Robot

Abstract

The utility model provides a robot. The robot comprises a robot body and a sensor module, the sensor module is installed on the robot body, the sensor module comprises at least two sensors and a light-transmitting part, the at least two sensors are arranged side by side, the light-transmitting part covers the at least two sensors, the sensor module further comprises a cleaning assembly, and the cleaning assembly is installed on the robot body. The cleaning assembly comprises a driving part and a cleaning brush, an output shaft of the driving part is connected with the cleaning brush, a rotating shaft of the cleaning brush is located on one side in the direction perpendicular to the arrangement direction of the at least two sensors, and the cleaning brush cleans dirt on different areas of the light-transmitting part. Therefore, when the cleaning brush is driven to swing, the cleaning brush can cover the whole surface of the light-transmitting part to clean dirt on the whole surface of the light-transmitting part, and the cleaning efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a robot. Background Art

[0002] The robot needs to obtain vision through its sensors and mow according to a predefined mowing path. Since the mowing environment is an environment with a lot of dust, weeds and other impurities, the robot's sensors are easily covered with dust, weeds or other impurities. Therefore, a cleaning device that can efficiently clean the sensor surface is needed. Utility Model Content

[0003] In view of this, the present application provides a robot to solve the technical problem of sensor cleaning of the robot.

[0004] The robot provided in the present application is used for mowing the lawn. The robot includes a body and a sensor module. The sensor module is installed on the body. The sensor module includes at least two sensors and a light-transmitting member. The at least two sensors are arranged side by side. The light-transmitting member is covered on the at least two sensors. The sensor module also includes a cleaning component. The cleaning component includes a driving member and a cleaning brush. The output shaft of the driving member is connected to the cleaning brush. The rotating axis of the cleaning brush is located on one side in a direction perpendicular to the arrangement direction of the at least two sensors. The driving member drives the cleaning brush to swing to clean the dirt on the light-transmitting member.

[0005] Therefore, since the cleanliness of the light-transmitting member will affect the detection accuracy of at least two sensors, and the cleaning speed of the light-transmitting member will also affect the working efficiency of the robot, in the present application, when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the entire surface of the light-transmitting member to clean the dirt on the surface of the light-transmitting member. Compared with the technical solution of one cleaning brush cleaning the dirt on the light-transmitting member corresponding to one sensor, the cleaning efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0007] Figure 1 Schematic diagram of the structure of a robot in one embodiment of the present application.

[0008] Figure 2 for Figure 1Schematic diagram of the structure of the sensor module of the robot.

[0009] Figure 3 for Figure 2 Schematic diagram of the sensor module in the figure.

[0010] Figure 4 Schematic diagram of the modules of a robot in one embodiment of the present application.

[0011] Figure 5 for Figure 2 Schematic diagram of the structure of the sensor module in another direction.

[0012] Figure 6 for Figure 3 A further breakdown diagram of some of the components in .

[0013] Figure 7 Schematic diagram of the structure of a cleaning brush in one embodiment of the present application.

[0014] Figure 8 It is a schematic diagram of the decomposition of the first cleaning brush or the second cleaning brush in one embodiment of the present application.

[0015] Fig. 9 for Figure 1 An enlarged schematic diagram of the robot at position VIII. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0018] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. Similar words such as "one", "an", or "the" used in this application do not indicate a quantitative limitation, but are only used to indicate the existence of at least one. Similar words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Similar words such as "connected" or connected are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0019] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0020] Please refer to Figure 1 , Figure 1 1 is a schematic diagram of the structure of the robot 1 in an embodiment of the present application. In some embodiments, the robot 1 is a robot capable of automatically mowing the lawn, and its working principle is to identify the contours and obstacles of the lawn through built-in sensors and mow the lawn using a pre-set route. In other embodiments, the robot 1 can also be a robot for other purposes, such as a sweeping robot, which is not limited here.

[0021] like Figure 1 As shown, the robot 1 includes a body 11 and a sensor module 12. The sensor module 12 is mounted on the body 11.

