Sensor window and cleaning robot

Abstract

The sensor window is used for the cleaning robot and is characterized in that the cleaning robot comprises a shell and an optical sensor, the optical sensor is located in the shell, the shell is provided with the sensor window, the optical sensor can emit light beams to the window, a supporting column is arranged in the sensor window, and the supporting column is connected with the optical sensor. The upper and lower ends of the supporting column are connected with the shell. According to the sensor window, the sensor window is formed in the shell of the cleaning robot, an optical sensor in the cleaning robot can detect through the sensor window, the supporting column is arranged on the sensor window, and the upper end and the lower end of the supporting column are connected with the shell. The sensor window can be prevented from collapsing or deforming, and the stability of the sensor window is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, and in particular to a sensor window and a cleaning robot. Background Art

[0002] In the related art, the lidar of the cleaning robot is arranged on the top of the cleaning robot, which is not convenient for the cleaning robot to drill into the bottom of the sofa or the bottom of the coffee table for cleaning. Content of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a sensor window which can avoid collapse or deformation and has higher stability.

[0004] The utility model also provides a cleaning robot including the above-mentioned sensor window.

[0005] The sensor window according to an embodiment of the utility model is used for a cleaning robot, which includes a housing and an optical sensor. The optical sensor is located inside the housing, and the housing is provided with the sensor window. The optical sensor can emit a light beam towards the window, and support columns are arranged in the sensor window. Both the upper and lower ends of the support columns are connected to the housing.

[0006] The sensor window according to an embodiment of the utility model is provided with a sensor window on the housing of the cleaning robot, which is convenient for the optical sensor inside the cleaning robot to detect through the sensor window. And by arranging support columns in the sensor window, both the upper and lower ends of the support columns are connected to the housing, which can prevent the sensor window from collapsing or deforming and ensure the stability of the sensor window.

[0007] According to some embodiments of the utility model, the support columns are arranged obliquely relative to the vertical direction.

[0008] According to some embodiments of the utility model, the angle between the support column and the vertical direction is A, and it satisfies: 45° ≤ A < 90°.

[0009] According to some embodiments of the utility model, in the up-down direction, the support column inclines to the left.

[0010] According to some embodiments of the utility model, in the up-down direction, the support column inclines to the right.

[0011] According to some embodiments of the utility model, in the up-down direction, the support column inclines forward.

[0012] According to some embodiments of the utility model, in the up-down direction, the support column inclines backward.

[0013] According to some embodiments of the present utility model, there are a plurality of the support columns, including a first support column and a second support column, and the first support column and the second support column are respectively located on the left and right sides of the sensor window.

[0014] In some embodiments of the present utility model, in the up-down direction, the first support column and the second support column are inclined away from each other or inclined towards each other.

[0015] In some embodiments of the present utility model, the first support column and the second support column are symmetrically arranged along the central plane of the cleaning robot in the vertical left-right direction.

[0016] According to some embodiments of the present utility model, the support column includes a first reflecting surface and a second reflecting surface that are joined, and the first reflecting surface and the second reflecting surface together form a vertex angle. When the light beam is incident on the support column, the central light ray of the light beam passes through the vertex angle.

[0017] In some embodiments of the present utility model, the angle range of the vertex angle is 30 - 150 degrees.

[0018] In some embodiments of the present utility model, the first reflecting surface and the second reflecting surface are coated with a coating.

[0019] In some embodiments of the present utility model, the support column further includes a connecting surface, and the connecting surface is respectively joined to the first reflecting surface and the second reflecting surface to jointly form the support column.

[0020] In some embodiments of the present utility model, the connecting surface is a plane, and the optical path formed by the light beam is perpendicular to the plane.

[0021] In some embodiments of the present utility model, the length ranges of the first reflecting surface, the second reflecting surface, and the connecting surface are 2 - 5 millimeters.

[0022] In some embodiments of the present utility model, the connecting surface is a curved surface.

[0023] In some embodiments of the present utility model, the support column is a rhombic column.

[0024] In some embodiments of the present utility model, there are a plurality of the support columns, and the plurality of support columns are arranged at intervals.

[0025] In some embodiments of the present utility model, the housing includes a bottom wall and a top wall, and the plurality of support columns are respectively connected to the bottom wall and the top wall to jointly form a receiving cover for the optical sensor, and the optical sensor is located inside the receiving cover.

[0026] The cleaning robot according to an embodiment of the present invention includes the above-mentioned support column.

