Positioning device of robot and robot

Abstract

The utility model provides a robot positioning device and a robot. The positioning device provided by the utility model comprises a shell, wherein a visible cover plate is arranged on one side of the shell; the positioning assembly is arranged in the shell, and at least part of the positioning assembly is exposed on the inner side of the visible cover plate; the cleaning assembly comprises a cleaning brush and a linkage part, the cleaning brush can move on the outer side face of the visual cover plate relative to the visual cover plate so as to clean the visual cover plate, and the linkage part is located on the inner side of the visual cover plate and can synchronously move with the cleaning brush; the detection assembly is arranged in the shell, the detection assembly comprises a circuit board, a detection piece and a detected piece, the detected piece is arranged on the linkage piece, and the detection piece is arranged on the circuit board and used for detecting the position of the cleaning brush relative to the visible cover plate. According to the positioning device, the cleaning assembly can clean the visual cover plate, so that the positioning assembly has higher positioning accuracy.

Description

Technical Field

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

[0002] In order to extend the service life of the positioning device, a visible cover is usually provided on the outside to prevent water and dust without affecting the positioning function of the positioning device. However, the visible cover is easy to get dirty after a period of time, which affects the accuracy of the signal received by the positioning device. Utility Model Content

[0003] The embodiment of the present application provides a positioning device, wherein a cleaning component of the positioning device can clean a visible cover plate, so that the detection component has a higher positioning accuracy.

[0004] In a first aspect, an embodiment of the present application provides a positioning device, the positioning device comprising:

[0005] A shell, one side of which is provided with a visible cover plate;

[0006] A positioning assembly, the positioning assembly is disposed in the housing and at least partially exposed on the inner side of the visible cover;

[0007] A cleaning assembly, comprising a cleaning brush and a linkage member, wherein the cleaning brush can move relative to the visible cover plate on its outer side to clean the visible cover plate, and the linkage member is located on the inner side of the visible cover plate and can move synchronously with the cleaning brush;

[0008] A detection component is arranged in the shell, and the detection component includes a circuit board, a detection member and a detected member. The detected member is arranged on the linkage member, and the detection member is arranged on the circuit board, and is used to detect the position of the cleaning brush relative to the visible cover.

[0009] Furthermore, the cleaning component also includes a driving motor, which is arranged in a direction perpendicular to the visible cover plate, and the cleaning brush and the linkage member are sleeved on an output shaft of the driving motor at intervals.

[0010] Furthermore, the linkage member includes a sleeve shaft portion, an inclined portion and a mounting portion, the inclined portion is inclined toward the direction approaching the circuit board, the sleeve shaft portion is connected to an end of the inclined portion away from the circuit board, the mounting portion is connected to an end of the inclined portion close to the circuit board, and the detected member is arranged on the mounting portion.

[0011] Furthermore, the positioning component includes a first visual module and a second visual module, the first visual module and the second visual module are spaced apart and are electrically connected to the circuit board respectively, and the driving motor is located between the first visual module and the second visual module.

[0012] Furthermore, the shell is provided with a receiving groove on the outer side wall of the visible cover plate, and two spaced through holes are configured on the bottom wall of the receiving groove, and the first visual module and the second visual module are respectively penetrated through the two through holes and exposed in the receiving groove.

[0013] Furthermore, the detecting members include two detecting members, which are respectively a first detecting member and a second detecting member, and the first detecting member and the second detecting member are respectively located at a first extreme position and a second extreme position of the cleaning brush.

[0014] Furthermore, the side of the shell on which the visible cover is provided has a first limiting structure and a second limiting structure, the first limiting structure is set corresponding to the first limit position of the cleaning brush, and the second limiting structure is set corresponding to the second limit position of the cleaning brush.

[0015] Furthermore, a wiring hole is provided on the other side of the shell, and the positioning device also includes a connecting cable, one end of the connecting cable is electrically connected to the circuit board, and the other end of the connecting cable passes through the wiring hole for electrical connection to the control board of the robot.

[0016] Furthermore, the detecting element is a Hall sensor, and the detected element is a magnet.

[0017] Furthermore, the positioning device also includes a pressure sensor, which is electrically connected to the circuit board and is used to detect the pressure between the cleaning brush and the outer side surface of the visible cover during cleaning.

[0018] In a second aspect, an embodiment of the present application further provides a robot, the robot comprising:

[0019] Robot body;

[0020] The positioning device described in the embodiment of the present application is used on the robot body.