[0022] Please refer to Figure 2 and Figure 3 , Figure 2 for Figure 1 A schematic diagram of the structure of the sensor module 12 of the robot 1, Figure 3 for Figure 2 The sensor module 12 is an exploded schematic diagram of the sensor module 12 in FIG. The sensor module 12 includes at least two sensors 121 and a light-transmitting member 122, wherein the at least two sensors 121 are arranged side by side, and the light-transmitting member 122 is covered on the at least two sensors 121. The sensor module 12 also includes a cleaning component 123, wherein the cleaning component 123 includes a driving member 1231 and a cleaning brush 1232, wherein an output shaft 1233 of the driving member 1231 is connected to the cleaning brush 1232, wherein a rotation axis of the cleaning brush 1232 is located on one side in a direction perpendicular to the arrangement direction of the at least two sensors 121, and the cleaning brush 1232 can cover the entire surface of the light-transmitting member 122 to clean dirt on the surface of the light-transmitting member 122, thereby improving cleaning efficiency.

[0023] Therefore, since the cleanliness of the light-transmitting member 122 will affect the detection accuracy of at least two sensors 121, and the cleaning speed of the light-transmitting member 122 also affects the working efficiency of the robot 1, in the present application, when the cleaning brush 1232 is driven to rotate, the cleaning brush 1232 can cover the entire surface of the light-transmitting member 122 to clean the dirt on the surface of the light-transmitting member 122, thereby improving the cleaning efficiency.

[0024] In some embodiments, the cleaning brush 1232 includes at least two cleaning brushes 1232 arranged side by side, and the output shaft 1233 of the driving member 1231 connects the at least two cleaning brushes 1232. The driving member 1231 drives the at least two cleaning brushes 1232 to have a coupling swing angle range that can cover the entire surface of the light-transmitting member 122, and can clean dirt on any area on the entire surface of the light-transmitting member 122.

[0025] Thus, at least two cleaning brushes 1232 can also be used to simultaneously clean dirt on the light-transmitting member 122 arranged side by side, and the length of the cleaning brushes 1232 can be shortened.

[0026] Please refer to Figure 4 , Figure 4 1 is a schematic diagram of a module of a robot 1 in an embodiment of the present application. The robot 1 further includes a processor 13. The processor 13 is disposed on the body 11. The processor 13 is connected to at least two sensors 121 and a driving member 1231, respectively. The processor 13 determines an area to be cleaned on the light-transmitting member 122, determines a swing angle range of at least two cleaning brushes 1232 based on the area to be cleaned, and controls the driving member 1231 to drive at least two cleaning brushes 1232 to swing within the swing angle range to clean the area to be cleaned.

[0027] Thus, the processor 13 can determine the area to be cleaned on the light-transmitting member 122, and determine the swing angle range of at least two cleaning brushes 1232 based on the area to be cleaned, and control the driving member 1231 to drive at least two cleaning brushes 1232 to swing within the swing angle range to clean the area to be cleaned. There is no need to clean again in the clean area of ​​the light-transmitting member 122, which can further improve the cleaning efficiency.

[0028] In some embodiments, at least two sensors 121 generate detection signals respectively and feed them back to the processor 13. The processor 13 determines the area to be cleaned on the light-transmitting member 122 based on the detection signals of the at least two sensors 121, and determines the swing angle range of at least two cleaning brushes 1232 based on the area to be cleaned, and controls the driving member 1231 to drive at least two cleaning brushes 1232 to swing within the swing angle range to clean the area to be cleaned. Wherein, when the sensor 121 is a radar, the processor 13 can determine whether there is dirt on the light-transmitting member 122 corresponding to the sensor 121 by the length of the time interval of the radar receiving the reflected signal of the radar signal sent by the radar. If the time interval of the reflected signal of the radar signal sent is less than the preset time threshold, it is determined whether there is dirt on the light-transmitting member 122 corresponding to the sensor 121. When the sensor 121 is a visual camera, the processor 13 can determine whether there is dirt on the light-transmitting member 122 corresponding to the sensor 121 by taking pictures with the visual camera. It is understandable that the processor 13 may also determine whether there is dirt on the light-transmitting member 122 corresponding to the sensor 121 in other ways, which are not limited here.

