Radar device and cleaning equipment

Abstract

The utility model relates to the technical field of cleaning equipment, and provides a radar device and cleaning equipment, the radar device comprises a radar main body and a lifting mechanism, the lifting mechanism is arranged at the bottom of the radar main body, the lifting mechanism comprises a base, a rotating part, a lifting part and a driving assembly, the base is fixed at a target position, and the rotating part is rotatably connected with the base; the lifting part is slidably connected with the base, the rotating axis of the rotating part relative to the base is parallel to the sliding direction of the lifting part relative to the base, the lifting part and the rotating part are in threaded transmission, the driving assembly drives the rotating part to rotate relative to the base, and the lifting part is connected with the radar body. By means of the arrangement, the radar device is arranged on the sweeping robot body, when the sweeping robot needs to enter a scene with the low space height, the driving assembly drives the lifting piece to descend, the lifting piece drives the radar body to descend, and therefore the overall height of the sweeping robot can be reduced; and the sweeping robot can smoothly enter a scene with a relatively low space height.

Description

Technical Field

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

[0002] With the development of intelligent technology, household cleaning equipment is becoming increasingly popular. For example, the radar system of a household sweeping robot is a key component, determining its ability to identify and avoid obstacles. Existing sweeping robots typically use lidar as their radar system. The lidar is mounted on the top of the robot body and uses lasers for identification and ranging. However, the lidar protrudes from the top of the robot body, affecting the overall height of the device. In some homes, vacuuming robots cannot access low-profile areas such as under beds, sofas, and cabinets. This limits the areas they can access, restricting their cleaning area and reducing the user experience.

[0003] Therefore, how to solve the problem in the prior art that the sweeping robot cannot enter scenes with lower heights due to the installation of a laser radar device has become an important technical problem that technicians in this field need to solve. Utility Model Content

[0004] The utility model provides a radar device and a cleaning device, which are used to solve the defect of the cleaning robot in the prior art that it cannot enter scenes with low heights due to the installation of a laser radar device.

[0005] The utility model provides a radar device, comprising:

[0006] Radar body;

[0007] A lifting mechanism is arranged at the bottom of the radar body, and the lifting mechanism includes a base, a rotating member, a lifting member and a driving assembly. The base is suitable for being fixed at a target position, the rotating member is rotatably connected to the base, and the lifting member is slidably connected to the base. The rotation axis of the rotating member relative to the base and the sliding direction of the lifting member relative to the base are parallel, the lifting member and the rotating member are threadedly transmitted, the driving assembly is suitable for driving the rotating member to rotate relative to the base, and the lifting member is connected to the radar body.

[0008] According to a radar device provided by the present utility model, the rotating member has a first sleeve portion, and the first sleeve portion is provided with an external thread;

[0009] The lifting member has a second sleeve portion, the axis of the second sleeve portion coincides with the axis of the first sleeve portion, the second sleeve portion is sleeved on the outside of the first sleeve portion, and the second sleeve portion is provided with an internal thread, which is adapted to the external thread.

[0010] According to a radar device provided by the present invention, the driving assembly is located to the side of the rotating member and the lifting member along a direction perpendicular to the rotation axis of the rotating member relative to the base;

[0011] Along the direction of the rotation axis of the rotating member relative to the base, the driving assembly and the rotating member are located on the same side of the base.

[0012] According to a radar device provided by the present utility model, the lifting mechanism further includes:

[0013] The rotary transmission assembly is arranged between the drive assembly and the rotating member. The power input end of the rotary transmission assembly is transmission-connected to the output end of the drive assembly, and the power output end of the rotary transmission assembly is transmission-connected to the rotating member.

[0014] According to a radar device provided by the present invention, the rotary transmission assembly includes:

[0015] A driving gear is rotatably disposed on the base, and the driving gear is drivingly connected to the output end of the driving assembly;

[0016] The driven gear part is provided on the rotating member, the central axis of the driven gear part coincides with the rotating axis of the rotating member relative to the base, and the driven gear part is meshed with the driving gear for transmission.

[0017] According to a radar device provided by the present invention, the driven gear portion and the rotating member are connected to form an integrated structure.

[0018] A radar device according to the present invention further includes:

[0019] An elastic member is provided between the lifting member and the base, and the elastic member is adapted to cause the lifting member to have a tendency to move away from the base.

[0020] A radar device according to the present invention further includes:

[0021] The position detection mechanism is suitable for detecting the lifting position of the lifting member relative to the base. The position detection mechanism and the drive assembly are both electrically connected to the control system.