[0021] The positioning device of the embodiment of the present application includes a housing, a positioning component, a cleaning component and a detection component. The positioning component can detect the environmental information of the positioning device through the visible cover. When the positioning device is applied to a walking robot, the walking robot can control the walking robot to walk, avoid obstacles, locate, perceive the surrounding environment, etc. according to the environmental information. The cleaning brush can move relative to the visible cover on its outer side to clean the visible cover to prevent the visible cover from being dusty or dirty and affecting the positioning accuracy of the positioning component, so that the positioning device has a higher positioning accuracy. The linkage moves synchronously with the cleaning brush, the detected part is arranged on the linkage, and the detection part is used to detect the position of the detected part on the linkage, so as to obtain the position of the cleaning brush relative to the visible cover. Therefore, the cleaning brush can be controlled to move or stop according to the position of the cleaning brush relative to the visible cover, so as to avoid the cleaning brush from moving outside the visible cover, reducing the cleaning efficiency, and increasing the probability of the cleaning brush being hit when it moves outside the visible cover, reducing the life of the cleaning brush. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments 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 creative work.

[0023] Figure 1 It is a structural schematic diagram of a positioning device according to an embodiment of the present application, wherein the cleaning brush is in a first extreme position.

[0024] Figure 2 It is a structural schematic diagram of the positioning device of one embodiment of the present application from another perspective, wherein the visible cover is omitted and the cleaning brush is in the second extreme position.

[0025] Figure 3 This is a schematic structural diagram of a positioning device according to an embodiment of the present application, in which the housing and the visible cover are omitted.

[0026] Figure 4 This is a structural schematic diagram of another perspective of the positioning device of one embodiment of the present application with the shell and the visible cover omitted, wherein the cleaning brush is located between the first extreme position and the second extreme position.

[0027] Figure 5 It is a schematic diagram of the structure of a linkage component according to an embodiment of the present application.

[0028] Figure 6 It is a schematic diagram of a partial exploded structure of a positioning device according to an embodiment of the present application, wherein the cleaning brush is in a first extreme position.

[0029] Figure 7 It is a schematic diagram of a partially exploded structure of a positioning device according to an embodiment of the present application from another perspective.

[0030] Figure 8 It is a schematic diagram of a partial exploded structure of a positioning device according to an embodiment of the present application from another perspective.

[0031] Fig. 9 This is a schematic diagram of a partial exploded structure of a positioning device according to another embodiment of the present application, wherein the cleaning brush is in a first extreme position.

[0032] Fig.10 It is a schematic diagram of the structure of a robot according to an embodiment of the present application.

[0033] Fig.11 It is a schematic diagram of a partial explosion structure of a robot according to an embodiment of the present application.

[0034] Description of reference numerals:

[0035] 100-positioning device, 10-housing, 10a-body, 11-first cover plate, 111-through hole, 112-accommodating groove, 12-frame, 121-wiring hole, 13-second cover plate, 14-accommodating cavity, 15-third cover plate, 16-clamping portion, 17-first limiting structure, 18-second limiting structure, 10b-visible cover plate, 30-positioning component, 31-first visual module, 32-second visual module, 40-cleaning assembly, 41-cleaning brush, 42-linkage member, 421-installing groove, 422-sleeve shaft portion, 423-inclined portion, 424-installing portion, 43-driving motor, 431-output shaft, 50-detection assembly, 51-detected member, 52-detection member, 52a-first detection member, 52b-second detection member, 60-circuit board, 70-connecting cable, 200-robot, 210-robot body. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0037] 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. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0038] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0039] It should be noted that, for the convenience of explanation, in the embodiments of the present application, the same figure marks represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments.

[0040] In order to extend the service life of the positioning device, a visible cover is usually provided on the outside to prevent water and dust without affecting the positioning function of the positioning device. However, the visible cover is easy to get dirty after a period of time, which affects the accuracy of the signal received by the positioning device.

[0041] See also Figures 1 to 4 The embodiment of the present application provides a positioning device 100 of a robot, and the positioning device 100 includes a housing 10, a positioning assembly 30, a cleaning assembly 40 and a detection assembly 50. A visible cover plate 10b is provided on one side of the housing 10; the positioning assembly 30 is arranged in the housing 10 and at least partially exposed on the inner side of the visible cover plate 10b; the cleaning assembly 40 includes a cleaning brush 41 and a linkage member 42, the cleaning brush 41 can move relative to the visible cover plate 10b on its outer side to clean the visible cover plate 10b, the linkage member 42 is located on the inner side of the visible cover plate 10b and can move synchronously with the cleaning brush 41 (i.e., linkage); the detection assembly 50 is arranged in the housing 10, and the detection assembly 50 includes a circuit board 60, a detection member 52 and a detected member 51, the detected member 51 is arranged on the linkage member 42, and the detection member 52 is arranged on the circuit board 60, for detecting the position of the cleaning brush 41 relative to the visible cover plate 10b.

[0042] The positioning device 100 of the embodiment of the present application can be applied to mobile robots such as robots and sweeping robots to detect environmental information of the environment in which the mobile robot is located, so as to control the mobile robot to walk or work according to the environmental information.

[0043] It can be understood that the cleaning brush 41 is arranged to fit the outer surface of the visible cover plate 10b.

[0044] Optionally, the cleaning brush 41 may be, but is not limited to, a windshield wiper, a windshield wiper, etc.

[0045] Optionally, the visible cover plate 10b may be, but is not limited to, a transparent glass cover plate, a transparent resin cover plate, etc.

