Floor sweeping robot front collision plate assembly and floor sweeping robot

Abstract

The utility model relates to the technical field of household appliances, and provides a sweeping robot front collision plate assembly and a sweeping robot, the sweeping robot front collision plate assembly comprises a front collision plate, an information acquisition module and a light supplement lamp, the information acquisition module and the light supplement lamp are both fixed on the front collision plate, the two light supplementing lamps are located on the two opposite sides of the information collection module in the vertical direction, the information collection module comprises an RGB module and a TOF module, the TOF module comprises a TOF receiver and a TOF transmitter, the TOF receiver, the TOF transmitter and the RGB module are located at the same horizontal height 50 mm-55 mm away from the ground, and the visual angle range of the TOF module in the vertical direction is larger than or equal to 45 degrees. The two light supplementing lamps are used for lighting the RGB module, it is ensured that the RGB module can obtain clear environment images, the sweeping robot can avoid obstacles to the human body or respond to finger sweeping gestures of a user while reducing sweeping blind areas, and ground blind areas and finger sweeping people finding are considered.

Description

Technical Field

[0001] The utility model relates to the technical field of household appliances, and in particular to a front bumper assembly of a sweeping robot and the sweeping robot. Background Art

[0002] A robot vacuum is a smart home appliance that automatically cleans the floor. To improve its visual environment recognition capabilities, most robots are equipped with a Time of Flight (TOF) module to determine the location and general shape of obstacles, enabling the robot to avoid them and improve cleaning efficiency. The TOF module can also be used to determine the user's location and recognize finger-sweeping gestures, enabling the robot vacuum to automatically avoid people or respond to user gestures.

[0003] In the existing technology, since the viewing angle of the TOF module is relatively limited, if the sweeping robot needs to recognize the human body or the user's finger scanning gesture, the cleaning blind spot becomes larger. If the cleaning blind spot is to be reduced as much as possible, the viewing angle of the TOF module may not be able to cover the human body or the user's finger scanning gesture, making it difficult to ensure the ease of use and cleaning efficiency of the sweeping robot. Utility Model Content

[0004] The utility model provides a front impact plate assembly of a sweeping robot and a sweeping robot, which are used to solve the problem that existing sweeping robots cannot simultaneously reduce the cleaning blind spots and recognize human bodies and finger sweeping gestures, thereby reducing the convenience of use and cleaning efficiency of the sweeping robot.

[0005] In the first aspect, the utility model provides a front impact plate assembly of a sweeping robot, comprising: a front impact plate, an information collection module and a fill light, wherein the information collection module and the fill light are both fixed to the front impact plate, and the two fill lights are located on opposite sides of the information collection module in the vertical direction, the information collection module comprises an RGB module and a TOF module, the TOF module comprises a TOF receiver and a TOF transmitter, the TOF receiver, the TOF transmitter and the RGB module are located at the same horizontal height of 50mm~55mm from the ground, and the viewing angle range of the TOF module in the vertical direction is greater than or equal to 45°.

[0006] According to a front bumper plate assembly of a sweeping robot provided by the utility model, the fill light is a strip light, and the strip light is arranged along the vertical direction.

[0007] According to the utility model, a front collision plate assembly of a sweeping robot further includes a light-filling sheet. The front collision plate is provided with a through hole. The light-filling sheet is fixed to the front collision plate to block the through hole.

[0008] According to a front collision plate assembly of a sweeping robot provided by the present invention, the fill light sheet is a light-distributing plate; and / or the inner surface or interior of the fill light sheet is provided with diamond patterns.

[0009] According to a front collision plate assembly of a sweeping robot provided by the utility model, the front collision plate includes a main board body and a decorative plate, the decorative plate is detachably connected to the main board body, the fill light is fixedly connected to the decorative plate, and the decorative plate has a first inclined surface and a second inclined surface symmetrically arranged, one of the fill light plates is installed on the first inclined surface and flush with the first inclined surface, and the other fill light plate is installed on the second inclined surface and flush with the second inclined surface.

[0010] According to a front collision plate assembly of a sweeping robot provided by the utility model, the angle between the two fill lights is 180°~240°.

[0011] According to a front collision plate assembly of a sweeping robot provided by the present invention, the viewing angle range of the TOF module in the horizontal direction is greater than or equal to 110°.