[0027] The cleaning robot according to an embodiment of the present invention, by providing the above-mentioned sensor window, opening the sensor window on the housing of the cleaning robot, facilitates the optical sensor inside the cleaning robot to detect through the sensor window, and by providing the support column at the sensor window, both the upper and lower ends of the support column are connected to the housing, which can prevent the sensor window from collapsing or deforming and ensure the stability of the sensor window.

[0028] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0029] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0030] Figure 1 is a top view schematic diagram of the cleaning robot according to an embodiment of the present invention;

[0031] Figure 2 is a front view schematic diagram of the cleaning robot according to an embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of one of the support columns of the cleaning robot according to an embodiment of the present invention;

[0033] Figure 4 is a top view schematic diagram of the cleaning robot according to another embodiment of the present invention;

[0034] Figure 5 is a front view schematic diagram of the cleaning robot according to another embodiment of the present invention;

[0035] Figure 6 is a schematic diagram of one of the support columns of the cleaning robot according to another embodiment of the present invention;

[0036] Figure 7 is a three-dimensional schematic diagram of the cleaning robot according to an embodiment of the present invention;

[0037] Figure 8 is a schematic diagram of the structure of the support column of the cleaning robot according to an embodiment of the present invention;

[0038] Figure 9 is one of the schematic diagrams of the structure of the laser light path of the cleaning robot according to an embodiment of the present invention;

[0039] Figure 10 One of the schematic diagrams of the radar data of the cleaning robot according to an embodiment of the present invention;

[0040] Figure 11 Another schematic diagram of the radar data of the cleaning robot according to an embodiment of the present invention;

[0041] Figure 12 Another schematic structural diagram of the laser light path of the cleaning robot according to an embodiment of the present invention;

[0042] Figure 13 Another schematic structural diagram of the laser light path of the cleaning robot according to an embodiment of the present invention.

[0043] Reference numerals:

[0044] Cleaning robot 100, sensor window 10, housing 20, bottom wall 21, top wall 22, optical sensor 30, laser emitter 31, laser receiver 32, support column 40, first reflecting surface 41, second reflecting surface 42, apex angle 43, coating 44, connecting surface 45, first support column 46, second support column 47, target obstacle 50. Detailed implementation manners

[0045] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0047] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0048] Reference will now be made to the accompanying drawings to describe the sensor window 10 according to an embodiment of the present utility model.

[0049] As Figure 1 and Figure 7 shown, the sensor window 10 according to an embodiment of the present utility model is for a cleaning robot 100. The cleaning robot 100 includes a housing 20 and an optical sensor 30. The optical sensor 30 is located inside the housing 20. The housing 20 is provided with a sensor window 10. The optical sensor 30 can emit a light beam towards the window. A support column 40 is provided in the sensor window 10. Both the upper and lower ends of the support column 40 are connected to the housing 20.

[0050] Specifically, the cleaning robot 100 is a robot device capable of automatically cleaning the ground. The cleaning robot 100 integrates multiple functions such as sweeping, vacuuming, and mopping. Through a preset program or an intelligent navigation system, it autonomously moves in the room to complete the ground cleaning work. The cleaning robot 100 can use technologies such as laser navigation, visual navigation, or inertial navigation for positioning and path planning.

[0051] The housing 20 of the cleaning robot 100 is the external structure of the entire device. The housing 20 plays a role in protecting the internal components, supporting the entire device, and forming a certain appearance. Since the cleaning robot 100 often comes into contact with the ground, the surface of the housing 20 is easily contaminated with dust and dirt. The design of the housing 20 needs to be convenient for cleaning to reduce the trouble of user maintenance. The housing 20 also needs to be able to withstand external forces such as collisions, frictions, and drops during daily use to protect the internal precision electronic components and mechanical structures from damage. The material of the housing 20 of the cleaning robot 100 can be plastic, metal, or other composite materials.

[0052] The optical sensor 30 can be disposed inside the cleaning robot 100. Disposing it inside the cleaning robot 100 can facilitate the cleaning robot 100 to drill under the sofa and under the coffee table for cleaning, improving the user experience.

[0053] Please refer to Figure 9, the optical sensor 30 can be, for example, a lidar, including a laser emitter 31 and a laser receiver 32. The optical sensor 30 emits a laser beam towards the surrounding target obstacles 50 through the laser emitter 31 and receives the signal reflected back by the laser receiver 32 to measure the distance and angle information from the surrounding target obstacles 50. The laser emitter 31 in the optical sensor 30 is a type of laser, and the laser type can be a semiconductor laser, which can emit continuous or pulsed laser beams. The most commonly used wavelengths of lidar can be 905 nm and 1550 nm. These two wavelengths of lidar have their own advantages and disadvantages: the lidar with a wavelength of 905 nm is relatively cheaper and is suitable for the cleaning robot 100 products with relatively strict cost control. However, in harsh weather conditions such as rain and fog, its laser penetration may be weak. The optical sensor 30 with a wavelength of 1550 nm can operate at a higher power, thereby increasing the detection range, and its laser has stronger penetration for harsh weather such as rain and fog. But correspondingly, its cost may also be higher.