[0046] It can be understood that the cleaning brush 41 and the linkage member 42 are respectively located on two opposite sides of the visible cover plate 10b.

[0047] Optionally, the circuit board 60 , the detecting element 52 and the detected element 51 may all be located inside the housing 10 .

[0048] Optionally, the number of the positioning components 30 may be one or more. When the number of the positioning components 30 is plural, the plurality of positioning components 30 may be arranged at intervals. The term "plurality" means greater than or equal to two.

[0049] It can be understood that the cleaning brush 41 moves back and forth along a preset direction relative to the visible cover 10b to wipe the surface of the visible cover 10b, thereby cleaning the visible cover 10b. When the cleaning brush 41 moves, the linkage member 42 moves back and forth along the preset direction together with the cleaning brush 41, so that the position of the detection member 52 on the linkage member 42 only needs to be detected to know the position of the cleaning brush 41 relative to the visible cover 10b.

[0050] It should be noted that the movement of the cleaning brush 41 relative to the visible cover plate 10b can be a linear back-and-forth movement along a preset direction or a rotational back-and-forth movement (for example, alternating clockwise and counterclockwise rotation).

[0051] It should be noted that when the cleaning brush 41 moves relative to the visible cover 10b, the moving track of the cleaning brush 41 can cover the entire visible cover 10b; optionally, the moving track of the cleaning brush 41 at least covers the area of ​​the visible cover 10b corresponding to the positioning component 30.

[0052] Optionally, the positioning component 30 is used to position the robot, detect the robot's environmental information, avoid obstacles, perceive the surrounding environment, etc., which is not specifically limited in this application.

[0053] It should be noted that the detection member 52 is used to detect the position of the detected member 51 on the linkage member 42, so as to obtain the position of the cleaning brush 41 relative to the visible cover plate 10b.

[0054] The positioning device 100 of the embodiment of the present application includes a housing 10, a positioning assembly 30, a cleaning assembly 40 and a detection assembly 50. The positioning assembly 30 can detect the environmental information of the positioning device 100 through the visible cover plate 10b. When the positioning device 100 is applied to a walking robot, the walking robot can control the walking robot to walk, avoid obstacles, locate, perceive the surrounding environment, etc. according to the environmental information. The cleaning brush 41 can move relative to the visible cover plate 10b on its outer side to clean the visible cover plate 10b to prevent the visible cover plate 10b from being dusty or dirty and affecting the positioning accuracy of the positioning assembly 30, so that the positioning device 100 has a higher positioning accuracy. The linkage member 42 moves synchronously with the cleaning brush 41, and the detected member 51 is arranged on the linkage member 42. The detection member 52 is used to detect the position of the detected member 51 on the linkage member 42, so as to obtain the position of the cleaning brush 41 relative to the visible cover plate 10b. Therefore, the movement or stop of the cleaning brush 41 can be controlled according to the position of the cleaning brush 41 relative to the visible cover plate 10b, thereby preventing the cleaning brush 41 from moving outside the visible cover plate 10b, reducing the cleaning efficiency, and increasing the probability of the cleaning brush 41 being hit when moving outside the visible cover plate 10b, thereby reducing the life of the cleaning brush 41.

[0055] In some embodiments, the circuit board 60 includes a processor, which is electrically connected to the positioning component 30, the detection component 52 and the cleaning component 40 respectively. The processor is used to control the positioning component 30 to detect the environmental information. The processor is also used to receive a signal from the detection component 52 detected by the detection component 52, and control the cleaning brush 41 to stop moving or move according to the signal.

[0056] It can be understood that when the positioning device 100 is applied to a walking robot such as a lawn mowing robot, the processor is also used to control the robot to walk or work according to the environmental information.

[0057] Optionally, the signal may be, but is not limited to, at least one of a magnetic field signal, a magnetic field intensity signal, a magnetic field intensity change, an optical signal, and the like.

[0058] Optionally, the processor includes one or more general-purpose processors, wherein the general-purpose processor can be any type of device capable of processing electronic instructions, including a central processing unit (CPU), a microprocessor, a microcontroller, a main processor, a controller, and an ASIC, etc. The processor is used to execute various types of digital storage instructions, such as software or firmware programs stored in a memory, which enables the computing device to provide a wide variety of services.

[0059] Optionally, the circuit board 60 further includes a memory, which is electrically connected to the processor and is used to store program codes required for the processor to run, program codes required for controlling the positioning device 100, and the like.

[0060] Optionally, the memory may include a volatile memory (Volatile Memory), such as a random access memory (Random Access Memory, RAM); the memory may also include a non-volatile memory (NVM), such as a read-only memory (Read-Only Memory, ROM), a flash memory (Flash Memory, FM), a hard disk drive (Hard Disk Drive, HDD) or a solid-state drive (SSD). The memory may also include a combination of the above types of memory.