[0012] According to the utility model, a front bumper plate assembly of a sweeping robot also includes a module bracket, which is fixed to the front bumper plate. The module bracket has a first mounting cavity, a second mounting cavity and a third mounting cavity. The RGB module is plugged into the first mounting cavity, the TOF receiver is plugged into the second mounting cavity, and the TOF transmitter is plugged into the third mounting cavity.

[0013] According to a front collision plate assembly of a sweeping robot provided by the utility model, along the forward direction of the sweeping robot, the RGB module is located on the left side of the TOF module.

[0014] In a second aspect, the present invention further provides a sweeping robot, comprising a body and a front bumper plate assembly of the sweeping robot as described in any one of the above items.

[0015] The utility model provides a front bumper plate assembly of a sweeping robot and a sweeping robot. Two fill lights are arranged on opposite sides of an information collection module in the vertical direction to illuminate the RGB module, thereby ensuring that the RGB module can obtain a clear environmental image; the TOF receiver, the TOF transmitter and the RGB module are located at the same horizontal height of 50mm~55mm from the ground, and the viewing angle range of the TOF module in the vertical direction is greater than or equal to 45°, so that the field of view of the TOF module can cover the ground, the human body and the user's finger-sweeping gestures beyond 100mm in front of the sweeping robot, so that the sweeping robot can avoid obstacles to the human body or respond to the user's finger-sweeping gestures while reducing the blind spot of cleaning, thereby improving the convenience of use and the cleaning efficiency of the sweeping robot, and taking into account the blind spot on the ground and the finger-sweeping to find people. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the overall structure of the front impact plate assembly of the sweeping robot provided by the present invention;

[0018] Figure 2 This is one of the partial structural diagrams of the front impact plate assembly of the sweeping robot provided by the present invention;

[0019] Figure 3 This is one of the schematic diagrams of the viewing angle range of the TOF module provided by the present invention in the vertical direction;

[0020] Figure 4 This is the second schematic diagram of the vertical viewing angle range of the TOF module provided by the present invention;

[0021] Figure 5 This is the second partial structural diagram of the front impact plate assembly of the sweeping robot provided by the present invention;

[0022] Figure 6 This is a schematic diagram of the horizontal viewing angle range of the TOF module provided by the present invention.

[0023] Reference numerals:

[0024] 1. Front impact plate; 11. Main board; 12. Decorative panel; 121. First bevel; 122. Second bevel; 123. Mounting surface; 101. Through hole; 2. Information acquisition module; 21. RGB module; 22. TOF module; 221. TOF transmitter; 222. TOF receiver; 3. Fill light; 4. Fill light sheet; 5. Module bracket. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will provide a clear and complete description of the technical solutions of the present invention in conjunction with the accompanying drawings. 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.

[0026] The terms "first" and "second" in the specification and claims of this utility model may explicitly or implicitly refer to one or more of these features. In the description of this utility model, unless otherwise specified, "plurality" means two or more. Furthermore, "and / or" in the specification and claims refers to at least one of the connected items, and the character " / " generally indicates an "or" relationship between the connected items.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0028] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0029] The following combination Figures 1-6 The present invention describes a front striker assembly of a sweeping robot and the sweeping robot.

[0030] like Figures 1 to 3 As shown, the utility model provides a front impact plate assembly of a sweeping robot, comprising: a front impact plate 1, an information collection module 2 and a fill light 3. The information collection module 2 and the fill light 3 are both fixed to the front impact plate 1. The two fill lights 3 are located on opposite sides of the information collection module 2 in the vertical direction. The information collection module 2 includes an RGB module 21 and a TOF module 22. The TOF module 22 includes a TOF receiver 222 and a TOF transmitter 221. The TOF receiver 222, the TOF transmitter 221 and the RGB module 21 are located at the same horizontal height of 50 mm to 55 mm from the ground, and the viewing angle range of the TOF module 22 in the vertical direction is greater than or equal to 45°.

[0031] Specifically, if Figure 1As shown, the information acquisition module 2 is fixedly mounted on the front bumper 1. The RGB module 21 is used to acquire image information of the environment in which the sweeping robot is located. The RGB module 21 is located between two fill lights 3, which are used to illuminate the RGB module 21, ensuring that the RGB module 21 acquires a clear image of the environment. Optionally, the two fill lights 3 can be symmetrically arranged on opposite sides of the RGB module 21 in the vertical direction; alternatively, one fill light 3 can be closer to the RGB module 21 and the other fill light 3 can be farther away from the RGB module 21, so that the two fill lights 3 are symmetrically arranged on opposite sides of the information acquisition module 2. The centers of the two fill lights 3 can be at the same horizontal height as the center of the RGB module 21, or slightly higher or lower than the TGB module. When the ambient light in the environment in which the sweeping robot is located is dim, the two fill lights 3 are used to supplement the light for the RGB module 21, allowing the RGB module 21 to acquire more accurate environmental information. Optionally, the RGB module 21 can be an RGB camera or an RGB image sensor.

