission component. The transmission component is rotatably connected to the mounting base and drively connected to the drive mechanism. The transmission component is fixedly connected to the detection module.

[0011] In some embodiments, the transmission component is coaxially arranged with the detection module. The outer periphery of the transmission component has a circumferentially distributed toothed structure. The drive mechanism is drively connected to the toothed structure.

[0012] In some embodiments, the detection module includes a sensor and a protective cover. The protective cover is disposed around the sensor and is fixedly connected to the transmission component. The cleaning mechanism contacts the outer surface of the protective cover.

[0013] In some embodiments, the protective cover is integrally formed with the transmission component.

[0014] In some embodiments, the cleaning mechanism includes a mounting bracket and a cleaning component. The mounting bracket is connected to a mounting base. The cleaning component is connected to the mounting bracket and contacts the detection module.

[0015] In some embodiments, the number of cleaning components is multiple. The mounting bracket includes a main body and multiple connecting parts. One end of each connecting part is connected to the main body, and the other end is connected to the mounting base. Each connecting part and each cleaning component is connected in a one-to-one correspondence. Along the rotation direction of the detection module, the multiple connecting parts are spaced apart on the periphery of the detection module. The number of spray nozzles is also multiple. Along the rotation direction of the detection module, the multiple spray nozzles are spaced apart on the periphery of the detection module, and the spray nozzles and connecting parts are offset in a direction perpendicular to the rotation axis of the detection module.

[0016] In some embodiments, the mounting bracket and the mounting base are movably connected in a direction perpendicular to the rotation axis of the detection module. Alternatively, the cleaning component is movably connected to the mounting bracket.

[0017] In some embodiments, the mounting bracket has a mounting groove. The cleaning component is movably connected within the mounting groove in a direction perpendicular to the rotation axis of the detection module.

[0018] In some embodiments, one of the groove wall of the mounting groove and the outer wall of the cleaning component has a limiting protrusion, and the other has a limiting groove. There are multiple limiting protrusions and limiting grooves, and they are spaced apart along a direction perpendicular to the rotation axis of the detection module.

[0019] Secondly, this application provides a self-moving device, including any of the sensing mechanisms described in the first aspect.

[0020] Since the self-moving device provided in this application includes any of the sensing mechanisms in the first aspect, it can solve the same technical problems as the sensing mechanism and achieve the same technical effects, it will not be described in detail here. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a sensing mechanism provided in an embodiment of this application; Figure 2 This is one of the partial structural schematic diagrams of the sensing mechanism provided in the embodiments of this application; Figure 3 This is the second partial structural schematic diagram of the sensing mechanism provided in the embodiments of this application; Figure 4 for Figure 1 A magnified view of a portion of point A in the middle.

[0023] Figure label: 100-Sensing mechanism; 10-Mounting base; 101-Mounting cavity; 102-Detection hole; 103-Extension hole; 11-Base; 111-Mounting boss; 1111-Connecting hole; 12-Mounting component; 20-Detection module; 21-Protective cover; 211-Allowing hole; 30-Cleaning mechanism; 31-Mounting bracket; 311-Main body; 312-Connecting part; 3121-Mounting groove; 32-Cleaning component; 321-Limiting groove; 40-Drive mechanism; 41-Drive motor; 42-Output gear; 50-Spraying mechanism; 51-Spray pipe; 511-Spray nozzle; 52-Connecting pipe; 60-Transmission component; 601-Gear structure; 602-Extension part; 70-Bearing. Detailed Implementation

[0024] 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, 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.

[0025] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0026] In the following description, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0027] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed mechanical connection, a detachable mechanical connection, or an integral part; or, "connection" may be a direct connection or an indirect connection through an intermediate medium.

[0028] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," "right," "horizontal," and "vertical" may be defined relative to the orientation in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation in which the components are placed in the accompanying drawings.

[0029] The terms "parallel," "perpendicular," and "identical" (e.g., identical length, identical width, etc.) mentioned in the embodiments of this application are all relative to the current technological level, and not absolute and strict mathematical definitions. There can be a predetermined angular deviation between two mutually parallel or perpendicular components. In one embodiment, the predetermined angle can be within the range of ±10°, for example, a predetermined angular deviation of ±5°.

[0030] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0031] This application provides a self-moving device capable of autonomous movement and performing corresponding tasks without manual operation. This application does not further limit the specific type of the self-moving device. For example, the self-moving device could be a robotic vacuum cleaner or a lawnmower.

[0032] In some embodiments, the self-moving device may include a main body, a chassis mechanism, and a control mechanism. The chassis mechanism may be connected to the main body, and the control mechanism may be electrically connected to the chassis mechanism. The chassis mechanism can be used to drive the self-moving device to move, while the control mechanism can be used to control the movement or stopping of the chassis mechanism, thereby achieving automatic movement or stopping of the self-moving device.