[0054] The cleaning robot 100 can achieve SLAM (Simultaneous Localization and Mapping) through the optical sensor 30. The specific steps to achieve SLAM include data acquisition, data processing, localization and mapping, and path planning and obstacle avoidance.

[0055] Data acquisition: The optical sensor 30 on the cleaning robot 100 continuously emits laser beams towards the surrounding environment and receives the reflected signals of these laser beams. By measuring the time of flight (TOF) of the laser beam or using the triangulation method, the distance and angle information between the robot and the surrounding obstacles are calculated.

[0056] Data processing: The processor inside the cleaning robot 100 processes the raw data collected by the optical sensor 30 and extracts the effective environmental feature points of the target obstacle 50. The target obstacle 50 can include static obstacles such as walls and furniture, as well as objects that may move (such as pets and people).

[0057] Localization and mapping: Based on the processed data, the cleaning robot 100 uses the SLAM algorithm for self-localization. This involves estimating the current position, mode shape, and speed of the robot. At the same time, the cleaning robot 100 constructs an incremental map of the surrounding environment according to the localization information and environmental feature points. This map will be continuously updated and improved as the robot moves and new environmental information is obtained.

[0058] Path planning and obstacle avoidance: After completing localization and mapping, the cleaning robot 100 will perform path planning according to the current task (such as cleaning, returning to charge, etc.) and the surrounding environment map.

[0059] In the housing 20 of the cleaning robot 100, a support column 40 is provided at the sensor window 10. The support column 40 is a columnar structure, and the support column 40 can provide a supporting force in the vertical direction to bear the weight of the upper structure or object and prevent it from collapsing or deforming. The material used to make the support column 40 can be metal, plastic or other composite materials, and the material selection needs to be considered comprehensively. Metal materials have high strength, are easy to process, are relatively heavy in weight and have relatively high costs; plastic materials have low costs, are relatively light in weight but have low strength; composite materials have high strength and light weight but higher costs compared to single materials.

[0060] Providing the support column 40 at the sensor window 10 can ensure the structural stability of the sensor window 10 inside the housing 20. The sensor window 10 will not be deformed due to up and down extrusion, resulting in a narrowed field of view of the optical sensor 30. At the same time, the support column 40 can also serve as an external buffer structure for the optical sensor 30 when the cleaning robot 100 is collided, reducing the risk of damage to the optical sensor 30 caused by direct collision with an obstacle.

[0061] According to the sensor window 10 of the embodiment of the present utility model, by opening the sensor window 10 on the housing 20 of the cleaning robot 100, it is convenient for the optical sensor 30 inside the cleaning robot 100 to detect through the sensor window 10, and by providing the support column 40 at the sensor window 10, both the upper and lower ends of the support column 40 are connected to the housing 20, which can prevent the sensor window 10 from collapsing or deforming and ensure the stability of the sensor window 10.

[0062] In some embodiments of the present utility model, as Figure 1 and Figure 2 shown, the housing 20 is generally formed in a cylindrical shape, and the height of the housing 20 in the up and down direction is less than the diameter of the housing 20. It can be understood that the housing 20 is generally formed in a flat cylindrical shape. The height of the housing 20 is relatively low, which is convenient for the cleaning robot 100 to drill under the sofa and under the coffee table for cleaning, improving the user experience. In addition, the outer peripheral surface of the housing 20 is a cylindrical surface, which is relatively smooth, avoiding damage to items, users or the housing 20 itself caused by the cleaning robot 100 hitting items or users during the movement process.

[0063] The optical sensor 30 is a radar system that detects the position, speed and other characteristic quantities of the target obstacle 50 by emitting a laser beam. Its working principle is to emit a detection signal (laser beam) to the target obstacle 50, and then compare the received signal (target echo) reflected from the target obstacle 50 with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as parameters like target distance, azimuth, altitude, speed, attitude, and even shape. It consists of a laser transmitter 31, a laser receiver 32, a turntable and an information processing system, etc. The laser transmitter 31 converts an electrical pulse into an optical pulse and emits it, and the laser receiver 32 then restores the optical pulse reflected from the target into an electrical pulse.

[0064] Among them, as Figure 2 shown, the support column 40 is inclined relative to the vertical direction. It can be understood that there is an angle between the support column 40 and the vertical direction. Among them, the vertical direction can be the height direction of the cleaning robot 100.