[0032] The TOF module 22 is used to collect the depth information of the target object to determine the position and approximate shape of the target object. For example, the TOF module 22 can be used to identify obstacles in front of the sweeping robot and / or to identify the user's finger-sweeping gesture. The TOF transmitter 221 continuously emits light pulses to the target object, and the TOF receiver 222 receives the light returned from the target object. The distance between the sweeping robot and the target object is obtained by detecting the round-trip time of the light pulse, thereby realizing the collection of the depth information of the target object. The TOF module 22 cooperates with the RGB module 21, and the depth information obtained by the TOF module 22 can be superimposed on the environmental image collected by the RGB module 21, so that the image captured by the sweeping robot has richer visual recognition information, thereby improving the intelligent navigation and interaction capabilities of the sweeping robot.

[0033] like Figure 2 As shown, the RGB module 21, the TOF transmitter 221 and the TOF receiver 222 are all located at the same horizontal height to ensure that the information collection module 2 has a good field of view. Specifically, the horizontal center lines of the RGB module 21, the TOF transmitter 221 and the TOF receiver 222 in the vertical direction are located at the same height. Among them, the height can be 50mm, 52mm, 53mm, 55mm or any value between 50mm and 55mm. By installing the RGB module 21, the TOF transmitter 221 and the TOF receiver 222 at the same horizontal height of 50mm~55mm from the ground, and the viewing angle range of the TOF module 22 in the vertical direction is greater than or equal to 45°, it is ensured that the field of view of the TOF module 22 covers the ground and the human body at the same time as much as possible, so as to reduce the blind spot of the sweeping robot while also being able to avoid obstacles on the human body or respond to the user's finger scanning gesture.

[0034] For example, Figure 3 and Figure 4 Schematic diagram of the case where the RGB module 21 and the TOF module 22 are installed on the front impact plate 1 at a height of 50 mm from the ground, and the viewing angle of the TOF module 22 in the vertical direction is 45°. Figure 3 As shown in the figure, in the current situation, the viewing angle of the TOF module 22 can cover the ground image 100mm away from the front of the sweeping robot, and the cleaning blind area is small. Generally, the user's finger sweeping gesture is about 1m from the ground, and the maximum height of the human body is about 2m. Figure 4 It can be seen that when the TOF module 22 is installed on the front bumper 1 at a height of 50 mm from the ground, and when the vertical viewing angle of the TOF module 22 is 45°, the field of view of the TOF module 22 can cover the human body and finger-sweeping gestures within 5 m in front of the sweeping robot. Among them, when the height of the TOF receiver 222, the TOF transmitter 221 and the RGB module 21 from the ground remains unchanged, making the vertical viewing angle of the TOF module 22 greater than 45° can further reduce the cleaning blind spot of the sweeping robot. When the vertical viewing angle of the TOF module 22 remains unchanged, lowering the height of the TOF receiver 222, the TOF transmitter 221 and the RGB module 21 from the ground can further reduce the cleaning blind spot of the sweeping robot. In an embodiment of the present invention, the TOF receiver 222, the TOF transmitter 221 and the RGB module 21 are installed at the same horizontal height of 50mm~55mm from the ground, and the viewing angle range of the TOF module 22 in the vertical direction is greater than or equal to 45°, which is beneficial to reducing the cleaning blind spots of the sweeping robot, and at the same time facilitates the sweeping robot to avoid obstacles to the human body and recognize and respond to the user's finger scanning gesture, thereby taking into account both the ground blind spots and finger scanning to find people.

[0035] The present invention provides a front bumper assembly for a sweeping robot. Two fill lights 3 are arranged on opposite sides of an information collection module 2 in the vertical direction to illuminate the RGB module 21, thereby ensuring that the RGB module 21 can obtain a clear image of the environment. The TOF receiver 222, the TOF transmitter 221 and the RGB module 21 are located at the same horizontal height of 50 mm to 55 mm from the ground. The viewing angle range of the TOF module 22 in the vertical direction is greater than or equal to 45°, so that the field of view of the TOF module 22 can cover the ground 100 mm away from the front of the sweeping robot and cover the human body and the user's finger-sweeping gestures. In this way, the sweeping robot can avoid obstacles to the human body or respond to the user's finger-sweeping gestures while reducing the blind spot of cleaning, thereby improving the convenience of use and cleaning efficiency of the sweeping robot.