[0033] It is understood that the specific types and application scenarios of self-moving devices are different, and the specific composition of self-moving devices is also different. The above is only used as an example for illustration, and the embodiments of this application do not make further limitations.

[0034] For example, when the self-moving device is a lawnmower, in some embodiments, the self-moving device may also include a cutting mechanism. The cutting mechanism may be mounted on the main body of the device and may be used for cutting.

[0035] To enable the self-moving device to detect its environment while in motion, some embodiments may include a sensing mechanism. This sensing mechanism, which may be mounted on the main body of the device, can detect the surrounding environment, allowing the self-moving device to perform obstacle avoidance and fixed-point movement based on the sensor's detection.

[0036] The sensing mechanism provided in the embodiments of this application will be further described below, such as... Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a sensing mechanism 100 provided in an embodiment of this application. The sensing mechanism 100 may include a mounting base 10, a detection module 20, a cleaning mechanism 30, a driving mechanism 40, and a spraying mechanism 50.

[0037] The mounting base 10 can serve as a mounting component for the sensing mechanism 100, allowing the sensing mechanism 100 to be installed and fixed as a whole. For example, the mounting base 10 can be mounted on the main body of the device, and the sensing mechanism 100 can be mounted on the main body of the device via the mounting base 10.

[0038] It is understandable that the specific connection method between the mounting base 10 and the main body can be selected according to the actual situation. For example, the mounting base 10 can be fixedly connected to the main body of the vehicle body by fasteners (such as screws). Alternatively, the mounting base 10 can also be snapped onto the main body of the vehicle body by a snap-fit ​​structure.

[0039] The detection module 20 can perform detection functions, scanning and collecting external environmental information. Therefore, the self-moving device can use the detection module 20 to collect external environmental information, thereby using the collected information to guide the movement of the self-moving device, perform obstacle avoidance operations, or execute tasks according to a designated route.

[0040] The cleaning mechanism 30 can be mounted on the mounting base 10. Along a direction perpendicular to the rotation axis of the detection module 20, the cleaning mechanism 30 is located on the periphery of the detection module 20 and in contact with it. Thus, the cleaning mechanism 30 can clean the surface of the detection module 20.

[0041] The drive mechanism 40 can be mounted on the mounting base 10, and the detection module 20 can be connected to the drive mechanism 40. The drive mechanism 40 can drive the detection module 20 to rotate. Thus, the drive mechanism 40 can drive the detection module 20 to rotate.

[0042] Therefore, when the drive mechanism 40 rotates the detection module 20, the cleaning mechanism 30 contacts the detection module 20. During the rotation of the detection module 20, different positions of the detection module 20 can come into contact with the cleaning mechanism 30, thus removing dust or debris from the surface of the detection module 20 and keeping its surface clean. Furthermore, because the cleaning mechanism 30 remains fixed, the detection module 20 maintains relatively good contact with each position during rotation, and the contact force between each position and the cleaning mechanism 30 is relatively consistent, resulting in a good overall cleaning effect.

[0043] Furthermore, the spray mechanism 50 is mounted on the mounting base 10 and has a spray nozzle 511. The spray nozzle 511 faces the detection module 20. Thus, the spray mechanism 50 can spray water onto the surface of the detection module 20 through the spray nozzle 511, thereby cleaning the surface of the detection module 20, removing dust and debris adsorbed on the surface, and also removing stains left after the cleaning mechanism 30 comes into contact with the detection module 20, thus improving the cleaning effect.

[0044] In some embodiments, the spraying mechanism 50 may include a housing (not shown) and a spray pipe 51. The housing is disposed on the mounting base 10 and is used to hold liquid. One end of the spray pipe 51 has a spray nozzle 511, and the other end is connected to the housing. Thus, the housing can hold liquid (such as water or cleaning fluid) for cleaning the detection module 20, and the liquid in the housing can be sprayed out through the spray nozzle 511 of the spray pipe 51 to clean the detection module 20.

[0045] It is understandable that the spray mechanism 50 may have other components, as long as the spraying effect can be achieved. For example, the spray mechanism 50 may only include the spray pipe 51. In this case, the other end of the spray pipe 51 may be connected to external equipment (such as the water tank of other components in a self-moving device).

[0046] To better spray the detection module 20, in some embodiments, such as Figure 1 As shown, there can be multiple spray pipes 51. Along the rotation direction of the detection module 20, the spray nozzles 511 of the multiple spray pipes 51 are spaced apart on the periphery of the detection module 20. Thus, the multiple spray nozzles 511 can clean the surface of the detection module 20 from different directions, ensuring that all positions on the surface of the detection module 20 are sprayed, thus guaranteeing the spraying effect.

