Robot shell, cleaning robot and cleaning system

Abstract

The utility model discloses a robot shell, a cleaning robot and a cleaning system, the robot shell comprises a shell and at least one lateral sensing device, and the shell is provided with a front end and a rear end which are oppositely arranged; the lateral sensing device is arranged on the side wall of the shell and located on the right rear portion or the left rear portion of the front end of the shell. The lateral sensing device comprises a first line laser and a first camera module which are sequentially distributed side by side in the upward inclined direction, the first camera module is located on the side, close to the front end of the shell, of the first line laser, and the emergent end of the first line laser is obliquely arranged towards the first camera module. According to the technical scheme, the obstacle avoidance effect of the cleaning robot can be effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning equipment technology, and in particular to a robot housing, a cleaning robot, and a cleaning system. Background Technology

[0002] Currently, cleaning robots such as sweeping robots and sweeping-mopping robots detect obstacles in their path by having forward and lateral sensors located at the front and right sides of their casing, respectively. Existing cleaning robots typically use line laser modules for both forward and lateral sensing. The forward sensor emits a horizontal line of laser light to detect obstacles in front of the robot, while the lateral sensor emits a vertical line of laser light to detect obstacles to its sides. However, this design creates a blind spot between the forward and lateral sensors. Objects in front of the robot's side are often only detected when they are very close to the lateral sensor. Therefore, when the robot has significant inertia, collisions can easily occur due to delayed avoidance, resulting in poor obstacle avoidance performance. Utility Model Content

[0003] This disclosure provides a robot housing, a cleaning robot, and a cleaning system, designed to improve the obstacle avoidance performance of the cleaning robot.

[0004] To achieve the above objectives, the robot housing disclosed herein includes:

[0005] The housing has a front end and a rear end that are positioned opposite to each other;

[0006] At least one lateral sensing device is disposed on the side wall of the housing, and the lateral sensing device is located to the right rear or left rear of the front end of the housing.

[0007] The lateral sensing device includes a first line laser and a first camera module arranged sequentially and side by side along an upward inclined direction. The first camera module is located on the side of the first line laser near the front end of the housing, and the emitting end of the first line laser is inclined toward the first camera module.

[0008] In some embodiments, the lateral sensing device is located closer to the front end of the housing than to the rear end of the housing.

[0009] In some embodiments, the lateral sensing device further includes a first mounting bracket disposed on the side wall of the housing. The inner wall of the first mounting bracket is provided with a first limiting groove and a first limiting hole. The first line laser is inserted and fixed in the first limiting groove, and the first camera module is inserted and fixed in the first limiting hole. The outer wall of the first mounting bracket is provided with a first light-emitting hole that penetrates the bottom surface of the first limiting groove.

[0010] In some embodiments, the first light-emitting aperture is a strip-shaped aperture with a width smaller than the width of the emitting end of the first line laser, and is perpendicular to the side-by-side distribution direction of the first line laser and the first camera module;

[0011] And / or, the outer wall of the first mounting bracket is provided with a first light inlet hole that mates with the first limiting hole, and the first light inlet hole gradually expands from the inside to the outside;

[0012] And / or, the lateral sensing device further includes a first circuit board, which is mounted on the inner wall of the first mounting bracket and electrically connected to the first line laser and the first camera module.

[0013] And / or, the lateral sensing device further includes a first lens, which is disposed on the outer wall of the first mounting bracket and covers the first light-emitting hole and the first camera module.

[0014] In some embodiments, the lateral sensing device further includes a first lens disposed on the outer wall of the first mounting bracket, the first lens covering the first light-emitting hole and the first camera module; the outer wall of the first mounting bracket is provided with a first groove, and the first lens is adapted to be accommodated in the first groove.

[0015] In some embodiments, the housing further includes a forward sensing device disposed on the side wall at the front end of the housing.

[0016] In some embodiments, the forward sensing device includes a second line laser and a second camera module arranged side by side, the second line laser being located above the second camera module and tilted toward the second camera module.

[0017] In some embodiments, the forward sensing device further includes a second mounting bracket disposed on the side wall of the housing. The inner wall of the second mounting bracket is provided with a second limiting groove and a second limiting hole. The second line laser is inserted and fixed in the second limiting groove, and the second camera module is inserted and fixed in the second limiting hole. The outer wall of the second mounting bracket is provided with a second light-emitting hole that penetrates the bottom surface of the second limiting groove.