[0036] In some embodiments, as Figure 5As shown, the fill lights 3 are strip lights. These strip lights are arranged vertically to increase the vertical illumination area, ensuring the lighting effect on the RGB module 21, thereby ensuring the clarity of the ambient image captured by the RGB module 21. Optionally, the center points of the RGB module 21 and the two fill lights 3 are located at the same horizontal height to ensure optimal light collection for the RGB module 21. Optionally, the strip lights are LED strip lights.

[0037] Furthermore, in some embodiments, Figure 5 As shown, the front collision plate assembly of the sweeping robot also includes a fill light sheet 4. Figure 2 As shown, the front collision plate 1 is provided with a through hole 101 . The fill light sheet 4 is fixed to the front collision plate 1 to block the through hole 101 .

[0038] Specifically, the fill light 3 is mounted on the inside of the front impact plate 1 near the through hole 101, emitting light outward through the through hole 101. Optionally, the through hole 101 is a strip-shaped hole, and the fill light sheet 4 is a strip-shaped hole, with the two sizes being compatible. The fill light sheet 4 blocks the through hole 101 to improve the lighting effect of the fill light 3 on the RGB module 21, thereby ensuring the clarity of the ambient image captured by the RGB module 21. At the same time, it provides physical protection for the fill light 3, preventing dust from entering through the through hole 101 and contaminating the fill light 3.

[0039] In some embodiments, the fill light sheet 4 has a connecting edge. During assembly, the fill light sheet 4 is passed through the through hole 101 on the inner side of the front bumper plate 1 and the connecting edge is fastened to the inner side of the front bumper plate 1 with a screw or other fastener to achieve a fixed connection between the fill light sheet 4 and the front bumper plate 1.

[0040] In some embodiments, the fill light sheet 4 is a light-distributing plate to make the light distributed by the fill light 3 more uniform. Optionally, the light-distributing plate is a frosted glass light-distributing plate or an acrylic light-distributing plate.

[0041] Optionally, the inner surface or interior of the fill light sheet 4 is provided with diamond patterns. The concave-convex structure of the diamond patterns can effectively scatter the incident light, so that the light emitted by the fill light 3 is evenly distributed on the fill light sheet 4, reducing hot spots and shadows, thereby ensuring the uniform light effect of the fill light sheet 4. The inner surface of the fill light sheet 4 refers to the side of the fill light sheet 4 facing the interior of the sweeping robot.

[0042] Specifically, if Figure 1 and Figure 2 As shown, the front impact plate 1 includes a main body 11 and a decorative plate 12. The decorative plate 12 is detachably connected to the main body 11. The fill light 3 is fixedly connected to the decorative plate 12. The decorative plate 12 has a first inclined surface 121 and a second inclined surface 122 arranged symmetrically. One fill light sheet 4 is mounted on the first inclined surface 121 and is flush with the first inclined surface 121. The other fill light sheet 4 is mounted on the second inclined surface 122 and is flush with the second inclined surface 122.

[0043] like Figure 1 As shown, the main board body 11 is arc-shaped. The main board body 11 is used to be fixed to the front side of the body of the sweeping robot. The decorative panel 12 is located in the center of the main board body 11. Specifically, the main board body 11 is provided with a mounting hole. Optionally, one of the main board body 11 and the decorative panel 12 is provided with a snap, and the other is provided with a snap seat. During assembly, the snap is mounted on the snap seat to achieve a detachable connection between the main board body 11 and the decorative panel 12, so as to reduce the complexity of the injection mold of the front impact plate 1 and facilitate improving the production qualification rate of the front impact plate 1.