[0047] It is understood that the number of spray pipes 51 can be designed according to actual conditions. For example, the number of spray pipes 51 can be three. Alternatively, the number of spray pipes 51 can be two or four, etc. Or, in some other embodiments, the number of spray pipes 51 can be one. In this case, since the drive mechanism 40 can drive the detection module 20 to rotate, the detection module 20 can also be sprayed by the spray pipes 51 at various positions during the rotation process.

[0048] To facilitate the connection of multiple spray pipes 51 and the housing, in some embodiments, such as Figure 1 As shown, the spraying mechanism 50 may further include a connecting pipe 52. The connecting pipe 52 has multiple connecting ports. The connecting pipe 52 is connected to the housing, and the other end of the multiple spray pipes 51 is connected to a connecting port, and is connected to the housing through the connecting pipe 52.

[0049] Therefore, multiple spray pipes 51 can be interconnected via the connecting pipe 52, making the connection more convenient and the flow distribution more uniform. Of course, in some other embodiments, the other end of the multiple spray pipes 51 can also be directly connected to the housing.

[0050] In some embodiments, the spray mechanism 50 may further include a pressurizer. The pressurizer is disposed within the spray pipe 51 and is used to increase the flow rate at the spray nozzle 511 of the spray pipe 51. Therefore, by providing a pressurizer, the flow rate of liquid exiting the spray nozzle 511 can be increased, thereby better cleaning residual stains and other contaminants on the surface of the detection module 20 and ensuring a cleaning effect. Of course, in other embodiments, a pressurizer may not be provided within the spray pipe 51; the choice can be made based on the actual situation.

[0051] Understandably, the specific type of pressurizer can be selected based on the actual situation, as long as it can increase the jet flow rate. For example, the pressurizer can be a centrifugal pump, etc.

[0052] To facilitate the installation and setup of the detection module 20, in some embodiments, such as Figure 1 As shown, the mounting base 10 has a mounting cavity 101 inside, and a detection hole 102 communicating with the mounting cavity 101. The detection module 20 is installed in the mounting cavity 101, and a part of the detection module 20 extends out of the mounting cavity 101 through the detection hole 102. The cleaning mechanism 30 contacts the part of the detection module 20 that extends out of the mounting cavity 101, and the spray nozzle 511 faces the part of the sensing mechanism 100 that extends out of the mounting cavity 101.

[0053] Therefore, the mounting cavity 101 inside the mounting base 10 provides installation space for the detection module 20, facilitating its installation and placement, providing some protection, and reducing the overall installation space of the sensing mechanism 100. A portion of the detection module 20 can extend out of the mounting cavity 101 through the detection hole 102 to detect the external environment, thus achieving the detection function. The cleaning mechanism 30 cleans the portion of the detection module 20 extending out of the mounting cavity 101, while the spraying mechanism 50 sprays and cleans this portion, ensuring the detection module 20's detection performance during use.

[0054] For example, such as Figure 1 As shown, at least a portion of the drive mechanism 40 can also be located within the mounting cavity 101, which can also provide mounting space for the drive mechanism 40. Furthermore, by way of example, the mounting base 10 can also have an extension hole 103, and the spray pipe 51 can extend from the mounting cavity 101 through the extension hole 103. Of course, the spray pipe 51 can also be located outside the mounting cavity 101, with a portion extending directly towards the detection module 20 outside the mounting cavity 101.

[0055] It is understood that the specific shape and structure of the mounting base 10 in this embodiment are merely illustrative examples and are not intended to further limit the scope. For example, as shown... Figure 1As shown, the mounting base 10 may include a base 11 and a mounting member 12. The mounting member 12 may be disposed on one side of the base 11, forming a mounting cavity 101 with openings on both sides. The detection module 20 and the drive mechanism 40 may be mounted on the base 11. The mounting member 12 may have the aforementioned detection hole 102 on the side away from the base 11.

[0056] In this way, operators can inspect and maintain the internal detection module 20 through the openings on both sides of the mounting cavity 101, and it is also convenient to connect the detection module 20 to the circuit. During installation, the base 11 can be positioned below, and a part of the detection module 20 can extend out of the mounting cavity 101 through the detection hole 102 located at the top for easy detection.

[0057] Of course, the mounting base 10 can also have other forms. For example, in some other embodiments, the mounting base 10 may not have the aforementioned mounting cavity 101. The cleaning mechanism 30, the drive mechanism 40, and the detection module 20 can be directly mounted on the mounting base 10.

[0058] To enable the detection function of the detection module 20, in some embodiments, the detection module 20 may include a sensor (not shown in the figure) and a protective cover 21. The protective cover 21 may be placed around the sensor and connected to the drive mechanism 40. The cleaning mechanism 30 contacts the outer surface of the protective cover 21.