[0022] According to a radar device provided by the present utility model, the position detection mechanism includes:

[0023] at least two contact switches, each of the contact switches being spaced apart along a sliding direction of the lifting member relative to the base;

[0024] The lifting member is suitable for sliding between a first position and a second position. When the lifting member slides to the first position, the lifting member interacts with one of the contact switches. When the lifting member slides to the second position, the lifting member interacts with the other contact switch.

[0025] The present utility model also provides a cleaning device, including a cleaning device body, an obstacle detection device, a control system and the above-mentioned radar device, wherein the obstacle detection device is suitable for at least detecting the height of the space in front of the cleaning device body, and the obstacle detection device and the radar device are both electrically connected to the control system.

[0026] The radar device provided by the present invention includes a radar body and a lifting mechanism. The lifting mechanism is arranged at the bottom of the radar body, and the movement of the lifting mechanism can drive the radar body to rise and fall. The lifting mechanism includes a base, a rotating member, a lifting member and a driving assembly. The base is used to be fixed at the target position as a support. The rotating member is rotatably connected to the base, and the lifting member is slidably connected to the base. The rotating axis of the rotating member relative to the base and the sliding direction of the lifting member relative to the base are parallel, and the lifting member and the rotating member are threadedly transmitted. The lifting member is connected to the radar body, and the driving assembly is used to drive the rotating member to rotate relative to the base. When the driving assembly drives the rotating member to rotate relative to the base, it can drive the lifting member to rise and fall relative to the base, thereby driving the radar body to rise and fall relative to the base. With this arrangement, the radar device is configured as a structural form in which the position of the radar body can be raised and lowered, and the height adjustment of the radar body is achieved through the lifting mechanism. The radar device is set on the main body of the sweeping robot. When the sweeping robot needs to enter a scene with a lower space height, the driving component drives the lifting part to descend, and the lifting part drives the radar body to descend, thereby reducing the overall height of the sweeping robot and ensuring that the sweeping robot can smoothly enter the scene with a lower space height. This solves the problem in the prior art that the sweeping robot cannot enter the scene with a lower space height due to the installation of the laser radar device.

[0027] After the sweeping robot leaves a scene with a low height, the driving component drives the lifting member to rise, and the lifting member drives the radar body to rise, so that the radar body can be reset.

[0028] Furthermore, the cleaning device provided by the present invention has the radar device as described above, and thus also has the various advantages as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 This is a front view of a cleaning device equipped with the radar device provided by the present invention (the radar body is raised above the top surface of the cleaning device body).

[0031] Figure 2 This is a cross-sectional view of the cleaning device provided by the present invention (the radar body is lowered below the top surface of the cleaning device body).

[0032] Figure 3 yes Figure 2 Enlarged view of point I in the middle.

[0033] Reference numerals:

[0034] 1. Radar body; 2. Base; 3. Rotating part; 4. Lifting part; 5. Driving assembly; 6. Driving gear; 7. Driven gear part; 8. Elastic part; 9. Cleaning equipment body; 10. Obstacle detection device. DETAILED DESCRIPTION

[0035] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] The following combination Figures 1 to 3 The radar device of the present invention is described.

[0037] like Figures 1 to 3 As shown, the radar device provided by the embodiment of the present invention includes a radar body 1 and a lifting mechanism.

[0038] Specifically, the lifting mechanism is arranged at the bottom of the radar body 1 , and the movement of the lifting mechanism can drive the radar body 1 to move up and down.

[0039] The lifting mechanism includes a base 2, a rotating member 3, a lifting member 4 and a driving assembly 5. The base 2 is used to be fixed at a target position as a support.

[0040] The rotating member 3 is rotationally connected to the base 2, and the lifting member 4 is slidably connected to the base 2. The rotation axis of the rotating member 3 relative to the base 2 and the sliding direction of the lifting member 4 relative to the base 2 are parallel. The lifting member 4 and the rotating member 3 are threaded. The lifting member 4 is connected to the radar body 1, and the drive assembly 5 is used to drive the rotating member 3 to rotate relative to the base 2. The lifting member 4 can only slide relative to the base 2 and cannot rotate relative to the base 2. When the drive assembly 5 drives the rotating member 3 to rotate relative to the base 2, it can also drive the lifting member 4 to rise and fall relative to the base 2, thereby driving the radar body 1 to rise and fall relative to the base 2.