[0018] In some embodiments, the second light-emitting aperture is a strip-shaped aperture with a width smaller than the width of the emitting end of the second line laser, and the second light-emitting aperture is inclined downward and perpendicular to the vertical direction;

[0019] And / or, the outer wall of the second mounting bracket is provided with a second light inlet hole that mates with the second limiting hole, and the second light inlet hole gradually expands from the inside to the outside;

[0020] And / or, the forward sensing device further includes a second circuit board, which is mounted on the inner wall of the second mounting bracket and is electrically connected to the second line laser and the second camera module;

[0021] And / or, the forward sensing device further includes a second lens, which is disposed on the outer wall of the second mounting bracket and covers the second light-emitting hole and the second camera module.

[0022] In some embodiments, the forward sensing device further includes a supplementary lighting module, and the second mounting bracket is provided with a supplementary lighting through hole, with the supplementary lighting module disposed on the inner wall of the second mounting bracket directly opposite the supplementary lighting through hole;

[0023] And / or, the forward sensing device further includes a second lens, which is disposed on the outer wall of the second mounting bracket and covers the second light-emitting hole and the second camera module; the outer wall of the second mounting bracket is provided with a second groove, and the second lens is adapted to be accommodated in the second groove.

[0024] This disclosure also proposes a cleaning robot, including the robot housing described above.

[0025] This disclosure also proposes a cleaning system, including a base station and the aforementioned cleaning robot, wherein the base station is provided with a docking position for the cleaning robot to dock.

[0026] The disclosed technical solution for a robot casing, when applied to a cleaning robot, utilizes a lateral sensing device where the first linear laser and the first camera module are arranged side-by-side in an upward-sloping direction. This means the first linear laser is angled, resulting in an angled linear laser beam emitted from its emitting end towards the side of the cleaning robot. The lower end of this angled linear laser beam moves forward a certain distance, reaching a more forward position within the side area of ​​the cleaning robot. During operation, when an object in front of the cleaning robot's side enters the lower illumination range of this angled linear laser (while still some distance from the lateral sensing device), the linear laser beam is reflected by the object to the first camera module. The lateral sensing device then detects the object in front of the side area, allowing it to detect objects earlier. This provides the cleaning robot with more time to prepare for obstacle avoidance, better preventing collisions and effectively improving its obstacle avoidance performance. Attached Figure Description

[0027] Figure 1 This is a top view schematic diagram of one embodiment of the robot housing of this disclosure;

[0028] Figure 2 for Figure 1 A partial schematic diagram of the location of the lateral sensing device in the embodiment;

[0029] Figure 3 This is a schematic diagram of the structure of a lateral sensing device from one perspective in an embodiment of the present disclosure;

[0030] Figure 4 This is a schematic diagram of the structure of a lateral sensing device according to one embodiment of the present disclosure from another perspective;

[0031] Figure 5 for Figure 4 A schematic diagram of the structure of the first mounting bracket in the embodiment;

[0032] Figure 6 This is a front view of a lateral sensing device according to an embodiment of the present disclosure;

[0033] Figure 6a for Figure 6 A cross-sectional view along the AA direction;

[0034] Figure 7 This is a schematic diagram of the structure of a forward sensing device from one perspective in an embodiment of the present disclosure.

[0035] Figure 8 This is a schematic diagram of the forward sensing device from another perspective in one embodiment of the present disclosure.

[0036] Figure 9 for Figure 8 A schematic diagram of the structure of the second mounting bracket in the embodiment;

[0037] Figure 10 This is a front view of a forward sensing device according to an embodiment of the present disclosure;

[0038] Figure 10a for Figure 10 Cross-sectional view along the BB direction;

[0039] Figure 11 This is a schematic diagram of the structure of a cleaning system according to an embodiment of the present disclosure. Detailed Implementation

[0040] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0041] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this disclosure are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0042] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0043] Furthermore, the use of terms such as "first" and "second" in this disclosure is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this disclosure.

[0044] This disclosure proposes a robot housing applicable to various mobile robot products, such as cleaning robots like sweeping robots, mopping robots, and combined sweeping and mopping robots, or transport robots and service robots. For a clearer explanation of the technical solution of this disclosure, please refer to [link to relevant documentation]. Figure 11 The embodiments in this disclosure are illustrated using a cleaning robot 100 as an example. The cleaning robot 100 can perform cleaning tasks on the surface to be cleaned, including but not limited to the ground, tabletop, glass surface, roof, door, etc.