[0059] Therefore, the protective cover 21 can protect the internal sensors from damage. The cleaning mechanism 30 can clean the outer surface of the protective cover 21, ensuring its cleanliness and thus guaranteeing the sensor's detection performance. It is understood that the material of the protective cover 21 can be chosen to avoid interfering with the sensor's detection. For example, the protective cover 21 can be made of a transparent material.

[0060] It is understandable that the specific shape of the protective cover 21 can be designed according to actual conditions. For example, in some embodiments, the portion of the protective cover 21 extending out of the mounting cavity 101 can be hemispherical. In this way, the outer surface of the protective cover 21 has an arc-shaped structure, and during rotation, the cleaning mechanism 30 can maintain a good contact state with the outer surface of the protective cover 21, and the contact force at each position is relatively consistent. At the same time, during the rotation of the protective cover 21, the arc-shaped structure of the outer surface of the protective cover 21 is not easily jammed by interference from external objects (such as tree branches), which can ensure normal rotation.

[0061] Of course, the protective cover 21 can also be other shapes. For example, the part of the protective cover 21 that extends out of the mounting cavity 101 can also be hemispherical or frustum-shaped, etc. The specific shape can be selected according to the actual situation, and this application embodiment does not make further limitations.

[0062] Of course, in some other embodiments, the detection module 20 may only include a sensor. In this case, the sensor can be connected to the drive mechanism 40, and the cleaning mechanism 30 can directly contact the sensor. Based on this, since the sensor is located directly on the outside, the detection effect can be guaranteed, and interference from external obstructions on the detection signal can be avoided.

[0063] It is understood that the specific type of sensor can be selected according to the actual situation, as long as it can achieve the detection effect. This application embodiment does not impose further limitations and also facilitates the maintenance and inspection of the sensor. For example, the sensor may include a lidar. In this case, the sensor can construct a three-dimensional model of the environment by emitting laser pulses.

[0064] Alternatively, the sensor can also include a vision sensor. In this case, the vision sensor can directly capture images of the environment. Or, the sensor can also include an infrared sensor. In this case, the sensor can construct and detect the external environment by emitting and receiving infrared signals.

[0065] The driving mechanism 40 and the detection module 20 can be designed according to actual conditions. In some embodiments, the sensing mechanism may also include a transmission component 60. The transmission component 60 is rotatably connected to the mounting base 10 and is drive-connected to the driving mechanism 40. The transmission component 60 is fixedly connected to the detection module 20.

[0066] Therefore, the sensing mechanism can be connected to the driving mechanism 40 via the transmission component 60, and rotate under the drive of the driving mechanism 40. At this time, the detection module 20 is driven by the driving mechanism 40 through the transmission component 60. The driving mechanism 40 does not need to be directly connected to the detection module 20, which makes it easier to arrange the positions of the driving mechanism 40 and the detection module 20, and the position layout is relatively more flexible.

[0067] Of course, in some other embodiments, the detection module 20 can also be directly connected to the drive mechanism 40. In this case, the overall composition of the sensing mechanism 100 is relatively simple. For example, the drive mechanism 40 may include a drive motor 41. The output end of the drive motor 41 can be directly connected to the detection module 20. In this way, the drive motor 41 can directly drive the detection module 20 to rotate.

[0068] In some embodiments, the transmission member 60 may be coaxially arranged with the detection module 20. The outer periphery of the transmission member 60 has a circumferentially distributed toothed structure 601. The drive mechanism 40 is drivenly connected to the toothed structure 601. Thus, through the drive mechanism 40 and the toothed structure 601, the transmission member 60 can be driven to rotate, thereby driving the detection module 20 connected to the transmission member 60 to rotate.

[0069] Accordingly, in order to achieve the transmission connection between the drive mechanism 40 and the transmission member 60, in some embodiments, the drive mechanism 40 may include a drive motor 41 and an output gear 42. The output gear 42 can be connected to the output end of the drive motor 41, and the output gear 42 can mesh with the toothed structure 601 of the transmission member 60. In this way, the drive motor 41 can drive the output gear 42 to rotate, thereby driving the transmission member 60 to rotate.

[0070] Of course, the transmission component 60 can also have other forms and transmission methods, as long as the transmission effect can be achieved. For example, in some other embodiments, the transmission component 60 may also include a transmission belt and two transmission pulleys. One transmission pulley is fixedly connected to the detection module 20, and the other transmission pulley is connected to the output end of the drive motor 41. The transmission belt is sleeved around the two transmission pulleys. Thus, the drive motor 41 can drive one transmission pulley and drive the other transmission pulley through the transmission belt, thereby driving the detection module 20 to rotate.