[0041] With this configuration, the radar device is configured as a structure in which the position of the radar body 1 can be raised and lowered, and the height of the radar body 1 can be adjusted through the lifting mechanism. By installing the radar device on the main body of the sweeping robot, when the sweeping robot needs to enter a low-height space, the drive assembly 5 drives the lifting member 4 to descend, and the lifting member 4 drives the radar body 1 to descend, thereby reducing the overall height of the sweeping robot, ensuring that the sweeping robot can smoothly enter low-height spaces. This solves the problem of sweeping robots in the prior art being unable to enter low-height spaces due to the installation of the laser radar device.

[0042] After the sweeping robot leaves a scene with a low height, the driving assembly 5 drives the lifting member 4 to rise, and the lifting member 4 drives the radar body 1 to rise, so that the radar body 1 can be reset.

[0043] It should be noted that the rotation member 3 and the lifting member 4 are configured as a threaded transmission structure, which improves the stability of the lifting mechanism and does not cause adverse effects on the operation of the radar body 1.

[0044] In the embodiment of the present invention, an external thread is provided on the rotating member 3 and an internal thread is provided on the lifting member 4, and the internal thread is adapted to the external thread. The rotating member 3 and the lifting member 4 have simple structures and occupy little space.

[0045] In this specific embodiment, the rotating member 3 comprises a first sleeve portion, and the lifting member 4 comprises a second sleeve portion. The axis of the first sleeve portion coincides with the axis of the second sleeve portion, and the second sleeve portion is sleeved onto the exterior of the first sleeve portion. The first sleeve portion is provided with an external thread, and the second sleeve portion is provided with an internal thread, which mates with the external thread. The sleeved and threaded engagement of the first and second sleeve portions not only enables the lifting mechanism to function, but also improves its stability.

[0046] In this embodiment of the present invention, the drive assembly 5 is arranged to the side of the rotating member 3 and the lifting member 4 in a direction perpendicular to the rotation axis of the rotating member 3 relative to the base 2. Furthermore, the drive assembly 5 and the rotating member 3 are arranged on the same side of the base 2 in the direction of the rotation axis of the rotating member 3 relative to the base 2.

[0047] This arrangement shortens the length of the lifting mechanism along the lifting direction and reduces the space occupied by the lifting mechanism in the lifting direction. When the radar device in this embodiment is installed on the cleaning device body 9 such as the robot vacuum cleaner body, the lifting direction of the lifting mechanism is the height direction of the cleaning device body 9, which is equivalent to shortening the length of the lifting mechanism in the height direction of the cleaning device body 9 and the space occupied by the lifting mechanism. This makes it more convenient to arrange the radar device and is conducive to increasing the lifting stroke of the radar body 1 within the limited height range of the cleaning device body 9.

[0048] In this embodiment, the lifting mechanism also includes a rotary transmission component, which is arranged between the driving component 5 and the rotating part 3. The power input end of the rotary transmission component is transmission-connected to the output end of the driving component 5, and the power output end of the rotary transmission component is transmission-connected to the rotating part 3. The rotary transmission component can be used to transmit the power of the driving component 5 to the rotating part 3.

[0049] The above-mentioned rotary transmission assembly can be set to a gear transmission, a pulley transmission, a sprocket and chain transmission and other structural forms.

[0050] In this embodiment, the rotary transmission assembly is configured as a gear transmission structure, which provides smooth transmission, a compact structure, and occupies little space.

[0051] The rotary transmission assembly includes a driving gear 6 and a driven gear 7. The driving gear 6 is rotatably mounted on the base 2 and is in driving connection with the output of the drive assembly 5. The driven gear 7 is mounted on the rotating member 3. The central axis of the driven gear 7 coincides with the rotational axis of the rotating member 3 relative to the base 2, and the driven gear 7 and the rotating member 3 are fixed relative to each other.

[0052] The driven gear portion 7 is meshed with the driving gear 6 for transmission, and the driving assembly 5 drives the driving gear 6 to rotate. Through the meshing transmission effect of the driven gear portion 7 and the driving gear 6, the driven gear portion 7 and the rotating member 3 can be driven to rotate relative to the base 2.

[0053] The driven gear portion 7 and the rotating member 3 are connected to form an integral structure. Specifically, the driven gear portion 7 and the rotating member 3 can be integrally processed and formed.

[0054] The driving component 5 can be, but is not limited to, an electric motor.

[0055] In the embodiment of the present invention, the radar device further includes an elastic member 8 , which is disposed between the lifting member 4 and the base 2 . The elastic member 8 is used to cause the lifting member 4 to tend to move away from the base 2 .

[0056] When the drive assembly 5 drives the lifter 4 downward, it must overcome the elastic force of the elastic member 8, causing the elastic member 8 to deform elastically and accumulate energy. When the drive assembly 5 drives the lifter 4 upward, the elastic member 8 recovers its deformation, exerting an upward force on the lifter 4, thereby promoting the reset of the radar body 1.