[0065] In the related art, the support column is vertically arranged. A part of the optical signal of the optical sensor hits the support column and then returns to the laser receiver along the original path, forming short-distance data. Another part of the optical signal of the optical sensor is projected out. The projected optical signal encounters an obstacle and returns to the laser receiver, forming long-distance data. The signal reflected from the support column and returned is strong, and the signal intensity of the one that encounters an obstacle and returns is weak. This part of the signal that is projected out, encounters an obstacle and then returns cannot generate effective long-distance data, forming a data gap, thus resulting in the lack of the test field of view within the occlusion angle (about 5 - 10°) corresponding to the support column.

[0066] In this application, the support column 40 is inclined relative to the vertical direction. A part of the optical signal of the optical sensor 30 hits the support column 40. Since the support column 40 is inclined, the optical signal hitting the support column 40 at this time will not return directly along the original path but be reflected out, and will not form short-distance data. Another part of the optical signal of the optical sensor 30 is projected out. The projected optical signal encounters an obstacle and returns to the laser receiver 32, and together with the data reflected by the support column 40, encountering an obstacle and then reflected back, forms long-distance data, and can generate effective data, and will not cause the data within the corresponding angle of the support column 40 to form short-distance data and cause a data gap in the long-distance data, ensuring the mapping efficiency and SLAM performance of the cleaning robot 100. Among them, Figure 3 and Figure 6 show a schematic diagram of the light spot hitting the support column 40.

[0067] In some embodiments of the present utility model, the angle between the support column 40 and the vertical direction is A, and it satisfies: 45° ≤ A < 90°. If the angle between the support column 40 and the vertical direction is less than 45°, the inclination angle of the support column 40 will be too large. When ensuring that both the upper and lower ends of the support column 40 are connected to the housing 20, the length of the support column 40 will increase, the cost will increase, and the support effect of the support column 40 on the housing 20 in the up and down direction will be reduced.

[0068] In this application, the angle between the support column 40 and the vertical direction is A, and it satisfies: 45° ≤ A < 90°. This can not only prevent the optical signal projected by the optical sensor 30 onto the support column 40 from returning along the original path to form a short-distance signal, ensure that the optical signal projected by the optical sensor 30 and then returned can generate effective long-distance data, thus preventing the loss of the test field of view within the corresponding angle of the support column 40 and ensuring the mapping efficiency and SLAM performance of the cleaning robot 100, but also reduce the length of the support column 40, save costs, and improve the support reliability of the support column 40 for the housing 20 in the up and down direction.

[0069] For example, in Figure 2 and Figure 5 In the illustrated example, the support column 40 is inclined 10° relative to the vertical direction. Of course, the present utility model is not limited thereto, and the inclination angle of the support column 40 relative to the vertical direction can also be 5°, 15°, 20°, 25°, 30°, 35° or 40°.

[0070] Optionally, in the direction from top to bottom, the support column 40 inclines to the left, or in the direction from top to bottom, the support column 40 inclines to the right, or in the direction from top to bottom, the support column 40 inclines forward or in the direction from top to bottom, the support column 40 inclines backward. The inclination direction of the support column 40 can be reasonably set according to different structural forms of the housing 20 to meet the layout requirements of the internal structure of the housing 20.

[0071] Of course, the present utility model is not limited thereto. In the direction from top to bottom, the support column 40 can also incline in other directions other than front, back, left, and right. There is no limitation here, as long as the support column 40 inclines relative to the vertical direction.

[0072] It should be noted that the front, back, left, and right in this application are based on the front, back, left, and right of the cleaning robot 100. The traveling direction of the cleaning robot 100 is the front, the direction opposite to the traveling direction of the cleaning robot 100 is the back, the user stands on the front side of the cleaning robot 100 and faces the cleaning robot 100, the left side of the user is the left side of the cleaning robot 100, and the right side of the user is the right side of the cleaning robot 100.

[0073] In some embodiments of the present utility model, there are multiple support columns 40, and the multiple support columns 40 are arranged at intervals along the front edge of the housing 20, thereby improving the support effect on the housing 20, ensuring the reliability of the housing 20, and thus ensuring the reliability of the cleaning robot 100 during operation.

[0074] Optionally, the multiple support columns 40 include a first support column 46 and a second support column 47, and the first support column 46 and the second support column 47 are respectively located on the left and right sides of the sensor window 10. The first support column 46 and the second support column 47 can not only support the housing 20 on the left and right sides of the housing 20 respectively to ensure the reliability of the housing 20, but also avoid the middle area of the sensor window 10. The optical sensor 30 is arranged at the middle position of the sensor window 10 along the left-right direction of the housing 20, which can minimize the occlusion of the optical signals of the optical sensor 30 by the first support column 46 and the second support column 47, and ensure the mapping efficiency and SLAM performance of the cleaning robot.