[0071] As described above, the drive mechanism 40 can rotate the detection module 20 either through the transmission component 60 or directly. The specific composition and structure of the drive mechanism 40 can be selected according to actual conditions. The composition and structure of the drive mechanism 40 described above are merely illustrative examples, and this application embodiment does not impose further limitations.

[0072] To achieve a rotatable connection between the transmission member 60 and the mounting base 10, in some embodiments, the mounting base 10 may have a connecting hole 1111. A portion of the transmission member 60 can be rotatably connected within the connecting hole 1111. Thus, the transmission member 60 can achieve a rotatable connection with the mounting base 10 through the connecting hole 1111.

[0073] For example, such as Figure 2 and Figure 3 As shown, Figure 2 This is one of the partial structural schematic diagrams of the sensing mechanism 100 provided in an embodiment of this application. Figure 3 This is a second partial structural schematic diagram of the sensing mechanism 100 provided in this application embodiment. The base 11 of the mounting base 10 may have a connecting hole 1111. Correspondingly, a protruding part 602 may be formed on one side of the transmission member 60. The protruding part 602 can extend into the connecting hole 1111 and be rotatably connected to the connecting hole 1111.

[0074] In addition, for example, Figure 3As shown, the bottom of the mounting base 10 may have a mounting boss 111. The end of the mounting boss 111 has the aforementioned connecting hole 1111. Thus, by providing the mounting boss 111, the mounting height of the transmission component 60 can be increased, thereby facilitating the probe module 20 to extend out of the probe hole 102.

[0075] Of course, in other embodiments, the transmission member 60 may also have a rotating hole, and a portion of the mounting base 10 may be located within the rotating hole of the transmission member 60. In this case, the transmission member 60 can be rotatably connected to the mounting base 10 through the rotating hole.

[0076] In some embodiments, such as Figure 3 As shown, the sensing mechanism 100 may further include a bearing 70. The bearing 70 may be disposed within the connecting hole 1111 and sleeved on the transmission member 60. Thus, the transmission member 60 can reduce friction through the bearing 70, making rotation smoother and extending its service life.

[0077] As described above, the detection module 20 may include a sensor and a protective cover 21. In some embodiments, the protective cover 21 may be integrally formed with the transmission component 60. In this way, the transmission component 60 and the protective cover 21 can be integrated as a whole, which facilitates installation or disassembly, and can be directly installed or disassembled as a whole.

[0078] For example, the protective cover 21 may have an opening on one side. The transmission member 60 may be located at the opening, forming an integral structure with the protective cover 21 to form a relatively sealed protective structure.

[0079] Understandably, this is to facilitate the connection between the internal sensors and external circuitry. For example... Figure 2 As shown, the protective cover 21 may have a clearance hole 211, through which the connection port of the sensor can extend to achieve electrical connection with the external circuit.

[0080] Of course, in other embodiments, the transmission component 60 can also be detachably connected to the protective cover 21. In this case, the transmission component 60 and the protective cover 21 can be disassembled and installed, facilitating the maintenance and replacement of individual components.

[0081] In some embodiments, such as Figure 1 As shown, the cleaning mechanism 30 may include a mounting bracket 31 and a cleaning component 32. The mounting bracket 31 is connected to the mounting base 10. The cleaning component 32 is connected to the mounting bracket 31 and contacts the detection module 20. Thus, the cleaning mechanism 30 can be mounted on the mounting base 10 via the mounting bracket 31, and the cleaning component 32 can clean the detection module 20.

[0082] It is understandable that the specific type of cleaning component 32 can be selected according to the actual situation, as long as the cleaning effect can be achieved. For example, the cleaning component 32 may include a brush. Alternatively, the cleaning component 32 may also include cleaning parts such as foam or silicone parts.

[0083] To ensure that the cleaning component 32 remains in contact with the detection module 20 at all times, in some embodiments, the mounting bracket 31 is movably connected to the mounting base 10 along a direction perpendicular to the rotation axis of the detection module 20. Thus, when the cleaning component 32 experiences wear during use, or when it is necessary to adjust the contact pressure between the cleaning component 32 and the detection module 20, the operator can adjust the position of the mounting bracket 31 along the direction perpendicular to the rotation axis of the detection module 20, keeping the cleaning component 32 relatively close to the detection module 20 and maintaining contact, thereby preventing the cleaning component 32 and the sensing mechanism 100 from separating.

[0084] To enable a movable connection between the mounting bracket 31 and the mounting base 10, in some embodiments, the mounting base 10 may have a slide rail extending in a direction perpendicular to the rotation axis of the detection module 20. The mounting bracket 31 can be movably connected to the slide rail. Thus, the mounting bracket 31 can move along the slide rail in a direction perpendicular to the rotation axis of the detection module 20, allowing the cleaning component 32 to approach the detection module 20.