[0057] Moreover, the provision of the elastic member 8 can make the connection between the radar body 1 and the base 2 more flexible, provide buffering and shock absorption, reduce the risk of damage to the radar body 1, and help extend the service life of the cleaning equipment.

[0058] The elastic member 8 may be, but is not limited to, a coil spring, the axis of which is parallel to the sliding direction of the lifting member 4 relative to the base 2 .

[0059] In some embodiments, a guide structure is provided between the lifting member 4 and the base 2 to guide the lifting action of the lifting member 4 and improve the stability of the lifting member 4 .

[0060] The guide structure includes a first guide cylinder and a second guide cylinder. The first guide cylinder is sleeved outside the second guide cylinder and can slide relative to the second guide cylinder. The first guide cylinder is fixedly connected to the base 2, and the second guide cylinder is fixedly connected to the lifting member 4. As the lifting member 4 is raised and lowered relative to the base 2, the relative sliding of the first and second guide cylinders guides the lifting movement of the lifting member 4.

[0061] At this time, the coil spring as the elastic member 8 can be sleeved on the outside of the first guide cylinder and the second guide cylinder.

[0062] The first guide cylinders and the second guide cylinders may be provided in multiple pairs, and the multiple pairs of the first guide cylinders and the second guide cylinders are distributed at intervals along the circumference of the lifting member 4 .

[0063] In the embodiment of the present invention, the radar device further includes a position detection mechanism, which is used to detect the lifting position of the lifting member 4 relative to the base 2.

[0064] The position detection mechanism and the drive assembly 5 are both electrically connected to the control system. The control system controls the drive assembly 5 according to the lifting position of the lifting member 4 relative to the base 2 detected by the position detection mechanism, so as to control the lifting of the lifting member 4 as needed.

[0065] The radar device in this embodiment needs to be used in conjunction with the obstacle detection device 10. The obstacle detection device 10 can detect the height of the surrounding space. The control system controls the action of the driving component 5 of the radar device according to the height of the surrounding space detected by the obstacle detection device 10, thereby realizing automatic control of the lifting and lowering action of the radar body 1, which is conducive to the advancement of the intelligence of the cleaning equipment.

[0066] In this embodiment, the position detection mechanism includes at least two contact switches, and the contact switches are distributed at intervals along the sliding direction of the lifting member 4 relative to the base 2 .

[0067] The lifting member 4 is capable of sliding between a first position and a second position, and contact switches are provided at least at the first position and the second position. When the lifting member 4 slides to the first position, the lifting member 4 interacts with the contact switch at the first position, triggering the contact switch at the first position; and when the lifting member 4 slides to the second position, the lifting member 4 interacts with the contact switch at the second position, triggering the contact switch at the second position.

[0068] The height of the lifter 4 in the first position is greater than its height in the second position. When the drive assembly 5 drives the radar body 1 downward, if the lifter 4 slides to interact with the contact switch in the second position, the contact switch in the second position is triggered, indicating that the lifter 4 has reached its lowering limit. At this point, the control system controls the drive assembly 5 to stop operation. When the drive assembly 5 drives the radar body 1 upward, if the lifter 4 slides to interact with the contact switch in the first position, the contact switch in the first position is triggered, indicating that the lifter 4 has reached its upper limit. At this point, the control system controls the drive assembly 5 to stop operation.

[0069] A contact switch may be provided between the first and second positions to detect multiple positions of the lifting member 4. The radar body 1 may be raised or lowered to different heights based on the height of the surrounding space detected by the obstacle detection device 10, as long as the overall height of the cleaning device is ensured to be lower than the detected height of the surrounding space.

[0070] In summary, the radar device provided by the embodiment of the present invention has a simple and compact structure, is easy to assemble, and has a stable structure. It can reduce the production defect rate and is conducive to improving the user experience of the cleaning equipment.

[0071] Another embodiment of the present invention provides a cleaning device comprising a cleaning device body 9, an obstacle detection device 10, a control system, and a radar device according to any of the above embodiments. The obstacle detection device 10 and the radar device are both electrically connected to the control system. The obstacle detection device 10 is capable of detecting at least the height of the space in front of the cleaning device body 9. The control system controls the radar device's drive assembly 5 based on the height detected by the obstacle detection device 10 to adjust the height of the radar body 1.

[0072] The cleaning device in this embodiment can automatically control the height of the radar body 1 when it needs to enter a space with a lower height, ensuring that the cleaning device can smoothly enter the space with a lower height and avoid interference or collision with the radar body 1. The derivation process of the beneficial effects of the cleaning device in the embodiment of the present utility model is generally similar to the derivation process of the beneficial effects of the above-mentioned radar device, so it will not be repeated here.