[0045] See Figure 1 and Figure 2 In this embodiment, the robot housing includes a housing 10 and at least one lateral sensor. The housing 10 has a front end 11 and a rear end 12 arranged opposite to each other. The front end 11 and rear end 12 of the housing 10 refer to the front and rear ends in the forward direction of the cleaning robot 100, such as the forward direction of the cleaning robot 100 when performing a cleaning task. A lateral sensing device 20 is disposed on the side wall of the housing 10, and the lateral sensing device 20 is located to the right rear or left rear of the front end 11 of the housing 10. In the figures of this embodiment, only one lateral sensing device 20 located to the right rear of the front end 11 of the housing 10 is shown as an example. See [reference needed]. Figure 1 The right side of the housing 10. Of course, in some other embodiments, a lateral sensing device 20 may be provided on the left rear of the front end 11 of the housing 10, or a lateral sensing device 20 may be provided on both the right rear and left rear of the front end 11 of the housing 10, or multiple lateral sensing devices 20 may be provided on the right rear or left rear of the front end 11 of the housing 10.

[0046] The lateral sensing device 20 includes a first line laser 21 and a first camera module 22 arranged sequentially and side-by-side along an upwardly inclined direction F. The first camera module 22 is located on the side of the first line laser 21 near the front end 11 of the housing 10 (also the side of the first line laser 21 that is inclined upwards), that is, the first line laser 21 is arranged side-by-side below the first camera module 22. Furthermore, the emitting end of the first line laser 21 is inclined towards the first camera module 22, so that the linear laser emitted by the first line laser 21 can be received by the first camera module 22 after being reflected by an obstacle. It can be understood that the direction F points from the rear end 12 of the housing 10 to the front end 11 and is inclined away from the surface to be cleaned. The first camera module 22 is closer to the front end 11 of the housing 10 and farther away from the surface to be cleaned than the first line laser 21. For example, when the surface to be cleaned is the ground, the cleaning robot 100 walks on the ground to clean it. The direction F points from the rear end 12 of the housing 10 to the front end 11 and is tilted in the direction away from gravity. The first camera module 22 is closer to the front end 11 of the housing 10 than the first line laser 21, and its height in the direction away from gravity is higher than that of the first line laser 21.

[0047] The technical solution of the robot housing in this embodiment, when applied to the cleaning robot 100 as the housing of the cleaning robot 100, is such that, since the first line laser 21 and the first camera module 22 of the lateral sensing device 20 are arranged side by side in a tilted upward direction F, that is, the first line laser 21 is tilted, the linear laser emitted from the emitting end of the first line laser 21 towards the side area of ​​the cleaning robot 100 is tilted, and the lower end of this tilted linear laser will move forward a certain distance, reaching a more forward position in the side area of ​​the cleaning robot 100; during the operation of the cleaning robot 100, when When an object in front of the side area of ​​the cleaning robot 100 enters the lower illumination range of the inclined linear laser (at which point the object is still a certain distance from the lateral sensing device 20), the linear laser will be reflected by the object to the first camera module 22. The lateral sensing device 20 will then detect the object in front of the side area. In other words, the lateral sensing device 20 can detect the object in front of the side area of ​​the cleaning robot 100 earlier, thus giving the cleaning robot 100 more time to prepare for obstacle avoidance and better avoid collisions, effectively improving the obstacle avoidance performance of the cleaning robot 100.

[0048] See Figure 1 In some embodiments, the housing also includes a forward sensing device 30, which is disposed on the side wall of the front end 11 of the housing 10. The forward sensing device 30 is used to detect obstacles in front of the cleaning robot 100 so that the cleaning robot 100 can avoid obstacles during its movement. The forward sensing device 30 can use a line laser sensor for detection, or an infrared light sensor, or other methods to detect obstacles in front. Furthermore, because the lower end of the line laser emitted by the first line laser 21 of the lateral sensing device 20 moves forward, hitting a more forward position in the side area of ​​the cleaning robot 100, a portion of the detection blind zone between the forward sensing device 30 and the lateral sensing device 20 is covered by the forward-moving line laser, thereby reducing the detection blind zone between the forward sensing device 30 and the lateral sensing device 20 and achieving the effect of reducing the obstacle avoidance detection blind zone of the cleaning robot 100.