[0075] In some embodiments of the present utility model, such as Figure 1 and Figure 2 shown, in the up-down direction, the first support column 46 and the second support column 47 are inclined towards each other. As Figure 4 and Figure 5 shown, in the up-down direction, the first support column 46 and the second support column 47 are inclined away from each other. This can enable the first support column 46 and the second support column 47 to act together to improve the support effect on the housing 20, and make the occlusion effect of the first support column 46 and the second support column 47 on the optical signals of the optical sensor 30 substantially the same, ensuring the mapping efficiency and SLAM performance of the cleaning robot 100.

[0076] Among them, in the examples shown in Figure 1 and Figure 2 shown, the first support column 46 and the second support column 47 also incline forward in the up-down direction, which can enable the first support column 46 and the second support column 47 to better fit the outer contour of the housing 20. In the examples shown in Figure 4 and Figure 5 shown, the first support column 46 and the second support column 47 also incline backward in the up-down direction, which can enable the first support column 46 and the second support column 47 to better fit the outer contour of the housing 20.

[0077] Furthermore, as shown in Figure 1 and Figure 2 shown, and as shown in Figure 4 and Figure 5As shown, the first support column 46 and the second support column 47 are symmetrically arranged along the central plane of the cleaning robot 100 in the vertical left - right direction. Thus, the first support column 46 and the second support column 47 can better act together to improve the support effect on the housing 20, and make the shielding effect of the first support column 46 and the second support column 47 on the optical sensor 30's optical signal the same, ensuring the mapping efficiency and SLAM performance of the cleaning robot 100.

[0078] In some embodiments of the present utility model, the cross - section of the support column 40 is circular. Of course, the present utility model is not limited to this, and the cross - section of the support column 40 can also be triangular, quadrilateral, other polygons or elliptical.

[0079] In some embodiments of the present utility model, as Figure 7 and Figure 8 shown, the support column 40 includes an adjacent first reflecting surface 41 and a second reflecting surface 42. The first reflecting surface 41 and the second reflecting surface 42 together form a vertex angle 43. When the laser is directed at the support column 40, the central ray of the laser passes through the vertex angle 43.

[0080] The support column 40 reflects the laser with the hypotenuse in a way that two planes are joined at a certain angle. When the laser of the optical sensor 30 is emitted onto the first reflecting surface 41 or the second reflecting surface 42, the corresponding first reflecting surface 41 or the second reflecting surface 42 controls the incident angle and the reflection angle of the laser in cooperation with the angle of the vertex angle 43, so that the reflected laser is outside the receiving range of the laser receiver 32, realizing the shielding of the laser reflected from the support column 40 and not affecting the laser receiver 32 from receiving the laser reflected from the target obstacle 50.

[0081] Please refer to Figure 10 and Figure 11 , Figure 10 and Figure 11 which are the radar data maps in each direction before and after using the support column structure of the present application respectively. It can be seen that there are gaps in the data frames at some angles before use. These gaps are caused by the reflected laser of the support column 40 being reflected onto the optical sensor 30 and also being regarded as data, interfering with the data of the target obstacle 50. After use, there are no gaps in the data frame, indicating that the reflected laser of the support column 40 does not reflect onto the optical sensor 30, eliminating the interference. The support column 40 of the present application reflects the laser with the hypotenuse by joining two planes, namely the first reflecting surface 41 and the second reflecting surface 42, at a certain angle, eliminating the interference of the reflected laser of the support column 40 on the optical sensor 30, filtering out the noise points that would exist during the data processing of the reflected laser, and improving the mapping efficiency and SLAM performance of the cleaning robot 100.

[0082] Please refer to Figure 9, in some embodiments, the angle of the vertex angle 43 of the support column 40 ranges from 30 to 150 degrees.