[0029] In some embodiments, please refer again to Figure 1 and Figure 3 At least two sensors 121 are installed on the front side of the fuselage 11, and the at least two sensors 121 include a first sensor 1211 and a second sensor 1212 arranged side by side, wherein the first sensor 1211 is a radar, which may be but not limited to a laser radar, a millimeter wave radar, a solid-state radar, etc., and the second sensor 1212 is a visual camera, which may be but not limited to a binocular camera, etc. Therefore, the first sensor 1211 and the second sensor 1212 are equivalent to the eyes of the robot 1, and are used to sense the obstacle information in front of the robot 1, so that the processor 13 can correct the travel route of the robot 1 based on the obstacle information. In some other embodiments, the at least two sensors 121 may be both visual sensors or both radars, which are not limited here. In some other implementations, the at least two sensors 121 may include three or more sensors arranged side by side, and the three or more sensors may be arranged side by side or arranged in parallel, or partially arranged side by side and partially arranged in parallel, which are not limited here. In other embodiments, the first sensor 1211 and the second sensor 1212 may also be other types of sensors, and are not limited to being installed on the front of the fuselage 11, but may also be installed on the rear, side, top or bottom of the fuselage 11, without limitation herein.

[0030] In some embodiments, the light-transmitting element 122 includes a first light-transmitting area 1221 and a second light-transmitting area 1222 disposed side by side and on the same plane, wherein the first light-transmitting area 1221 is disposed corresponding to the first sensor 1211 , and the second light-transmitting area 1222 is disposed corresponding to the second sensor 1212 .

[0031] In some embodiments, the at least two cleaning brushes 1232 include a first cleaning brush 1234 and a second cleaning brush 1235 and a connecting rod 1236 connecting the first cleaning brush 1234 and the second cleaning brush 1235, and the first cleaning brush 1234 and the second cleaning brush 1235 clean dirt on different areas of the first light-transmitting area 1221 and the second light-transmitting area 1222 respectively.

[0032] Thus, the driving member 1231 can drive the first cleaning brush 1234 to move, and the movement of the first cleaning brush 1234 can drive the second cleaning brush 1235 to move simultaneously through the connecting rod 1236. The first cleaning brush 1234 and the second cleaning brush 1235 can therefore rotate to cover the entire surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, thereby being able to clean dirt on the entire surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, thereby improving the cleaning efficiency.

[0033] In some embodiments, the first sensor 1211 is a radar, the second sensor 1212 is a binocular camera, the radar is disposed between the two lenses of the binocular camera, the light-transmitting member 122 is an integrated light-transmitting member, the first light-transmitting area 1221 is an area of ​​the integrated light-transmitting member corresponding to the radar, and the second light-transmitting area 1222 is an area of ​​the integrated light-transmitting member corresponding to the two lenses of the binocular camera. In other embodiments, the first light-transmitting area 1221 corresponding to the first sensor 1211 and the second light-transmitting area 1222 corresponding to the second sensor 1212 can be separated but coplanar.

[0034] Therefore, the integrated light-transmitting component can have better structural stability and can also avoid dirt and grime from accumulating in dead corners.

[0035] When the processor 13 determines that there is dirt in a local area of ​​the first light-transmitting area 1221 and the second light-transmitting area 1222, the processor 13 controls the driving member 1231 to drive the first cleaning brush 1234 and the second cleaning brush 1235 to clean only the local area. For example, when it is determined that there is dirt in the first light-transmitting area 1221 and the second light-transmitting area 1222 within the range of 30 degrees to 60 degrees of the swing of the first cleaning brush 1234 and the second cleaning brush 1235, the processor 13 controls the driving member 1231 to drive the first cleaning brush 1234 and the second cleaning brush 1235 to swing only within the range of 0 degrees to 60 degrees to clean the dirt. For another example, when it is determined that there is dirt in the first light-transmitting area 1221 and the second light-transmitting area 1222 within the range of 120 degrees to 150 degrees of the swinging of the first cleaning brush 1234 and the second cleaning brush 1235, the processor 13 controls the driving member 1231 to drive the first cleaning brush 1234 and the second cleaning brush 1235 to swing only within the range of 120 degrees to 180 degrees to clean the dirt.