[0061] In this embodiment, the detection component 50 includes a processor, and the processor is electrically connected to the positioning component 30, the first detection member 52a, the second detection member 52b and the cleaning component 40 respectively. The processor can control the positioning component 30 to detect the environmental information, so as to control the walking robot using the positioning device 100 to walk, locate, etc. according to the environmental information. The processor can also control the detection member 52 to detect the signal of the detected member 52, so as to move or stop the cleaning brush 41 according to the signal, thereby cleaning the visible cover 10b more accurately and improving the cleaning efficiency.

[0062] In some embodiments, the cleaning assembly 40 further includes a driving motor 43 , which is disposed in a direction perpendicular to the visible cover 10 b , and the cleaning brush 41 and the linkage member 42 are spaced apart and sleeved on an output shaft 431 of the driving motor 43 .

[0063] It can be understood that the output shaft 431 of the driving motor 43 is perpendicular to the extension plane of the visible cover plate 10 b . The output shaft 431 is passed from the inside of the housing 10 to the outside of the housing 10 to connect with one end of the cleaning brush 41 .

[0064] It can be understood that the cleaning brush 41 and the linkage member 42 are both fixed to the output shaft 431 .

[0065] In this embodiment, the linkage member 42 is connected to the cleaning brush 41 via the output shaft 431 . In other embodiments, the linkage member 42 may also be directly connected to the cleaning brush 41 or connected via other connecting members.

[0066] In other embodiments, the cleaning brush 41 and the linkage member 42 may also be disposed adjacent to each other along the extension direction of the output shaft 431 .

[0067] It should be noted that when the driving motor 43 is started, the output shaft 431 rotates, driving the cleaning brush 41 , the linkage member 42 and the detected member 52 to rotate synchronously.

[0068] Optionally, the driving motor 43 is located inside the housing 10 .

[0069] In this embodiment, the driving motor 43 is arranged in a direction perpendicular to the visible cover plate 10b, the cleaning brush 41 and the linkage member 42 are sleeved on the output shaft 431 of the driving motor 43 at intervals, and the detected member 51 is arranged on the linkage member 42, and the driving motor 43 drives the linkage member 42, the detected member 51 and the cleaning brush 41 to move synchronously, so that the position of the cleaning brush 41 can be known by detecting the signal of the detected member 51 by the detection member 52, so that the driving motor 43 is controlled to stop or continue to move according to the position of the cleaning brush 41, so that the cleaning brush 41 can be more accurately controlled to move back and forth relative to the visible cover plate 10b, thereby improving the cleaning of the cleaning brush 41. In addition, by sleeved the linkage member 42 and the cleaning brush 41 on the output shaft 431 of the driving motor 43 at the same time, the cleaning brush 41, the linkage member 42 and the detected member 51 rotate synchronously, which has a simple structure, low cost and is easy to implement.

[0070] See also Figure 5 In some embodiments, the linkage member 42 includes a sleeve shaft portion 422, an inclined portion 423 and a mounting portion 424, the inclined portion 423 is inclined toward the direction close to the circuit board 60, the sleeve shaft portion 422 is connected to an end of the inclined portion 423 away from the circuit board 60, the mounting portion 424 is connected to an end of the inclined portion 423 close to the circuit board 60, and the detected member 51 is arranged on the mounting portion 424.

[0071] It can be understood that the linkage member 42 includes a sleeve shaft portion 422, an inclined portion 423 and a mounting portion 424, the sleeve shaft portion 422 is sleeved on the output shaft 431, the inclined portion 423 is inclined in a direction closer to the circuit board 60 than the sleeve shaft portion 422, the sleeve shaft portion 422 and the mounting portion 424 are bent in opposite directions compared to the inclined portion 423, and the detected member 51 is disposed on the mounting portion 424. Optionally, the mounting portion 424 has a mounting groove 421, and the mounting groove 421 is used to set the detected member 51.

[0072] It can be understood that the mounting portion 424 is closer to the detection member 52 of the circuit board 60 than the sleeve shaft portion 422 , so that the distance between the detected member 51 and the detection member 52 is closer.

[0073] In this embodiment, the mounting portion 424 is closer to the circuit board 60 than the sleeve shaft portion 422, so that the distance between the detected component 51 and the detecting component 52 is closer. This can increase or decrease the signal strength of the detected component 51 detected by the detecting component 52, thereby improving the accuracy of the detecting component 52 in detecting the position of the cleaning brush 41.

[0074] Please see again Figures 2 to 4 In some embodiments, the positioning component 30 includes a first visual module 31 and a second visual module 32, the first visual module 31 and the second visual module 32 are spaced apart and are electrically connected to the circuit board 60 respectively, and the driving motor 43 is located between the first visual module 31 and the second visual module 32.

[0075] It can be understood that the first visual module 31 and the second visual module 32 are respectively electrically connected to the processor of the circuit board 60 to work under the control of the processor.

[0076] It can be understood that the first visual module 31 and the second visual module 32 are respectively located on two opposite sides of the driving motor 43 , and the first visual module 31 , the driving motor 43 and the second visual module 32 are arranged in sequence.