[0083] Specifically, the angle of the vertex angle 43 can be, for example, 30°, 40°, 50°, 60°, 70°, 80°, 90°, 100°, 110°, 120°, 130°, 140°, or 150°, and is not limited thereto. The angle of the vertex angle 43 affects the position of the laser reflected back by the laser of the optical sensor 30 through the first reflection surface 41 or the second reflection surface 42. For example, if the angle of the vertex angle 43 is 2a and the incident angle of a laser beam emitted from the laser emitter 31 of the optical sensor 30 is b, then the incident angle of this laser beam on the first reflection surface 41 or the second reflection surface 42 is 90° + b - a, and the corresponding reflection angle is also 90° + b - a, where b is less than a. It can be seen that the larger the angle of the vertex angle 43, that is, 2a, the smaller the corresponding reflection angle, and the smaller the position where the reflected laser deviates from the laser emitter 31, and the closer it is to the laser receiver 32 next to the laser emitter 31. Conversely, the smaller the angle of the vertex angle 43, the larger the reflection angle, and the farther the reflected laser is from the laser receiver 32 and the less likely it is to be received. However, the volume of the support column 40 will also be smaller, and the supporting ability will be weaker. The angle of the vertex angle 43 needs to be comprehensively considered according to the actual positions of the laser receiver 32 and the laser emitter 31, so that the laser reflected from the support column 40 is outside the receiving range of the laser receiver 32.

[0084] Please refer to Figure 8 , in some embodiments, the first reflection surface 41 and the second reflection surface 42 of the support column 40 are coated with a coating 44.

[0085] Specifically, the reflection of the support column 40 on the laser is also related to the reflectivity of the support column 40. When the laser beam emitted by the optical sensor 30 contacts structures such as the support column 40 of the housing 20, if the surface of the support column 40 is smooth or has a high reflectivity, strong reflected light may be generated. These reflected lights may interfere with the receiver of the optical sensor 30 and affect its accurate measurement of the target obstacle 50.

[0086] In this regard, the first reflection surface 41 and the second reflection surface 42 can be coated with a coating 44. The coating 44 is used to reduce the reflectivity of the support column 40 to the laser, thereby reducing the interference of the reflected light on the optical sensor 30. The color of the coating 44 can be black. It can be understood that the coating 44 being black can reduce stray light. Stray light refers to the light that originates outside the light passing aperture of the optical system and scatters when it contacts the edges of optical or mechanical components. These stray lights may ultimately enter the laser receiver 32 as noise rather than the target signal, reducing the mapping efficiency of the cleaning robot 100. The coating 44 being black can reduce the scattered light at the edges of the support column 40 structure, thereby reducing the influence of the stray light on the performance of the optical sensor 30.

[0087] The coating material of the coating layer 44 should have good light absorption performance, be able to effectively absorb the energy of the laser beam, and reduce the generation of reflected light. At the same time, the coating material should also have stable physical and chemical properties to ensure that it will not fall off or change color during long-term use. The coating material can be a composite material, which can include carbon black, resin base material, and various functional additives such as defoaming agents, leveling agents, and thickeners. Carbon black is a commonly used black pigment, which has excellent light absorption performance and weather resistance. It can be one of the main components of the coating material, providing a deep black tone and enhancing the light absorption ability of the coating material. The resin base material in the coating material is the basis for forming the coating layer 44, and the resin base material determines the physical and chemical properties of the coating material. A resin base material with good adhesion and stability can be selected to ensure that the coating material can firmly adhere to the reflecting surface of the support column 40 and maintain its performance for a long time. Additives such as defoaming agents, leveling agents, and thickeners can improve the construction performance, drying speed, and performance of the final coating layer 44.

[0088] In the optical sensor 30 of the cleaning robot 100, coating the reflecting surface of the support column 40 of the robot housing 20 with the coating layer 44 is an effective measure to effectively reduce reflection, reduce stray light, and improve the mapping efficiency. This treatment measure helps to improve the performance of the cleaning robot 100 and brings a better user experience to users.

[0089] Please refer to FIG. 8. In some embodiments, the support column 40 further includes a connecting surface 45, and the connecting surface 45 is respectively connected to the first reflecting surface 41 and the second reflecting surface 42 to jointly form the support column 40.

[0090] Specifically, the support column 40 is the main support structure of the field of view window of the optical sensor 30. It must be strong enough to bear the weight of the upper housing 20 and ensure stability during the movement of the robot. The connecting surface 45 is an important part of the support column 40. It is respectively connected to the first reflecting surface 41 and the second reflecting surface 42, enhancing the structural strength of the support column 40. The first reflecting surface 41 and the second reflecting surface 42 jointly form the support column 40 with the connecting surface 45. The main functions of the first reflecting surface 41 and the second reflecting surface 42 are to adjust or optimize the path of the laser emitted by the optical sensor 30. By reasonably designing the shape and angle of the reflecting surface, it can be ensured that the laser emitted by the optical sensor 30 can propagate along a predetermined path without being reflected to the laser receiver 32, excluding the interference of the laser reflected by the support column 40 on the laser receiver 32, thereby improving the measurement accuracy and scanning range of the optical sensor 30.