[0085] Understandably, the specific shape of the slide rail can be selected according to the actual situation. For example, the slide rail can be a groove, and the mounting bracket 31 can be located within the groove. Alternatively, the slide rail can be a raised structure, and the mounting bracket 31 can be designed with a groove.

[0086] To ensure that the mounting bracket 31 remains fixed when adjusted to different positions, in some embodiments, the slide rail may have multiple limiting holes. These limiting holes may be spaced apart along the extension direction of the slide rail. The mounting bracket 31 can be connected to the limiting holes via fasteners. Thus, the limiting holes at different positions allow the mounting bracket 31 to be fixed relative to the mounting base 10, thereby ensuring that the mounting bracket 31 remains fixed after position adjustment.

[0087] Alternatively, in other embodiments, a first limiting structure may be provided on the slide rail, and a second limiting structure may be provided on the mounting bracket 31. The first and second limiting structures are detachably connected. At least one of the first and second limiting structures may be multiple, and they are spaced apart along a direction perpendicular to the rotation axis of the detection module 20.

[0088] Therefore, after the mounting bracket 31 is adjusted, the first limiting structure and the second limiting structure at different positions can be connected to each other, thereby achieving fixation at different positions of the mounting base 10 through the connection between the first limiting structure and the second limiting structure.

[0089] It is understandable that the specific types of the first and second limiting structures can be designed according to actual conditions, as long as they can achieve relative fixation between the mounting base 10 and the mounting bracket 31. For example, one of the first and second limiting structures can be a hook, and the other can be a slot. In this way, the relative fixation between the mounting bracket 31 and the mounting base 10 can be achieved through the engagement of the hook and slot. Alternatively, both the first and second limiting structures can be magnetic components. In this way, the relative fixation between the mounting bracket 31 and the mounting base 10 can also be achieved through the mutual attraction of the magnetic components.

[0090] Alternatively, in some embodiments, the sensing mechanism 100 may further include an elastic element (not shown in the figure). This elastic element may be connected to both the mounting bracket 31 and the slide rail. The elastic element may generate a spring force in a direction perpendicular to the rotation axis of the detection module 20, ensuring that the cleaning element 32 remains in contact with the detection module 20 at all times.

[0091] Therefore, through the elastic force of the elastic element, the detection module 20 and the cleaning element 32 can always be in contact, and the position of the cleaning element 32 can be automatically adjusted. When the cleaning element 32 is worn out, the cleaning element 32 can be displaced under the action of the elastic force and maintain the contact state with the detection module 20.

[0092] To allow for positional changes in the cleaning component 32, in some embodiments, the cleaning component 32 can be movably connected to the mounting bracket 31 along a direction perpendicular to the rotation axis of the detection module 20. This allows the operator to adjust the position of the cleaning component 32 along this direction, keeping it relatively close to the detection module 20 and in contact, thus preventing the cleaning component 32 and the sensing mechanism 100 from separating. In this case, the mounting bracket 31 can be fixedly connected to the mounting base 10.

[0093] To achieve a movable connection between the cleaning component 32 and the mounting bracket 31, in some embodiments, such as Figure 4 As shown, Figure 4 for Figure 1 The enlarged view at point A shows that the mounting bracket 31 has a mounting groove 3121. The cleaning component 32 is movably connected to the mounting groove 3121 in a direction perpendicular to the rotation axis of the detection module 20. Thus, the cleaning component 32 can be installed in the mounting groove 3121, and the mounting groove 3121 can also be used for positioning during installation, facilitating installation and fixation.

[0094] Of course, in other embodiments, the mounting bracket 31 may not have a mounting slot 3121, and the cleaning component 32 may be directly and movably mounted on the mounting bracket 31.

[0095] To achieve the movable connection and fixation of the cleaning component 32 within the mounting slot 3121, in some embodiments, such as Figure 4 As shown, one of the groove wall of the mounting groove 3121 and the outer wall of the cleaning component 32 may have a limiting protrusion (not shown in the figure), and the other may have a limiting groove 321. At least one of the limiting protrusion and the limiting groove 321 may be multiple, and they are spaced apart along a direction perpendicular to the rotation axis of the detection module 20.

[0096] Therefore, when the limiting protrusion and the limiting groove 321 engage, the cleaning component 32 can maintain its fixed position within the mounting groove 3121. Simultaneously, when the position of the cleaning component 32 needs to be adjusted, its position is adjusted, and then engaged with another limiting protrusion and the limiting groove 321 to achieve fixation after position adjustment.

[0097] It is understandable that the specific positions of the limiting protrusion and the limiting groove 321 can be designed according to the actual situation. For example, such as Figure 4 As shown, the outer wall of the cleaning component 32 may be provided with multiple limiting grooves 321. Correspondingly, the groove wall of the mounting groove 3121 may have at least one limiting protrusion. Alternatively, the outer wall of the cleaning component 32 may have a limiting protrusion, and the groove wall of the mounting groove 3121 may have a limiting groove 321.