[0077] In the embodiments and drawings of the present application, the positioning component 30 is illustrated and described by taking the two modules including the first visual module 31 and the second visual module 32 as an example, which should not be understood as a limitation on the positioning component 30. In other embodiments, the positioning component 30 may also include other numbers of visual modules, such as one visual module, three visual modules, four visual modules, five visual modules, etc.

[0078] Optionally, the first visual module 31 includes at least one of an image acquisition module (also called a visual module), a positioning module, a distance measurement module, a radar module, and an obstacle avoidance module. The second visual module 32 includes at least one of an image acquisition module (also called a visual module), a positioning module, a distance measurement module, a radar module, and an obstacle avoidance module.

[0079] Optionally, the image acquisition module may be, but is not limited to, a camera, a camera module, etc. The positioning module may be, but is not limited to, a GPS module.

[0080] In this embodiment, by setting different detection modules, the positioning device 100 can detect different environmental information, so that the walking robot using the positioning device 100 can be better controlled to walk or work according to the environmental information.

[0081] In this embodiment, by setting the first vision module 31 and the second vision module 32, when the robot positioning device 100 is applied to the robot, the robot can be better positioned. Through the cooperation of the first vision module 31 and the second vision module 32, the environment and obstacles around the robot can be detected in a larger range, which can not only improve the accuracy of positioning, but also improve the efficiency of positioning.

[0082] See also Figure 6 In some embodiments, the shell 10 is provided with a receiving groove 112 on the outer wall of the visible cover 10b, and two spaced-apart through holes 111 are constructed on the bottom wall of the receiving groove 112. The first visual module 31 and the second visual module 32 are respectively penetrated through the two through holes 111 and exposed in the receiving groove 112.

[0083] Please also see Figure 1 , Figure 2 and Figure 6 It can be understood that the housing 10 includes a body 10a and a visible cover plate 10b, the visible cover plate 10b is arranged on one side of the body 10a and connected to the body 10a, the outer side wall of the body 10a facing the visible cover plate 10b has a receiving groove 112, the bottom wall of the receiving groove 112 away from the visible cover plate 10b has two through holes 111 arranged at intervals, and the visible cover plate 10b closes the receiving groove 112 to waterproof and dustproof the positioning component 30 and the detection component 50. The first visual module 31 is located in the body 10a and penetrates one of the two through holes 111 and is exposed in the receiving groove 112, and the second visual module 32 is located in the body 10a and penetrates the other of the two through holes 111 and is exposed in the receiving groove 112.

[0084] It can be understood that the driving motor 43 is located in the body 10a and is disposed between the two through holes 111. By making the output shaft 431 pass through between the two through holes 111, the driving motor 43 only needs to drive the cleaning to rotate between 0° and 180° to clean the entire visible cover plate 10b, and the cleaning brush 41 is disposed at the middle position corresponding to the visible cover plate 10b, which can reduce the size of the cleaning brush 41.

[0085] Optionally, the linkage member 42, the detected member 51, the circuit board 60 and the detection member 52 are all located in the body 10a. The cleaning brush 41 is located on the surface of the visible cover plate 10b away from the body 10a. This can better improve the service life of the detection component 50, the drive motor 43 and the positioning component 30.

[0086] In this embodiment, by providing the receiving groove 112 and the two through holes 111, the first visual module 31 and the second visual module 32 can detect the information around the positioning device 100 through the through holes 111, and position the positioning device 100. In addition, since the body 10a has the receiving groove 112, the first visual module 31 and the second visual module 32 can be partially protruded from the through holes 111, that is, the first visual module 31 and the second visual module 32 are partially located in the receiving groove 112, so that the viewing angle range of the first visual module 31 and the second visual module 32 can be increased, and the accuracy of positioning of the positioning assembly 30 can be improved.

[0087] See also Figure 6 and Figure 7 The body 10a includes a first cover plate 11, a frame 12 and a second cover plate 13, the first cover plate 11 and the second cover plate 13 are arranged at an interval, the frame 12 is located between the first cover plate 11 and the second cover plate 13, the first cover plate 11, the frame 12 and the second cover plate 13 enclose a receiving cavity 14, and the receiving cavity 14 is used to receive the positioning component 30, the detection component 50, the linkage 42 and part of the driving motor 43, the first cover plate 11 has the through hole 111 and the receiving groove 112 located on the surface of the first cover plate 11 facing the visible cover plate 10b, the visible cover plate 10b is arranged on the side of the first cover plate 11 away from the frame 12, and the output shaft 431 of the driving motor 43 passes through the first cover plate 11 to the receiving cavity 14 to the side of the visible cover plate 10b away from the first cover plate 11.

[0088] It can be understood that the through holes 111 are used to pass the detection signal of the positioning assembly 30 , such as light signals, radar signals, etc. It can be understood that the visible cover plate 10 b covers the two through holes 111 .

[0089] It can be understood that the receiving cavity 14 is also used for electronic components such as the circuit board 60.