[0036] In some embodiments, the first cleaning brush 1234 and the second cleaning brush 1235 can float along the direction of the central axis of the output shaft 1233 of the driving member 1231 toward one side away from or close to the first light-transmitting area 1221 and the second light-transmitting area 1222. Therefore, the first cleaning brush 1234 and the second cleaning brush 1235 can be lifted relative to the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 to avoid the area to be cleaned on the first light-transmitting area 1221 and the second light-transmitting area 1222, and descend to an appropriate position to scrape off dirt in the area to be cleaned. For example, when the processor 13 determines that there is dirt in the first light-transmitting area 1221 and / or the second light-transmitting area 1222 within the range of 30 degrees to 60 degrees where the first cleaning brush 1234 and the second cleaning brush 1235 swing, the first cleaning brush 1234 and the second cleaning brush 1235 are controlled to first lift a preset height and then move from 0 degrees to an area greater than 60 degrees, and then lower the first cleaning brush 1234 and the second cleaning brush 1235 so that the first cleaning brush 1234 and the second cleaning brush 1235 move clockwise from 60 degrees to 0 degrees, so as to scrape the dirt within the range of 30 degrees to 60 degrees directly from the first light-transmitting area 1221 and / or the second light-transmitting area 1222, so as to avoid cleaning the dirt in the local area and causing the dirt to be retained in other areas of the first light-transmitting area 1221 and / or the second light-transmitting area 1222.

[0037] In some embodiments, the first cleaning brush 1234 and the second cleaning brush 1235 may be moved along the direction of the central axis of the output shaft 1233 of the driving member 1231 toward one side away from or close to the first light-transmitting area 1221 and the second light-transmitting area 1222 by, but not limited to, adding a linear driving member such as a cylinder or a hydraulic drive, which is not limited here.

[0038] In some embodiments, please refer to Figure 4 The sensor module 12 also includes a pressure sensor 14, which is connected to the processor 13. The pressure sensor 14 is used to sense the pressure on the first light-transmitting area 1221 and the second light-transmitting area 1222. The processor 13 determines whether the first cleaning brush 1234 and the second cleaning brush 1235 of the cleaning component 123 are installed in place according to the pressure on the first light-transmitting area 1221 and the second light-transmitting area 1222. The installation is determined in place by the processor 13 determining whether the pressure value measured by the pressure sensor 14 is greater than or equal to a first preset threshold value. If the pressure value is greater than or equal to the first preset threshold value, it is determined that the first cleaning brush 1234 and the second cleaning brush 1235 of the cleaning component 123 are installed in place. If the pressure value measured by the pressure sensor 14 is still greater than or equal to the second preset threshold value, and the second preset threshold value is greater than the first preset threshold value, it is determined that the first cleaning brush 1234 and the second cleaning brush 1235 of the cleaning component 123 are installed too tight, which will affect the cleaning effect. If the pressure value measured by the pressure sensor 14 is less than the first preset threshold, it is determined that the first cleaning brush 1234 and the second cleaning brush 1235 of the cleaning assembly 123 are installed too loosely, which will also affect the cleaning effect.

[0039] Thus, since the first cleaning brush 1234 and the second cleaning brush 1235 are mounted on the output shaft 1233 of the driving member 1231 by means of screws or the like, if the first cleaning brush 1234 and the second cleaning brush 1235 are screwed too tightly, the distance between the first cleaning brush 1234 and the second cleaning brush 1235 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too small, causing the first cleaning brush 1234 and the second cleaning brush 1235 to excessively scrape the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in the first light-transmitting area 1221 and the second light-transmitting area 1222 being scratched. The surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222 are severely worn; on the contrary, if the first cleaning brush 1234 and the second cleaning brush 1235 are too loosely screwed, the distance between the first cleaning brush 1234 and the second cleaning brush 1235 and the surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too large, resulting in the first cleaning brush 1234 and the second cleaning brush 1235 being unable to effectively scrape the surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in inadequate cleaning of the surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222.

[0040] In some embodiments, after determining that the first cleaning brush 1234 and the second cleaning brush 1235 are installed in place, the processor 13 continues to judge whether the first cleaning brush 1234 and the second cleaning brush 1235 are loose during use or the first cleaning brush 1234 and the second cleaning brush 1235 are too worn to affect the cleaning effect based on the real-time pressure measured by the pressure sensor 14.