[0049] In some embodiments, the lateral sensing device 20 is located closer to the front end 11 of the housing 10 than to the rear end 12 of the housing 10, meaning the lateral sensing device 20 is positioned on the front half of the housing 10. Positioning the lateral sensing device 20 on the front half of the housing 10 not only ensures earlier detection of objects in the side area but also reduces the area between the lateral sensing device 20 and the forward sensing device 30, further reducing the size of the blind spot and improving the obstacle avoidance performance of the cleaning robot 100.

[0050] In existing technical solutions, all sensors of the sensor module (such as line lasers and camera modules) are usually fixed on the PCB (e.g., by soldering or adhesive bonding). However, since the PCB is easily deformed by external forces, when the PCB deforms, the relative positions between the sensors of the sensor module will change, which will lead to a decrease in the detection accuracy of the sensor module or failure of the detection function. Furthermore, there is no structure on the PCB to assist in the positioning of the sensors, resulting in poor sensor installation accuracy, which will also cause a decrease in the detection accuracy of the sensor module or failure of the detection function.

[0051] In view of the defects or deficiencies in the existing technical solutions described above, this embodiment proposes an improved solution for the robot housing, in conjunction with reference to... Figures 3 to 6a In this embodiment, the lateral sensing device 20 further includes a first mounting bracket 23 disposed on the side wall of the housing 10. The inner wall of the first mounting bracket 23 is provided with a first limiting groove 231 and a first limiting hole 232. The first line laser 21 is inserted and fixed in the first limiting groove 231, and the first camera module 22 is inserted and fixed in the first limiting hole 232. The outer wall of the first mounting bracket 23 is provided with a first light-emitting hole 233 that penetrates the bottom surface of the first limiting groove 231 so that the line laser of the first line laser 21 can be emitted. By inserting and fixing the first line laser 21 and the first camera module 22 into the first limiting groove 231 and the first limiting hole 232 of the first mounting bracket 23, respectively, the first mounting bracket 23 can be made of a high-strength material, making it less prone to deformation. This ensures that the positions of the first line laser 21, the first camera module 22, and the first mounting bracket 23 remain relatively fixed, preventing positional changes in the first line laser 21 and the first camera module 22. Furthermore, the first limiting groove 231 and the first limiting hole 232 can provide positioning assistance for the installation of the first line laser 21 and the first camera module 22, ensuring their installation accuracy. Therefore, the detection function and detection accuracy of the lateral sensing device 20 are effectively guaranteed. The insertion and fixing of the first laser 21 to the first limiting groove 231, and / or the insertion and fixing of the first camera module 22 to the first limiting hole 232, can be fixed by applying glue after insertion and installation, or by using a corresponding snap-fit ​​structure during insertion and installation, etc.

[0052] In some embodiments, the first light-emitting aperture 233 is a strip-shaped aperture with a width smaller than the width of the emitting end of the first line laser 21, and is perpendicular to the side-by-side distribution direction of the first line laser 21 and the first camera module 22 (i.e., direction F in the figure). In this embodiment, the first light-emitting aperture 233, by adopting a strip-shaped aperture with a width smaller than the width of the emitting end of the first line laser 21, limits the field of view and emission width of the linear laser of the lateral sensing device 20, and makes the strip-shaped aperture perpendicular to the side-by-side distribution direction F of the first line laser 21 and the first camera module 22, and makes the length direction of the strip-shaped aperture consistent with the direction of the inclined linear laser emitted by the first line laser, ensuring that the linear laser emitted to the side area of ​​the cleaning robot 100 is in an inclined direction. The size of the strip-shaped aperture can be designed according to the specific field of view and emission width requirements of the lateral sensing device 20. In this embodiment, by using the strip-shaped aperture, the field of view and emission width of the linear laser of the lateral sensing device 20 are limited, thus avoiding the situation where the linear laser with an excessively large field of view or width hits other structural components and causes stray light to mix in, thereby affecting the detection and recognition results.