[0090] Optionally, the body 10a further includes a third cover plate 15 , which is located between the first cover plate 11 and the second cover plate 13 and on one side of the frame 12 . The third cover plate 15 is connected to the frame 12 to further protect components in the positioning device 100 .

[0091] In this embodiment, the positioning assembly 30, the detection assembly 50, the linkage member 42 and part of the drive motor 43 are located in the body 10a through the structural design of the body 10a, which can better protect the positioning assembly 30, the detection assembly 50, the linkage member 42 and part of the drive motor 43 of the positioning device 100, so that the positioning device 100 has a longer service life. By setting a through hole 111 on the first cover plate 11, the detection signal of the positioning assembly 30 can be transmitted through the through hole 111, which will not affect the function of the positioning assembly 30.

[0092] See also Figure 8 In some embodiments, the main body 10a further includes a clamping portion 16, which is disposed on the frame 12 and is used to clamp the positioning device 100 onto an external device.

[0093] Optionally, the external device may be, but is not limited to, a lawn mowing robot, a cleaning robot, a walking robot, etc.

[0094] It can be understood that the external device has a matching portion that is engaged with the engaging portion 16 .

[0095] Optionally, the clamping portion 16 is disposed on a side of the frame 12 away from the third cover plate 15 .

[0096] In this embodiment, by providing the clamping portion 16 , the positioning device 100 can be installed on an external device in a clamping manner, which simplifies the installation of the positioning device 100 .

[0097] Please see again Figures 1 to 4 In some embodiments, the detection member 52 includes two detection members 52, the two detection members 52 are respectively a first detection member 52a and a second detection member 52b, the first detection member 52a and the second detection member 52b are respectively located at the first extreme position of the cleaning brush 41 (such as Figure 1 as shown) and the second extreme position (as shown Figure 2 shown).

[0098] It can be understood that the cleaning brush 41 has a first extreme position and a second extreme position, and the cleaning brush 41 can move between the first extreme position and the second extreme position to clean the visible cover 10b; the first detection member 52a is arranged close to the first extreme position of the cleaning brush 41, and is used to detect the first signal of the detection member 51 when the cleaning brush 41 is in the first extreme position; the second detection member 52b is arranged close to the second extreme position of the cleaning brush 41, and is used to detect the second signal of the detection member 51 when the cleaning brush 41 is in the second extreme position.

[0099] Optionally, the first signal may be, but is not limited to, at least one of a magnetic field signal, a magnetic field intensity signal, a magnetic field intensity change, an optical signal, and the like.

[0100] Optionally, the second signal may be, but is not limited to, at least one of a magnetic field signal, a magnetic field intensity signal, a magnetic field intensity change, an optical signal, and the like.

[0101] It can also be understood that the first detection member 52a and the second detection member 52b are respectively located on opposite sides of the drive motor 43. In a specific embodiment, the first detection member 52a is located between the first visual module 31 and the drive motor 43, and the second detection member 52b is located between the second visual module 32 and the drive motor 43. In other words, the first visual module 31, the first detection member 52a, the drive motor 43, the second detection member 52b, and the second visual module 32 are arranged in sequence.

[0102] Optionally, the output shaft 431 can vertically pass through the main body 10a from one side of the visible cover plate 10b and close to the central axis of the visible cover plate 10b, so that the cleaning brush 41 can be controlled to rotate back and forth around the output shaft 431 between 0° (first extreme position) and 180° (second extreme position), thereby cleaning the visible cover plate 10b.

[0103] In this embodiment, two detection members 52, namely, a first detection member 52a and a second detection member 52b, are provided. The first detection member 52a and the second detection member 52b are respectively located at the first limit position and the second limit position of the cleaning brush 41. When the cleaning brush 41 moves to the first limit position, the first detection member 52a detects the first signal of the detection member 51, and controls the driving motor 43 to stop working according to the first signal, so as to prevent the cleaning brush 41 from continuing to move in the direction of the first limit position away from the second limit position; when the cleaning brush 41 moves to the second limit position, the second detection member 52b detects the second signal of the detection member 51, and controls the driving motor 43 to stop working according to the second signal, so as to prevent the cleaning brush 41 from continuing to move in the direction of the second limit position away from the first limit position, so that the cleaning brush 41 can be more accurately controlled to move between the first limit position and the second limit position, and the cleaning brush 41 can be prevented from continuing to move in the direction away from the second limit position after moving to the first limit position or continuing to move in the direction away from the first limit position after moving to the second limit position, so that the cleaning brush 41 is excessively impacted during the movement process, thereby reducing the life of the cleaning brush 41.

[0104] See also Fig. 9In some embodiments, one side of the shell 10 on which the visible cover 10b is provided has a first limiting structure 17 and a second limiting structure 18, wherein the first limiting structure 17 corresponds to the first limit position setting of the cleaning brush 41, and the second limiting structure 18 corresponds to the second limit position setting of the cleaning brush 41.