[0041] Therefore, based on the real-time pressure measured by the pressure sensor 14, the working conditions of the first cleaning brush 1234 and the second cleaning brush 1235 can be judged in real time, and real-time feedback can be given to facilitate the user to make timely adjustments according to actual conditions.

[0042] In some embodiments, the processor 13 further determines whether the first cleaning brush 1234 and the second cleaning brush 1235 are currently in a raised state or in a lowered abutting state according to the pressure applied to the light-transmitting member 122 .

[0043] Therefore, in the present application, the processor 13 can plan and control the area to be cleaned of the first cleaning brush 1234 and the second cleaning brush 1235 according to the determined area to be cleaned, and drive the first cleaning brush 1234 and the second cleaning brush 1235 to first lift and move to the area to be cleaned, and then descend to contact the light-transmitting member 122 with appropriate pressure to scrape off dirt on the surface of the light-transmitting member 122.

[0044] For some examples, please refer to Figure 3 and Figure 5 The sensor module 12 further includes a housing 125. The housing 125 is installed in the body 11. The housing 125 includes a panel 1251 and a side wall 1252. The panel 1251 and the side wall 1252 together form a storage cavity 1250. The first sensor 1211 and the second sensor 1212 are installed side by side in the storage cavity 1250. The side wall 1252 protrudes toward a side away from the storage cavity 1250 to form a first protrusion 1253 and a second protrusion 1254, as well as a supporting protrusion 1255 connected to the first protrusion 1253. A first through hole 1256 and a second through hole 1257 are respectively provided on 1253 and the second lug 1254, the rotating shaft of the first cleaning brush 1234 is installed in the first through hole 1256, the rotating shaft of the second cleaning brush 1235 is installed in the second through hole 1257, the driving member 1231 is installed in the supporting protrusion 1255, and the output shaft 1233 of the driving member 1231 passes through the first through hole 1256 and is connected with the rotating shaft of the first cleaning brush 1234.

[0045] Thus, the first cleaning brush 1234 and the second cleaning brush 1235 can be well positioned through the first through hole 1256 and the second through hole 1257, and the installation is more stable and reliable.

[0046] In some embodiments, the first lug 1253 , the second lug 1254 and the supporting protrusion 1255 are located on the same side wall of the side wall 1252 , and the extension direction of the first lug 1253 and the supporting protrusion 1255 is parallel to the central axis of the output shaft 1233 of the driving member 1231 .

[0047] Thus, the structural strength of the side wall 1252 of the housing 125 can be enhanced by the supporting protrusion 1255 .

[0048] In some embodiments, the sensor module 12 also includes a liquid spraying assembly 126, which is installed on one side of the panel 1251 and located between the first lug 1253 and the second lug 1254, and is used to spray cleaning liquid onto the light-transmitting member 122 before the cleaning assembly 123 cleans the light-transmitting member 122.

[0049] For some examples, please refer to Figure 6 The liquid spraying assembly 126 includes a liquid storage chamber 1261, a spraying port 1262, and a pump. The pump sprays the cleaning liquid in the liquid storage chamber 1261 to the surface of the light-transmitting member 122 above the spraying port 1262 through the spraying port 1262. At the same time, the driving member 1231 drives the first cleaning brush 1234 and the second cleaning brush 1235 to swing back and forth, so as to drive the cleaning liquid to the entire surface of the light-transmitting member 122, thereby achieving an overall cleaning effect.

[0050] In some embodiments, please refer to Figure 7 , Figure 7 for Figure 4 Schematic diagram of the structure of the cleaning brush in FIG. The first cleaning brush 1234 and the second cleaning brush 1235 have the same structure, and both include a connecting end 1237 and a brush arm 1238. The connecting end 1237 is annular and is used to connect to the output shaft 1233 of the driving member 1231. The brush arm 1238 includes a brush body 1239 and a brush head 1230. The brush body 1239 is connected to the connecting end 1237, and the brush head 1230 is connected to the side of the brush body 1239 facing the driving member 1231.

[0051] In some embodiments, the cross section of the brush head 1230 is triangular in shape. The surface of the brush head 1230 and the brush body 1239 are in a beveled transition. Therefore, the brush arm 1238 can well guide dirt and improve the cleaning effect.