[0053] See Figure 3 and Figure 6a In some embodiments, the outer wall of the first mounting bracket 23 is provided with a first light inlet hole 234 that mates with the first limiting hole 232. The first light inlet hole 234 gradually expands from the inside to the outside to ensure that the opening end of the first light inlet hole 234 is large enough to receive the reflected light signals from each part of the linear laser emitted by the first line laser 21. Understandably, the opening size of the first light-inlet aperture 234 gradually increases along the direction away from the light-inlet. Since the first light-inlet aperture 234 is used to receive reflected light signals, the larger the opening end is, the more reflected light signals the first light-inlet aperture 234 can receive. It should be noted that the opening size of the first light-inlet aperture 234 can be limited according to the opening shape of the first light-inlet aperture 234, and this disclosure does not impose specific limitations on it. For example, if the opening of the first light-inlet aperture 234 is circular, its opening size can be limited by the diameter of the circular opening. Or, for example, if the opening of the first light-inlet aperture 234 is rectangular, its opening size can be limited by the longest side of the rectangle. In other embodiments, the opening shape of the first light-inlet aperture 234 can also be other shapes.

[0054] See Figure 4 and Figure 6aIn some embodiments, the lateral sensing device 20 further includes a first circuit board 24, which is mounted on the inner wall of the first mounting bracket 23. The first circuit board 24 is electrically connected to the first line laser 21 and the first camera module 22. The mounting of the first circuit board 24 on the inner wall of the first mounting bracket 23 keeps the position of the first circuit board 24 relative to the first line laser 21 and the first camera module 22 relatively fixed, and facilitates the electrical connection between the first line laser 21, the first camera module 22, and the first circuit board 24. The first line laser 21 and the first camera module 22 can be electrically connected to the first circuit board 24 via wires, ribbon cables, or a flexible PCB. Furthermore, the first circuit board 24 can be provided with notches to allow for the first line laser 21 and the first camera module 22 to pass through, ensuring that the installation of the first circuit board 24 does not interfere with the installation of the first line laser 21 and the first camera module 22, allowing for a more compact overall structure of the lateral sensing device 20.

[0055] See Figure 6 and Figure 6a In some embodiments, the lateral sensing device 20 further includes a first lens 25, which is disposed on the outer wall of the first mounting bracket 23 and covers the first light-emitting hole 233 and the first camera module 22. By setting the first lens 25 to cover the first light-emitting hole 233 and the first camera module 22, damage to the first line laser 21 and the first camera module 22 by external objects is avoided. At the same time, dust or dirt is prevented from falling onto the emitting end of the first line laser 21 and the receiving end of the first camera module 22, thus protecting the first line laser 21 and the first camera module 22 and making the robot casing more concise and beautiful.

[0056] See Figure 3 and Figure 6a In some embodiments, a first groove 235 is provided on the outer wall of the first mounting bracket 23, and the first lens 25 is adapted to be accommodated in the first groove 235. By providing the first groove 235, the installation and fixation of the first lens 25 are facilitated, and the first lens 25 is also prevented from protruding outward, thus protecting the first lens 25 and making the appearance of the robot shell relatively flat, simpler, and more aesthetically pleasing.

[0057] See 7. Figure 8 and Figure 10aIn some embodiments, the forward sensing device 30 includes a second line laser 31 and a second camera module 32 arranged side by side. The second line laser 31 is located above the second camera module 32 and is tilted towards the second camera module 32, so that the line laser emitted by the second line laser 31 can be received by the second camera module 32 after being reflected by an obstacle. The second line laser 31 detects obstacles in the forward area by emitting a horizontal line laser forward. After the line laser hits an obstacle in front, it is reflected back to the second camera module 32 for reception. It is understood that the second camera module 32 is closer to the surface to be cleaned than the second line laser 31, and the second line laser 31 is tilted towards the direction closer to the surface to be cleaned, that is, it is not set in a horizontal direction. For example, when the surface to be cleaned is the ground, the cleaning robot 100 walks on the ground to clean the ground, and the height of the second line laser 31 in the direction away from gravity is higher than the height of the second camera module 32.