[0091] In please refer to Figure 8 , in some embodiments, the connecting surface 45 of the support column 40 is a plane, and the optical path formed by the laser is perpendicular to the plane.

[0092] Specifically, the connection surface 45 can be a flat surface, so that the cross-section of the support column 40 is triangular. A triangle has natural stability, which can provide better support force and reduce the position deviation of the optical sensor 30 caused by vibration or impact during the movement of the cleaning robot 100. The optical path formed by the laser is perpendicular to the flat surface, which can be achieved by customizing the shape of the triangle and precisely placing and fixing the support column 40. In this way, it is more convenient to calculate the propagation path of the laser when the laser emitted by the optical sensor 30 hits the support column 40. Compared with the uneven connection surface 45 and the randomly placed support column 40, the connection surface 45 being a flat surface and making the laser optical path perpendicular to the flat surface makes the layout of the support column 40 in the housing 20 more unified and standardized.

[0093] In some embodiments, the lengths of the first reflection surface 41, the second reflection surface 42, and the connection surface 45 range from 2 to 5 millimeters.

[0094] Specifically, the lengths of the first reflection surface 41, the second reflection surface 42, and the connection surface 45 refer to the lengths of the three sides corresponding to the triangular cross-section of the support column 40. The lengths can be, for example, 2 millimeters, 2.2 millimeters, 2.5 millimeters, 3 millimeters, 3.2 millimeters, 3.5 millimeters, 4 millimeters, 4.2 millimeters, 4.5 millimeters, or 5 millimeters, but are not limited thereto. The selection of this length range is based on various factors, including structural strength, weight, processing accuracy, and cost, etc. Reducing the length can reduce the use of materials and processing difficulty, but if the length is too short, the processing accuracy required to ensure the smoothness and angle accuracy of the reflection surface will be too high. Increasing the length can increase the structural stability and strength, but if the length is too long, it will also increase the cost and weight, and increase the reflection area of the support column 40 for the laser, which may reduce the mapping efficiency and SLAM performance of the cleaning robot 100.

[0095] Please refer to Figure 8 and Figure 12 , in some embodiments, the connection surface 45 of the support column 40 is an arc surface.

[0096] Specifically, the connection surface 45 is an arc surface, that is, the cross-section of the support column 40 is a sector or a cap shape. In this way, the structural strength of the support column 40 can be increased. And the circular cross-section has no sharp corners, which can reduce friction and collision damage with surrounding components.

[0097] Please refer to Figure 13 , in some embodiments, the support column 40 is a rhombic column.

[0098] Specifically, the rhombic cross-section is structurally relatively strong and can withstand greater forces. And the rhombic support column 40 is relatively easy to process and manufacture, which helps to reduce costs. For example, in Figure 8In the illustrated example, the support column 40 is shaped like a triangle. By using the triangular support column 40, the laser beam emitted by the optical sensor 30 that hits the triangular support column 40 will not be directly reflected back to the optical sensor 30 due to the reflection of the hypotenuse. Thus, the influence caused by the support column 40 blocking the laser is shielded, improving the mapping efficiency and SLAM performance of the cleaning robot 100.

[0099] In some embodiments, there are multiple support columns 40, and the multiple support columns 40 are spaced apart.

[0100] Specifically, multiple support columns 40 can provide stronger structural support compared to a single support column 40. They jointly share the weight of the optical sensor 30 and its associated components and reduce the risk of deformation or damage caused by excessive stress on a single point. The spaced-apart arrangement can ensure that each support column 40 can effectively play its supporting role while maintaining overall stability and rigidity.

[0101] By reasonably arranging the positions and shapes of the multiple support columns 40, the path of the laser beam emitted by the optical sensor 30 can be further optimized. The reflecting surface on each support column 40 can fine-tune the laser beam to ensure its propagation along a predetermined trajectory, reducing scattering, thereby improving the measurement accuracy and reliability.

[0102] When the cleaning robot 100 moves or encounters an uneven ground surface, various forces and vibrations will be generated. The multiple spaced-apart support columns 40 can effectively disperse these stresses and vibrations, reducing the impact and damage to the optical sensor 30 and its installation position. This stress-dispersing effect helps to extend the service life of the optical sensor 30 and maintain its performance stability.

[0103] The multiple spaced-apart support columns 40 play an important role in the design of the field of view window of the optical sensor 30 in the housing 20 of the cleaning robot 100. They not only enhance the structural stability but also optimize the laser beam path and disperse the stress.

[0104] Please refer to Figure 7 , in some embodiments, the housing 20 includes a bottom wall 21 and a top wall 22, and the multiple support columns 40 are respectively connected to the bottom wall 21 and the top wall 22 to jointly form a receiving cover for the optical sensor 30, and the optical sensor 30 is located inside the receiving cover.