[0098] Furthermore, to facilitate the adjustment of the cleaning component 32, in some embodiments, the mounting groove 3121 can penetrate the mounting bracket 31 in a direction perpendicular to the rotation axis of the detection module 20. This allows the operating component to adjust the position of the cleaning component 32 from the outside of the mounting bracket 31 when adjusting its position, making adjustment more convenient.

[0099] Of course, in some other embodiments, the mounting groove 3121 may not penetrate the mounting bracket 31. In this case, the mounting groove 3121 forms an opening on the side near the detection module 20, and the operator can adjust the position of the cleaning component 32 from the opening of the mounting groove 3121.

[0100] In some embodiments, such as Figure 1 As shown, there are multiple cleaning components 32. The mounting bracket 31 includes a main body 311 and multiple connecting parts 312. One end of each connecting part 312 is connected to the main body 311, and the other end is connected to the mounting base 10. The connecting parts 312 and the cleaning components 32 are connected in a one-to-one correspondence. Along the rotation direction of the detection module 20, the multiple connecting parts 312 are spaced apart on the periphery of the detection module 20.

[0101] Therefore, by using multiple spaced connecting portions 312, cleaning components 32 can be respectively installed on multiple connecting portions 312, so that multiple cleaning components 32 can work together to clean the detection module 20, ensuring the cleaning effect of the detection module 20. At the same time, since the multiple connecting portions 312 are connected through the main body 311, the multiple connecting portions 312 form a whole, which can be installed or disassembled as a whole, making disassembly and installation more convenient.

[0102] It is understood that the specific number of connecting parts 312 and cleaning parts 32 can be designed according to actual conditions. For example, such as Figure 3 As shown, the number of connecting parts 312 can be three. Correspondingly, the included angle formed between two adjacent connecting parts 312 can be 120°. Of course, the number of connecting parts 312 can also be two, four, or other numbers, depending on the actual situation. This is only an example for illustration and no further limitation is made.

[0103] Furthermore, the shape of the connecting part 312 can also be designed according to the actual situation. For example, such as Figure 1 As shown, when the portion of the protective cover 21 extending out of the mounting cavity 101 is hemispherical, the connecting portion 312 can be arc-shaped. Correspondingly, the cleaning component 32 can also be arc-shaped. Thus, as... Figure 1 As shown, the connecting part 312 can be better positioned on the periphery of the protective cover 21 without interfering with the protective cover 21, and also allows the cleaning part 32 to better contact the outer surface of the protective cover 21.

[0104] Since multiple connecting parts 312 are connected to the main body 311, for example, in order to facilitate the installation of the connecting parts 312 and the position of the cleaning component 32 is adjustable, the cleaning component 32 can be movably connected to the connecting parts 312 in a direction perpendicular to the rotation axis of the detection module 20, and the connecting parts 312 can be fixedly connected to the mounting base 10.

[0105] Of course, the mounting bracket 31 can also have other compositions and forms. In some embodiments, the mounting bracket 31 can also have other forms. For example, the mounting bracket 31 can also include multiple independent connecting parts 312. The connecting parts 312 are connected to the mounting base 10, and the connecting parts 312 and the cleaning components 32 are connected in a one-to-one correspondence. In this case, along the rotation direction of the detection module 20, the multiple connecting parts 312 are spaced apart on the periphery of the detection module 20.

[0106] Therefore, the multiple connecting parts 312 are independent of each other. Thus, when the connecting part 312 is movably connected to the mounting base 10 in a direction perpendicular to the rotation axis of the detection module 20, the position of the connecting part 312 can be adjusted independently, resulting in good independence. Based on this, in order to achieve adjustable position of the cleaning component 32, for example, the connecting part 312 can be movably connected to the mounting base 10 in a direction perpendicular to the rotation axis of the detection module 20, or the cleaning component 32 can be movably connected to the mounting part.

[0107] As described above, the spraying mechanism 50 may include multiple spray pipes 51. To avoid interference between the spray pipes 51 and the mounting bracket 31, in some embodiments, such as... Figure 1 As shown, along the rotation direction of the detection module 20, multiple spray nozzles 511 are spaced apart on the periphery of the detection module 20, and the spray nozzles 511 and the connecting part 312 are offset in a direction perpendicular to the rotation axis of the detection module 20.

[0108] In this way, because the spray nozzle 511 and the connecting part 312 are staggered, the liquid will not be blocked by the connecting part 312 when the spray nozzle 511 sprays liquid, and can be smoothly sprayed onto the detection module 20, ensuring the spraying effect.