[0105] In some embodiments, the first limiting structure 17 and the second limiting structure 18 are spaced apart in the accommodating groove 112 and are respectively connected to the first cover plate. The first limiting structure 17 and the second limiting structure 18 are used to limit the linkage member 42 so that when the linkage member 42 moves between the first limiting structure 17 and the second limiting structure 18, the cleaning brush 41 moves between the first extreme position and the second extreme position.

[0106] In other embodiments, the first limiting structure 17 and the second limiting structure 18 are arranged at intervals on opposite sides of the visible cover plate 10b, and are respectively connected to the two sides of the first cover plate or the frame body, and the first limiting structure 17 and the second limiting structure 18 protrude from the side of the visible cover plate 10b away from the body 10a, and are used to limit the cleaning brush 41, so that when the cleaning brush 41 moves between the first limiting structure 17 and the second limiting structure 18, the cleaning brush 41 moves between the first limit position and the second limit position. Specifically, the cleaning brush 41 rotates to contact the first limiting structure 17 or the second limiting structure 18, and the rotation of the drive motor 43 is blocked, and the encoder on the drive motor 43 can detect the signal, and then control the drive motor 43 to stop rotating.

[0107] In this embodiment, a first limiting structure 17 and a second limiting structure 18 are provided so that when the detection member 52 fails, it can be limited by the first limiting structure 17 and the second limiting structure 18. When the cleaning brush 41 rotates to the first limiting structure 17 or the second limiting structure 18, the cleaning brush 41 stops moving due to the obstruction of the first limiting structure 17 or the second limiting structure 18, thereby restricting the cleaning brush 41 from moving between the first limiting structure 17 and the second limiting structure 18.

[0108] Please see again Figure 8 In some embodiments, a wiring hole 121 is provided on the other side of the shell 10, and the positioning device 100 also includes a connecting cable 70, one end of the connecting cable 70 is electrically connected to the circuit board 60, and the other end of the connecting cable 70 passes through the wiring hole 121 for electrical connection to the control board of the robot.

[0109] It can be understood that the side of the frame 12 where the clamping portion 16 is provided has the wiring hole 121. Optionally, the wiring hole 121 is located at the clamping portion 16.

[0110] It can be understood that the connecting cable 70 is used to electrically connect the circuit board 60 to the control board of the robot.

[0111] In this embodiment, the design of the wiring hole 121 and the connecting cable 70 facilitates the electrical connection between the positioning device 100 and the robot when the positioning device 100 is applied to the robot, thereby making it more convenient to send the information detected by the positioning device 100 to the robot.

[0112] In some embodiments, the detecting element 52 is a Hall sensor, and the detected element 51 is a magnet.

[0113] It can be understood that the first detecting element 52a is a Hall sensor, and the second detecting element 52b is also a Hall sensor.

[0114] In other embodiments, the detected component 51 may also be an element that can generate a magnetic field, such as an electromagnet.

[0115] In this embodiment, the first signal is a magnetic field signal, such as magnetic field strength. The second signal is a magnetic field signal, such as magnetic field strength.

[0116] In this embodiment, the first detection member 52a can detect the magnetic field signal of the detected member 51. When the magnetic field strength reaches a preset value, it indicates that the cleaning brush 41 has reached the first extreme position. At this time, the cleaning brush 41 is controlled to stop moving and change the direction of movement toward the direction close to the second extreme position; the second detection member 52b can detect the magnetic field signal of the detected member 51. When the magnetic field strength reaches a preset value, it indicates that the cleaning brush 41 has reached the second extreme position. At this time, the cleaning brush 41 is controlled to stop moving and change the direction of movement toward the direction close to the first position; thereby realizing the back and forth movement of the cleaning brush 41 between the first extreme position and the second extreme position.

[0117] In this embodiment, the Hall sensor and the magnet cooperate to accurately detect the first limit position and the second limit position of the cleaning brush 41, thereby better controlling the movement of the cleaning brush 41 between the first limit position and the second limit position.

[0118] In other embodiments, the first detection member 52a and the second detection member 52b may also be optical sensors, and when the detected member 51 is a light-blocking element, when the cleaning brush 41 moves to the first limit position, the light-blocking element is driven to block the first detection member 52a, so that the light signal (first signal) detected by the first detection member 52a changes, thereby confirming that the cleaning brush 41 has reached the first limit position; similarly, when the cleaning brush 41 moves to the second limit position, the light-blocking element is driven to block the second detection member 52b, so that the light signal (second signal) detected by the second detection member 52b changes, thereby confirming that the cleaning brush 41 has reached the second limit position.

[0119] In some embodiments, the positioning device 100 further includes a pressure sensor (not shown), which is electrically connected to the circuit board 60 and is used to detect the pressure between the cleaning brush 41 and the outer side of the visible cover 10b during cleaning.

[0120] Optionally, the pressure sensor is disposed on the cleaning brush 41 or the visible cover plate 10 b to detect the pressure between the cleaning brush 41 and the visible cover plate 10 b.