[0058] See also Figure 7 and Figure 10aIn some embodiments, the forward sensing device 30 further includes a second mounting bracket 33 disposed on the side wall of the housing 10. The inner wall of the second mounting bracket 33 is provided with a second limiting groove 331 and a second limiting hole 332. The second line laser 31 is inserted and fixed in the second limiting groove 331, and the second camera module 32 is inserted and fixed in the second limiting hole 332. The outer wall of the second mounting bracket 33 is provided with a second light-emitting hole 333 that penetrates the bottom surface of the second limiting groove 331. In this embodiment, the forward sensing device 30 further includes a second mounting bracket 33 disposed on the side wall of the housing 10. The inner wall of the second mounting bracket 33 is provided with a second limiting groove 331 and a second limiting hole 332. The second line laser 31 is inserted and fixed in the second limiting groove 331, and the second camera module 32 is inserted and fixed in the second limiting hole 332. The outer wall of the second mounting bracket 33 is provided with a second light-emitting hole 333 that penetrates the bottom surface of the second limiting groove 331 so that the line laser of the second line laser 31 can be emitted. By inserting and fixing the second line laser 31 and the second camera module 32 into the second limiting groove 331 and the second limiting hole 332 of the second mounting bracket 33, respectively, the second mounting bracket 33 can be made of a high-strength material to prevent deformation. This ensures that the positions of the second line laser 31, the second camera module 32, and the second mounting bracket 33 remain relatively fixed, preventing positional changes in the second line laser 31 and the second camera module 32. Furthermore, the second limiting groove 331 and the second limiting hole 332 can provide positioning assistance for the installation of the second line laser 31 and the second camera module 32, ensuring the installation accuracy of the second line laser 31 and the second camera module 32. Therefore, the detection function and detection accuracy of the forward sensing device 30 are effectively guaranteed. The insertion and fixing of the second laser 31 to the second limiting groove 331, and / or the insertion and fixing of the second camera module 32 to the second limiting hole 332, can be fixed by applying glue after insertion and installation, or by using a corresponding snap-fit ​​structure during insertion and installation, etc.

[0059] In some embodiments, the second light-emitting aperture 333 is a strip-shaped aperture with a width smaller than the width of the emitting end of the second line laser 31. The second light-emitting aperture 333 is tilted downwards and perpendicular to the vertical direction. In this embodiment, by using a strip-shaped aperture with a width smaller than the width of the emitting end of the second line laser 31, the field of view and emission width of the linear laser of the forward sensing device 30 are limited. Furthermore, the strip-shaped aperture is tilted downwards and perpendicular to the vertical direction, ensuring that the length direction of the strip-shaped aperture is consistent with the direction of the linear laser emitted by the second line laser, thus guaranteeing that the linear laser is emitted tilted towards the front area of ​​the cleaning robot. The size of the strip-shaped aperture can be designed according to the specific field of view and emission width requirements of the forward sensing device 30. In this embodiment, by using this strip-shaped aperture, the field of view and emission width of the linear laser of the forward sensing device 30 are limited, preventing excessively large field of view or width linear lasers from hitting other structural components and causing stray light interference, thereby affecting the detection and recognition results.

[0060] See Figure 10a In some embodiments, the outer wall of the second mounting bracket 33 is provided with a second light inlet hole 334 that mates with the second limiting hole 332. The second light inlet hole 334 gradually expands from the inside to the outside to ensure that the opening end of the second light inlet hole 334 is large enough to receive the reflected light signals from each part of the linear laser emitted by the second line laser 31. Understandably, the opening size of the second light-attracting aperture 334 gradually increases along the direction away from the light-attracting point. Since the second light-attracting aperture 334 is used to receive reflected light signals, the larger the opening end is, the more reflected light signals the second light-attracting aperture 334 can receive. It should be noted that the opening size of the second light-attracting aperture 334 can be limited according to the opening shape of the second light-attracting aperture 334, and this disclosure does not impose specific limitations on it. For example, if the opening of the second light-attracting aperture 334 is circular, its opening size can be limited by the diameter of the circular opening. Or, for example, if the opening of the second light-attracting aperture 334 is rectangular, its opening size can be limited by the longest side of the rectangle. In other embodiments, the opening shape of the second light-attracting aperture 334 can also be other shapes.

[0061] See Figure 8 and Figure 10aIn some embodiments, the forward sensing device 30 further includes a second circuit board 34, which is mounted on the inner wall of the second mounting bracket 33. The second circuit board 34 is electrically connected to the second line laser 31 and the second camera module 32. The mounting of the second circuit board 34 on the inner wall of the second mounting bracket 33 maintains a relatively fixed position between the second circuit board 34, the second line laser 31, and the second camera module 32, and facilitates the electrical connection between the second line laser 31, the second camera module 32, and the second circuit board 34. The second line laser 31 and the second camera module 32 can be electrically connected to the second circuit board 34 via wires, ribbon cables, or a flexible PCB. Furthermore, the second circuit board 34 can be provided with notches to allow for the second line laser 31 and the second camera module 32 to pass through, ensuring that the installation of the second circuit board 34 does not interfere with the installation of the second line laser 31 and the second camera module 32, allowing for a more compact overall structure of the forward sensing device 30.