[0109] It is understandable that the arrangement of the spray pipes 51 and the connecting parts 312 can be designed according to actual needs. In some embodiments, multiple spray pipes 51 and multiple connecting parts 312 can be arranged alternately along the rotation direction of the detection module 20. In this way, the distribution of spray pipes 51 and connecting parts 312 is more uniform, ensuring the spraying effect at all locations. Of course, in other embodiments, multiple spray pipes 51 can also be arranged between two adjacent connecting parts 312.

[0110] In some embodiments, the sensing mechanism 100 may further include a positioning sensor (not shown). The positioning sensor is used to detect the rotation angle of the detection module 20. Thus, the rotation angle of the detection module 20 can be controlled by the positioning sensor, allowing the detection module 20 to stop at a suitable angle, thereby facilitating environmental detection.

[0111] It is understood that the specific type of positioning sensor can be selected according to the actual situation, and this application embodiment does not further limit it. For example, the positioning sensor may include a Hall sensor or a photoelectric sensor, etc.

[0112] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific implementations of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A sensing mechanism, characterized in that, include: Mounting base; The drive mechanism is mounted on the mounting base; The detection module is connected to the drive mechanism; The drive mechanism is used to drive the detection module to rotate; A cleaning mechanism is mounted on the mounting base; Along a direction perpendicular to the rotation axis of the detection module, the cleaning mechanism is located on the periphery of the detection module and in contact with the detection module; and, A spraying mechanism is mounted on the mounting base, and the spraying mechanism has a spray nozzle facing the detection module.

2. The sensing mechanism according to claim 1, characterized in that, The spraying mechanism includes: A housing, disposed on the mounting base, is used to hold liquid; and, The spray pipe has a spray nozzle at one end and is connected to the housing at the other end.

3. The sensing mechanism according to claim 2, characterized in that, The number of spray pipes is multiple; along the rotation direction of the detection module, the spray nozzles of the multiple spray pipes are spaced apart on the periphery of the detection module.

4. The sensing mechanism according to claim 1, characterized in that, The mounting base has an internal mounting cavity and a detection hole communicating with the mounting cavity; the detection module is installed in the mounting cavity and a part of the detection module extends out of the mounting cavity through the detection hole; the cleaning mechanism contacts the part of the detection module extending out of the mounting cavity; and the spray nozzle faces the part of the detection module extending out of the mounting cavity.

5. The sensing mechanism according to claim 1, characterized in that, The sensing mechanism also includes: The transmission component is rotatably connected to the mounting base and is connected to the drive mechanism; the transmission component is fixedly connected to the detection module.

6. The sensing mechanism according to claim 5, characterized in that, The transmission component is coaxially arranged with the detection module; the outer periphery of the transmission component has a toothed structure distributed in a circle, and the driving mechanism is connected to the toothed structure in a transmission connection.

7. The sensing mechanism according to claim 5, characterized in that, The detection module includes: Sensors; and, A protective cover is installed around the sensor; the protective cover is fixedly connected to the transmission component; the cleaning mechanism is in contact with the outer surface of the protective cover.

8. The sensing mechanism according to claim 7, characterized in that, The protective cover is integrally formed with the transmission component.

9. The sensing mechanism according to any one of claims 1-8, characterized in that, The cleaning facility includes: A mounting bracket is connected to the mounting base; and... The cleaning component is connected to the mounting bracket and contacts the detection module.

10. The sensing mechanism according to claim 9, characterized in that, The number of the cleaning components is multiple; the mounting bracket includes: Main body; and, Multiple connecting parts are provided, one end of which is connected to the main body and the other end of which is connected to the mounting base; each connecting part is connected to a cleaning component in a one-to-one correspondence; along the rotation direction of the detection module, the multiple connecting parts are spaced apart on the periphery of the detection module. The number of spray nozzles is multiple. Along the rotation direction of the detection module, the multiple spray nozzles are spaced apart on the periphery of the detection module, and the spray nozzles and the connecting part are staggered in a direction perpendicular to the rotation axis of the detection module.

11. The sensing mechanism according to claim 9, characterized in that, The mounting bracket is movably connected to the mounting base in a direction perpendicular to the rotation axis of the detection module; or, the cleaning component is movably connected to the mounting bracket.

12. The sensing mechanism according to claim 9, characterized in that, The mounting bracket has a mounting groove; the cleaning component is movably connected to the mounting groove in a direction perpendicular to the rotation axis of the detection module.

13. The sensing mechanism according to claim 12, characterized in that, One of the groove wall of the mounting groove and the outer wall of the cleaning component has a limiting protrusion, and the other has a limiting groove; wherein, at least one of the limiting protrusion and the limiting groove is multiple, and they are spaced apart along a direction perpendicular to the rotation axis of the detection module.

14. A self-moving device, characterized in that, Includes the sensing mechanism according to any one of claims 1-13.

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