[0121] When the pressure between the cleaning brush 41 and the visible cover plate 10 b is too small, the cleaning effect of the cleaning brush 41 on the visible cover plate 10 b will be reduced, so that the visible cover plate 10 b is not cleaned thoroughly, thereby affecting the positioning accuracy of the positioning assembly 30 .

[0122] In this embodiment, a pressure sensor is provided to detect the pressure between the cleaning brush 41 and the visible cover 10b, and the pressure is used to determine whether the cleaning brush 41 is loose, so as to avoid reducing the cleaning effect of the cleaning brush 41 when the cleaning brush 41 is loose, thereby affecting the positioning accuracy of the positioning component 30.

[0123] See also Fig.10 and Fig.11 The embodiment of the present application also provides a robot 200, which includes a robot body 210 and a positioning device 100 of the embodiment of the present application. The positioning device 100 is arranged on the robot body 210 and is used to detect the environmental information of the robot 200 to perform functions such as positioning and obstacle avoidance on the robot.

[0124] Optionally, the robot body 210 is a lawn mower, which includes a driving mechanism (not shown) and a blade (not shown), and the driving mechanism is used to drive the blade to mow the grass.

[0125] It can be understood that the positioning device 100 is used to detect environmental information of the robot 200 so that the robot 200 can perform obstacle avoidance, positioning, etc. according to the environmental information.

[0126] For detailed description of other aspects of the positioning device 100, please refer to the description of the corresponding parts of the above embodiment, which will not be repeated here.

[0127] Mentioning "embodiment" and "implementation method" in this application means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrases in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments. In addition, it should also be understood that the features, structures or characteristics described in the various embodiments of the present application can be arbitrarily combined to form another embodiment that does not deviate from the spirit and scope of the technical solution of the present application, if there is no contradiction between them.

[0128] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the above preferred implementation modes, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A robot positioning device, characterized in that: The positioning device comprises: A shell, one side of which is provided with a visible cover plate; A positioning assembly, the positioning assembly is disposed in the housing and at least partially exposed on the inner side of the visible cover; A cleaning assembly, comprising a cleaning brush and a linkage member, wherein the cleaning brush can move relative to the visible cover plate on its outer side to clean the visible cover plate, and the linkage member is located on the inner side of the visible cover plate and can move synchronously with the cleaning brush; A detection component is arranged in the shell, and the detection component includes a circuit board, a detection member and a detected member. The detected member is arranged on the linkage member, and the detection member is arranged on the circuit board, and is used to detect the position of the cleaning brush relative to the visible cover.

2. The positioning device according to claim 1, characterized in that: The cleaning component further comprises a driving motor, which is arranged in a direction perpendicular to the visible cover plate, and the cleaning brush and the linkage member are sleeved on an output shaft of the driving motor at intervals.

3. The positioning device according to claim 1 or 2, characterized in that: The linkage member includes a sleeve shaft portion, an inclined portion and a mounting portion, the inclined portion is inclined toward the direction close to the circuit board, the sleeve shaft portion is connected to an end of the inclined portion away from the circuit board, the mounting portion is connected to an end of the inclined portion close to the circuit board, and the detected member is arranged on the mounting portion.

4. The positioning device according to claim 2, characterized in that: The positioning component includes a first visual module and a second visual module, the first visual module and the second visual module are spaced apart and are electrically connected to the circuit board respectively, and the driving motor is located between the first visual module and the second visual module.

5. The positioning device according to claim 4, characterized in that: The housing is provided with a receiving groove on the outer side wall of the visible cover plate, and two through holes distributed at intervals are configured on the bottom wall of the receiving groove. The first visual module and the second visual module are respectively penetrated through the two through holes and exposed in the receiving groove.

6. The positioning device according to claim 1, characterized in that: The two detecting members include a first detecting member and a second detecting member. The first detecting member and the second detecting member are located at a first extreme position and a second extreme position of the cleaning brush, respectively.

7. The positioning device according to claim 6, characterized in that: The side of the shell on which the visible cover is provided has a first limiting structure and a second limiting structure, wherein the first limiting structure is arranged corresponding to the first limit position of the cleaning brush, and the second limiting structure is arranged corresponding to the second limit position of the cleaning brush.

8. The positioning device according to claim 1, characterized in that: A wiring hole is provided on the other side of the shell, and the positioning device also includes a connecting cable, one end of which is electrically connected to the circuit board, and the other end of the connecting cable passes through the wiring hole for electrical connection to the control board of the robot.

9. The positioning device according to claim 1, characterized in that: The detecting element is a Hall sensor, and the detected element is a magnet.

10. The positioning device according to claim 1, characterized in that: The positioning device further comprises a pressure sensor, which is electrically connected to the circuit board and is used to detect the pressure between the cleaning brush and the outer side surface of the visible cover plate during cleaning.

11. A robot, characterized in that: The robot comprises: Robot body; The positioning device according to any one of claims 1 to 10, wherein the positioning device is used on a robot body.

Images