[0073] It should be noted that the cleaning device body 9 is provided with a mounting hole, into which the radar device is embedded, and the base 2 of the radar device's lifting mechanism is fixedly connected to the cleaning device body 9. When the radar body 1 of the radar device is lowered to its lowest position, the upper surface of the radar body 1 needs to be flush with the upper surface of the cleaning device body 9, or the upper surface of the radar body 1 needs to be lower than the upper surface of the cleaning device body 9 to minimize the impact of the radar device on the height of the cleaning device body 9.

[0074] The obstacle detection device 10 may be, but is not limited to, a line laser sensor.

[0075] In this embodiment, the type of cleaning device is not limited, for example, the cleaning device may be a sweeping robot, etc. In other words, as long as the cleaning device can use the radar device in this embodiment, it will be sufficient.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A radar device, characterized in that: include: Radar body (1); A lifting mechanism is provided at the bottom of the radar body (1), and the lifting mechanism comprises a base (2), a rotating member (3), a lifting member (4) and a driving assembly (5), wherein the base (2) is suitable for being fixed at a target position, the rotating member (3) is rotatably connected to the base (2), the lifting member (4) is slidably connected to the base (2), the rotating axis of the rotating member (3) relative to the base (2) and the sliding direction of the lifting member (4) relative to the base (2) are parallel, the lifting member (4) and the rotating member (3) are threadedly driven, the driving assembly (5) is suitable for driving the rotating member (3) to rotate relative to the base (2), and the lifting member (4) is connected to the radar body (1).

2. The radar device according to claim 1, wherein The rotating member (3) has a first sleeve portion, and the first sleeve portion is provided with an external thread; The lifting member (4) has a second sleeve portion, the axis of the second sleeve portion coincides with the axis of the first sleeve portion, the second sleeve portion is sleeved on the outside of the first sleeve portion, and the second sleeve portion is provided with an internal thread, which is adapted to the external thread.

3. The radar device according to claim 1, wherein Along a direction perpendicular to the rotation axis of the rotating member (3) relative to the base (2), the driving assembly (5) is located to the side of the rotating member (3) and the lifting member (4); Along the direction of the rotation axis of the rotating member (3) relative to the base (2), the driving assembly (5) and the rotating member (3) are located on the same side of the base (2).

4. The radar device according to claim 3, characterized in that The lifting mechanism further comprises: The rotary transmission assembly is arranged between the drive assembly (5) and the rotating member (3), the power input end of the rotary transmission assembly is in transmission connection with the output end of the drive assembly (5), and the power output end of the rotary transmission assembly is in transmission connection with the rotating member (3).

5. The radar device according to claim 4, characterized in that The rotary transmission assembly comprises: A driving gear (6) is rotatably arranged on the base (2), and the driving gear (6) is in transmission connection with the output end of the driving assembly (5); The driven gear portion (7) is provided on the rotating member (3), the central axis of the driven gear portion (7) coincides with the rotation axis of the rotating member (3) relative to the base (2), and the driven gear portion (7) is meshed with the driving gear (6) for transmission.

6. The radar device according to claim 5, characterized in that The driven gear portion (7) and the rotating member (3) are connected to form an integrated structure.

7. The radar device according to claim 1, wherein Also includes: An elastic member (8) is arranged between the lifting member (4) and the base (2), and the elastic member (8) is suitable for causing the lifting member (4) to have a tendency to move away from the base (2).

8. The radar device according to claim 1, wherein Also includes: A position detection mechanism is suitable for detecting the lifting position of the lifting member (4) relative to the base (2), and the position detection mechanism and the drive assembly (5) are both electrically connected to a control system.

9. The radar device according to claim 8, characterized in that The position detection mechanism includes: at least two contact switches, each of the contact switches being spaced apart and distributed along the sliding direction of the lifting member (4) relative to the base (2); The lifting member (4) is suitable for sliding between a first position and a second position. When the lifting member (4) slides to the first position, the lifting member (4) interacts with one of the contact switches. When the lifting member (4) slides to the second position, the lifting member (4) interacts with the other contact switch.

10. A cleaning device, characterized in that: The invention comprises a cleaning device body (9), an obstacle detection device (10), a control system and a radar device according to any one of claims 1 to 9, wherein the obstacle detection device (10) is suitable for at least detecting the height of the space in front of the cleaning device body (9), and the obstacle detection device (10) and the radar device are both electrically connected to the control system.

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