[0044] Optional, such as Figure 1 and Figure 2 As shown, the decorative panel 12 is shaped like a truncated cone. The top surface of the decorative panel 12 is a mounting surface 123. The mounting surface 123 is a plane perpendicular to the horizontal plane. The information collection module 2 is located on the mounting surface 123. Along the forward direction of the sweeping robot, the conical surface on the left side of the decorative panel 12 is the first inclined surface 121, and the conical surface on the right side of the decorative panel 12 is the second inclined surface 122. The first inclined surface 121 and the second inclined surface 122 form a certain angle, and the two fill light sheets 4 are respectively installed flush with the first inclined surface 121 and the second inclined surface 122. The fill light sheets 4 being flush with the first inclined surface 121 means that the first inclined surface 121 does not block the light emitted by the fill light 3 through the fill light sheet 4. For example, the height of the fill light sheet 4 is not lower than the outer surface of the first inclined surface 121, thereby ensuring that the fill light 3 illuminates the left and right sides of the forward direction of the sweeping robot, ensuring uniform light collection in all areas of the field of view of the RGB module 21, and enabling the RGB module 21 to obtain a clear image of the environment.

[0045] In some embodiments, the angle between the two fill lights 3 is 180° to 240° to expand the illumination range of the fill lights 3. The light-emitting surface of one fill light 3 faces the first inclined surface 121, while the light-emitting surface of the other fill light 3 faces the second inclined surface 122. The angle between the two fill lights 3 refers to the angle formed between their light-emitting surfaces. For example, if the light-emitting surface of one fill light 3 is parallel to the first inclined surface 121, and the light-emitting surface of the other fill light 3 is parallel to the second inclined surface 122, the angle between the two fill lights 3 is the angle between the outer surface of the first inclined surface 121 and the outer surface of the second inclined surface 122. Optionally, the angle between the two fill lights 3 is 190°, 200°, 220°, or 240°, so that the two fill lights 3 face outward relative to each other, increasing the illumination range of the fill lights 3. Of course, the two fill lights 3 can also be arranged in parallel, forming a 180° angle.

[0046] Preferably, the angle between the two fill lights 3 is 210°, and the lighting area formed by the two can effectively cover the field of view area of ​​the RGB module 21.

[0047] like Figure 5As shown, the robot vacuum's front impact plate assembly also includes a module bracket 5. The module bracket 5 is fixed to the front impact plate 1. The module bracket 5 has a first mounting cavity, a second mounting cavity, and a third mounting cavity. The RGB module 21 is plugged into the first mounting cavity. The TOF receiver 222 is plugged into the second mounting cavity. The TOF transmitter 221 is plugged into the third mounting cavity.

[0048] Optionally, the module bracket 5 can be locked to the main board body 11 by means of locking parts such as bolts. The decorative panel 12 protrudes outward from the main board body 11, and a receiving cavity is formed between the two. The module bracket 5 is located in the receiving cavity. The RGB module 21, the TOF transmitter 221 and the TOF receiver 222 are respectively inserted into the three mounting cavities to provide support for the RGB module 21, the TOF transmitter 221 and the TOF receiver 222 through the module bracket 5. Among them, the first mounting cavity, the second mounting cavity and the third mounting cavity are not connected to each other and are at a certain distance apart to ensure that the field of view of the RGB module 21 is not blocked, while limiting the crosstalk of the infrared laser emitted by the TOF transmitter 221 to the TOF receiver 222.

[0049] The first, second, and third mounting cavities are sequentially arranged along the circumference of the front striker plate 1. The second mounting cavity is located in the middle, and the TOF receiver 222 is plugged into the second mounting cavity, so that the TOF receiver 222 is located in the middle of the RGB module 21 and the TOF transmitter 221. Optionally, the first, second, and third mounting cavities are located at the same level and are sequentially spaced from left to right along the forward direction of the sweeping robot, thereby facilitating the installation of the RGB module 21, the TOF receiver 222, and the TOF transmitter 221.

[0050] In some embodiments, as Figure 1 and Figure 2 As shown, along the forward direction of the sweeping robot, the RGB module 21 is located on the left side of the TOF module 22.

[0051] Specifically, for a sweeping robot that cleans on the right side, since the wide-angle field of view of the RGB module 21 is larger than the viewing angle of the TOF module 22, the RGB module 21 can be installed on the left side of the sweeping robot's forward direction. The RGB module 21, TOF receiver 222, and TOF transmitter 221 are sequentially spaced from the left side to the right side of the front impact plate 1 to avoid affecting the acquisition of the depth image due to the narrow viewing angle of the TOF module 22. The TOF module 22 is located on the right side of the sweeping robot's forward direction, enabling the TOF module 22 to capture the image of the right edge of the sweeping robot in advance in the horizontal direction, thereby improving the sweeping robot's cleaning efficiency.

[0052] Optionally, the viewing angle range of the TOF module 22 in the horizontal direction is greater than or equal to 110°.