[0052] In some embodiments, please combine Figure 8The pressure sensor 14 is disposed between the brush body 1239 and the brush head 1230. Therefore, the pressure sensor 14 can well sense the pressure applied by the brush head 1230 to the light-transmitting member 122. In other embodiments, the pressure sensor 14 can be disposed between the panel 1251 and the light-transmitting member 122, which is not limited here and can be modified according to actual needs.

[0053] In some embodiments, the liquid spraying assembly 126 can be omitted, and a receiving groove (not shown) is further provided on the panel 1251, the extending direction of the receiving groove is parallel to the length direction of the connecting rod 1236, and is located adjacent to the output shaft 1233 of the driving member 1231. The first cleaning brush 1234 and the second cleaning brush 1235 can be retracted toward a side close to the receiving chamber 1250 and stored in the receiving groove, or can be lifted toward a side away from the receiving chamber 1250 and located outside the receiving groove.

[0054] Thus, when the cleaning brush 1232 is needed, the processor 13 can control the cleaning brush 1232 to move along the direction of the central axis of the output shaft 1233 of the driving member 1231 to the side away from the receiving chamber 1250, so that the cleaning brush 1232 extends out of the receiving slot. When cleaning is completed, the processor 13 can control the cleaning brush 1232 to move along the direction of the central axis of the output shaft 1233 of the driving member 1231 to the side close to the receiving chamber 1250 and be stored in the receiving slot, so as to facilitate the storage of the cleaning brush 1232.

[0055] For some examples, please refer to Fig. 9 The panel 1251 is also provided with a first stop block 1258 and a second stop block 1259, wherein the first stop block 1258 is adjacent to the first lug 1253, and the second stop block 1259 is adjacent to the second lug 1254, the first stop block 1258 limits the swing angle range of the first cleaning brush 1234, and the second stop block 1259 is used to limit the swing angle range of the second cleaning brush 1235.

[0056] Thus, since the first cleaning brush 1234 and the second cleaning brush 1235 are linked by the connecting rod 1236, when the first stopper 1258 limits the swing angle range of the first cleaning brush 1234 on one side, it also limits the swing angle range of the first cleaning brush 1234 on that side. Similarly, when the second stopper 1259 limits the swing angle range of the second cleaning brush 1235 on the other side, it also limits the swing angle range of the first cleaning brush 1234 on that side. Thus, the limiting structure can be simplified.

[0057] For some examples, please refer to Fig. 9The panel 1251 is also provided with a first cleaning bar 12510 and a second cleaning bar 12511. The first cleaning bar 12510 is arranged adjacent to the first stop block 1258, and the second cleaning bar 12511 is arranged adjacent to the second stop block 1259. The first cleaning bar 12510 is used for cleaning dirt on the first cleaning brush 1234 when the first cleaning brush 1234 rotates to be adjacent to the first stop block 1258, and the second cleaning bar 12511 is used for cleaning dirt on the second cleaning brush 1235 when the second cleaning brush 1235 rotates to be adjacent to the second stop block 1259.

[0058] In some embodiments, the first cleaning bar 12510 and the second cleaning bar 12511 may be scrapers or brushes, etc., which are not limited herein.

[0059] In some embodiments, drainage grooves are provided on the panel 1251 adjacent to the first cleaning bar 12510 and the second cleaning bar 12511, respectively, and the two drainage grooves are used to collect the dirt cleaned from the first cleaning brush 1234 by the first cleaning bar 12510 and the dirt cleaned from the second cleaning brush 1235 by the second cleaning bar 12511.

[0060] Thus, the first cleaning bar 12510 and the second cleaning bar 12511 can be used to scrape off dirt from the first cleaning brush 1234 and the second cleaning brush 1235 respectively, so as to prevent the dirt from the first cleaning brush 1234 and the second cleaning brush 1235 from contaminating other parts of the robot 1.

[0061] It should be noted that those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application. The processor can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a readily available programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The robot 1 also includes a memory, which is a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, or other mature storage media in the art.

[0062] The above is only a preferred implementation of the present application. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all fall within the scope of protection of the present application.