[0105] Specifically, the housing 20 includes a bottom wall 21 and a top wall 22, and the bottom wall 21 and the top wall 22 are respectively the structures of the housing 20 above and below the support columns 40. A plurality of support columns 40 are respectively connected to the bottom wall 21 and the top wall 22, forming a stable support structure, that is, the receiving cover. This design ensures the stability and position accuracy of the optical sensor 30 within the housing 20. Even when the cleaning robot 100 is on an uneven ground or moving at a high speed, the optical sensor 30 can maintain its original measurement and positioning performance.

[0106] The receiving cover provides a relatively enclosed and protected environment for the optical sensor 30. It can effectively prevent external factors such as dust, moisture, and debris from entering and affecting the normal operation of the optical sensor 30. At the same time, when the cleaning robot 100 moves or encounters a collision, the receiving cover can also play a buffering role, reducing the impact and damage to the optical sensor 30.

[0107] This application also provides a cleaning robot 100, and the cleaning robot 100 includes the sensor window 10 implementing any one of the above embodiments. Specifically, the structure of the cleaning robot 100 is as described above and will not be elaborated here.

[0108] According to the cleaning robot 100 of the embodiment of the present utility model, by providing the above-mentioned sensor window 10 and opening the sensor window 10 on the housing 20 of the cleaning robot 100, it is convenient for the optical sensor 30 inside the cleaning robot 100 to detect through the sensor window 10, and by arranging support columns on the sensor window 10, both the upper and lower ends of the support columns are connected to the housing 20, which can prevent the sensor window 10 from collapsing or deforming and ensure the stability of the sensor window 10.

[0109] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0110] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.

Claims

1. A sensor window for a cleaning robot, characterized in that, The cleaning robot includes a housing and an optical sensor. The optical sensor is located inside the housing. The housing is provided with a sensor window. The optical sensor can emit a light beam towards the window. A support post is arranged in the sensor window, and both the upper and lower ends of the support post are connected to the housing.

2. The sensor window according to claim 1, characterized in that, The support post is arranged obliquely relative to the vertical direction.

3. The sensor window according to claim 2, wherein, The angle between the support post and the vertical direction is A, and it satisfies: 45° ≤ A < 90°.

4. The sensor window according to claim 2, characterized in that, In the direction from top to bottom, the support post inclines to the left; or, in the direction from top to bottom, the support post inclines to the right; or, in the direction from top to bottom, the support post inclines forward; or, in the direction from top to bottom, the support post inclines backward.

5. The sensor window according to claim 2, wherein, There are multiple support posts including a first support post and a second support post. The first support post and the second support post are respectively located on the left and right sides of the sensor window.

6. The sensor window according to claim 5, wherein In the direction from top to bottom, the first support post and the second support post incline away from each other or incline towards each other.

7. The sensor window according to claim 5, wherein The first support post and the second support post are symmetrically arranged along the central plane of the cleaning robot perpendicular to the left - right direction.

8. The sensor window according to claim 1, wherein The support post includes an adjacent first reflecting surface and a second reflecting surface. The first reflecting surface and the second reflecting surface together form a vertex angle. When the light beam irradiates the support post, the central light ray of the light beam passes through the vertex angle.

9. The sensor window according to claim 8, wherein, The angle range of the vertex angle is 30 - 150 degrees.

10. The sensor window according to claim 8, wherein, The first reflecting surface and the second reflecting surface are coated with a coating.

11. The sensor window according to claim 8, wherein, The support post further includes a connecting surface. The connecting surface is respectively connected to the first reflecting surface and the second reflecting surface to jointly form the support post.

12. The sensor window according to claim 11, wherein, The connecting surface is a plane, and the optical path formed by the light beam is perpendicular to the plane.

13. The sensor window according to claim 11, wherein, The length ranges of the first reflecting surface, the second reflecting surface, and the connecting surface are 2 - 5 millimeters.

14. The sensor window according to claim 11, wherein The connecting surface is an arc surface.

15. The sensor window according to claim 8, wherein, The support post is a rhombic column.

16. The sensor window according to claim 1, wherein There are multiple support posts, and the multiple support posts are arranged at intervals.

17. The sensor window according to claim 16, wherein, The housing includes a bottom wall and a top wall. The multiple support posts are respectively connected to the bottom wall and the top wall to jointly form a housing for the optical sensor. The optical sensor is located inside the housing.

18. A cleaning robot, characterized in that, Including the support post according to any one of claims 1 - 17.

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