[0053] Figure 6 1 is a schematic diagram comparing the viewing angle ranges of the TOF module 22 when the viewing angle in the horizontal direction is 110° and when the TOF module 22 is installed on the right side and the left side of the forward direction of the sweeping robot. Figure 6 As shown, when the sweeping robot is sweeping on the right side, placing the TOF module 22 on the right side can obtain the image of the right edge H distance earlier than placing it on the left side, thereby improving the cleaning efficiency of the sweeping robot and meeting the need of sweeping on the right side of the sweeping robot.

[0054] Similarly, for a sweeping robot that cleans the left side, the RGB module 21 can be installed on the right side of the TOF module 22 along the forward direction of the sweeping robot. The RGB module 21, TOF receiver 222 and TOF transmitter 221 are arranged in sequence from the right side to the left side of the front collision plate 1 to meet the needs of sweeping the left side of the sweeping robot.

[0055] In a second aspect, the present invention further provides a sweeping robot including a body and the sweeping robot front bumper assembly as described above.

[0056] A front impact plate 1 is fixedly mounted on the front side of the robot to reduce impact and protect it from obstacles ahead. An information acquisition module 2 communicates with a processor inside the robot, transmitting captured environmental and depth image information to the processor. The processor then controls the robot's direction of travel based on this information, enabling the robot to perform functions such as emergency obstacle avoidance, human recognition, and finger-sweep gesture recognition.

[0057] Since the sweeping robot includes a front bumper assembly of the sweeping robot, the specific structure of the sweeping robot refers to the above embodiment. The sweeping robot of this embodiment includes all the technical solutions of the above embodiment, and therefore has at least all the beneficial effects achieved by all the technical solutions of the above embodiment, which will not be repeated here.

[0058] 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 front impact plate assembly of a sweeping robot, characterized in that: include: A front collision plate, an information collection module and a fill light, wherein the information collection module and the fill light are both fixed to the front collision plate, and the two fill lights are located on opposite sides of the information collection module in the vertical direction. The information collection module includes an RGB module and a TOF module, and the TOF module includes a TOF receiver and a TOF transmitter. The TOF receiver, the TOF transmitter and the RGB module are located at the same horizontal height of 50mm~55mm from the ground, and the viewing angle range of the TOF module in the vertical direction is greater than or equal to 45°.

2. The front impact plate assembly of the sweeping robot according to claim 1, characterized in that: The fill light is a strip light, and the strip light is arranged along the vertical direction.

3. The front impact plate assembly of the sweeping robot according to claim 1 or 2, characterized in that: It also includes a fill light sheet, the front collision plate is provided with a through hole, and the fill light sheet is fixed to the front collision plate to block the through hole.

4. The front impact plate assembly of the sweeping robot according to claim 3, characterized in that: The fill light sheet is a light-homogenizing plate; and / or the inner surface or interior of the fill light sheet is provided with diamond patterns.

5. The front impact plate assembly of the sweeping robot according to claim 3, characterized in that: The front collision plate includes a main body and a decorative plate, the decorative plate is detachably connected to the main body, the fill light is fixedly connected to the decorative plate, and the decorative plate has a symmetrically arranged first inclined surface and a second inclined surface, one of the fill light plates is installed on the first inclined surface and is flush with the first inclined surface, and the other fill light plate is installed on the second inclined surface and is flush with the second inclined surface.

6. The front impact plate assembly of the sweeping robot according to claim 1 or 2, characterized in that: The angle between the two fill lights is 180°~240°.

7. The front impact plate assembly of the sweeping robot according to claim 1, characterized in that: The viewing angle range of the TOF module in the horizontal direction is greater than or equal to 110°.

8. The front impact plate assembly of the sweeping robot according to claim 1, characterized in that: It also includes a module bracket, which is fixed to the front collision plate. The module bracket has a first mounting cavity, a second mounting cavity and a third mounting cavity. The RGB module is plugged into the first mounting cavity, the TOF receiver is plugged into the second mounting cavity, and the TOF transmitter is plugged into the third mounting cavity.

9. The front impact plate assembly of the sweeping robot according to claim 1 or 8, characterized in that: Along the forward direction of the sweeping robot, the RGB module is located on the left side of the TOF module.

10. A sweeping robot, characterized in that: The utility model comprises a body and a front bumper plate assembly of a sweeping robot as claimed in any one of claims 1 to 9.

Images