Claims

1. A robot for mowing grass, characterized in that: The robot includes a body and a sensor module, wherein the sensor module is mounted on the body, the sensor module includes at least two sensors and a light-transmitting member, the at least two sensors are arranged side by side, and the light-transmitting member is covered on the at least two sensors. The sensor module also includes a cleaning component, wherein the cleaning component includes a driving member and a cleaning brush, wherein the output shaft of the driving member is connected to the cleaning brush, the rotating shaft of the cleaning brush is located on one side in a direction perpendicular to the arrangement direction of the at least two sensors, and the driving member drives the cleaning brush to swing to clean dirt on the light-transmitting member.

2. The robot according to claim 1, characterized in that: The cleaning brush comprises at least two cleaning brushes arranged side by side, the output shaft of the driving member is connected to the at least two cleaning brushes, and the driving member drives the at least two cleaning brushes to swing in conjunction to cover all areas of the light-transmitting member, so as to clean dirt on any area on the entire surface of the light-transmitting member.

3. The robot according to claim 2, characterized in that: The at least two sensors include a first sensor and a second sensor arranged side by side, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area arranged side by side and on the same plane, the first light-transmitting area is covered on the first sensor, and the second light-transmitting area is covered on the second sensor, the at least two cleaning brushes include a first cleaning brush and a second cleaning brush and a connecting rod connecting the first cleaning brush and the second cleaning brush, the first cleaning brush and the second cleaning brush are driven by the driving member to swing in conjunction to clean dirt on the first light-transmitting area and the second light-transmitting area.

4. The robot according to claim 3, characterized in that: The first sensor is a radar, the second sensor is a binocular camera, the radar is arranged between the two lenses of the binocular camera, the light-transmitting component is an integrated light-transmitting component, the first light-transmitting area is an area in the integrated light-transmitting component corresponding to the radar, and the second light-transmitting area is an area in the integrated light-transmitting component corresponding to the two lenses in the binocular camera.

5. The robot according to claim 3, characterized in that: The sensor module also includes a shell, which includes a panel and a side wall, the panel and the side wall together form a storage cavity, the first sensor and the second sensor are installed side by side in the storage cavity, the side wall protrudes to a side away from the storage cavity to form a first lug and a second lug, and a supporting lug connected to the first lug, the first lug and the second lug are respectively provided with a first through hole and a second through hole, the first cleaning brush is installed in the first through hole, the second cleaning brush is installed in the second through hole, the driving member is installed on the supporting lug, and the output shaft of the driving member passes through the first through hole and is connected to the first cleaning brush.

6. The robot according to claim 5, characterized in that: The first lug, the second lug and the supporting protrusion are located on the same side wall of the side wall, and the extending directions of the first lug and the supporting protrusion are parallel to the central axis of the output shaft of the driving member.

7. The robot according to claim 5, characterized in that: The sensor module further comprises a liquid spraying assembly, wherein the liquid spraying assembly is mounted on the side wall and located between the first lug and the second lug, and is used for spraying cleaning liquid onto the light-transmitting member.

8. The robot according to claim 7, characterized in that: The liquid spraying assembly comprises a liquid storage chamber, a spraying port and a pump, and the pump is used to spray the cleaning liquid in the liquid storage chamber onto the surface of the light-transmitting member through the spraying port.

9. The robot according to claim 5, characterized in that: The panel is also provided with a first stop block and a second stop block, wherein the first stop block is adjacent to the first lug, and the second stop block is adjacent to the second lug, the first stop block limits the swing angle range of the first cleaning brush, and the second stop block is used to limit the swing angle range of the second cleaning brush.

10. The robot according to claim 9, characterized in that: The panel is also provided with a first cleaning bar and a second cleaning bar, wherein the first cleaning bar is arranged adjacent to the first stop block, and the second cleaning bar is arranged adjacent to the second stop block, and the first cleaning bar is used to clean dirt on the first cleaning brush when the first cleaning brush rotates to be adjacent to the first stop block, and the second cleaning bar is used to clean dirt on the second cleaning brush when the second cleaning brush rotates to be adjacent to the second stop block.

11. The robot according to claim 5, characterized in that: The panel is also provided with a storage groove, which is arranged adjacent to the output shaft of the driving member. The first cleaning brush and the second cleaning brush can be retracted inwardly and stored in the storage groove, or lifted outwardly and located outside the storage groove.

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