[0062] See Figure 10 and Figure 10a In some embodiments, the forward sensing device 30 further includes a second lens 35, which is disposed on the outer wall of the second mounting bracket 33 and covers the second light-emitting hole 333 and the second camera module 32. By setting the second lens 35 to cover the second light-emitting hole 333 and the second camera module 32, damage to the second laser 31 and the second camera module 32 by external objects is avoided. At the same time, dust or dirt is prevented from falling onto the emitting end of the second laser 31 and the receiving end of the second camera module 32, thus protecting the second laser 31 and the second camera module 32 and making the robot casing more concise and aesthetically pleasing.

[0063] See Figure 10a In some embodiments, a second groove 335 is provided on the outer wall of the second mounting bracket 33, and the second lens 35 is adapted to be accommodated in the second groove 335. By providing the second groove 335, the installation and fixation of the second lens 35 are facilitated, and the second lens 35 is also prevented from protruding outward, thus protecting the second lens 35 and making the appearance of the robot shell relatively flat, simpler, and more aesthetically pleasing.

[0064] See Figures 7-9 ,as well as Figure 10a In some embodiments, the forward sensing device 30 further includes a supplementary lighting module 36. A supplementary lighting through-hole 336 is provided on the second mounting bracket 33, and the supplementary lighting module 36 is disposed on the inner wall of the second mounting bracket 33, directly opposite the supplementary lighting through-hole 336. The supplementary lighting module 36 is, for example, a supplementary light lamp, used to provide light enhancement in relatively dim environments to improve the detection and recognition effect of the forward sensing device 30 in dim environments. The supplementary lighting module 36 can also be covered by the second lens 35 to protect it.

[0065] It should be noted that, provided there are no contradictions or conflicts between the above embodiments of the robot casing disclosed herein, the above embodiments can be arbitrarily combined or combined to form new embodiments.

[0066] This disclosure also proposes a cleaning robot 100, see reference. Figure 11 The cleaning robot 100 includes the robot housing described above. The specific structure of the housing is as described in the above embodiments. Since this cleaning robot adopts all the technical solutions of all the embodiments of the housing described above, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0067] This disclosure further proposes a cleaning system, see [reference] Figure 11 The cleaning system 1000 includes a base station 300 and a cleaning robot 100. The specific structure of the cleaning robot 100 is as described in the above embodiments. Since the cleaning system 1000 adopts all the technical solutions of all the embodiments of the cleaning robot 100 described above, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here. The base station 300 is provided with a docking position 301 for the cleaning robot 100 to dock. When the cleaning robot 100 docks at the docking position 301 of the base station 300, the base station 300 can provide services such as charging, cleaning the dustbin, washing the mop, washing the roller brush, recycling wastewater, or adding clean water to the cleaning robot 100. The base station 300 is a device capable of maintaining the cleaning robot 100. It is understood that in some embodiments, when the cleaning robot 100 is located at the docking position 301 of the base station 300, the base station 300 can perform maintenance on the cleaning robot 100, including but not limited to charging, dust collection, cleaning of cleaning parts, adding clean water, and pumping wastewater. This can be understood as follows: the cleaning robot 100 can perform at least one of the following within the base station 300: 1. The base station 300 charges the cleaning robot 100; 2. The base station 300 collects the debris (e.g., debris from the cleaning robot 100's dust box or wastewater tank) into its dust collection container; 3. The base station 300 cleans the cleaning components of the cleaning robot 100 within the base station 300 (e.g., washes the mop, cleans the roller brush, washes the roller); 4. The base station 300 replenishes the cleaning robot 100's clean water tank with clean water; 5. The base station 300 collects the dirt from the cleaning robot 100's wastewater tank into its wastewater container and discharges it to the outside. The above maintenance types are merely illustrative descriptions and are not intended to limit this disclosure.

[0068] The above description is only a part or preferred embodiment of this disclosure. Neither the text nor the drawings should limit the scope of protection of this disclosure. All equivalent structural transformations made using the content of this disclosure and its drawings under the overall concept of this disclosure, or direct / indirect applications in other related technical fields, are included within the scope of protection of this disclosure.

Claims

1. A robot housing, characterized in that, include: The housing has a front end and a rear end that are positioned opposite to each other; At least one lateral sensing device is disposed on the side wall of the housing, and the lateral sensing device is located to the right rear or left rear of the front end of the housing. The lateral sensing device includes a first line laser and a first camera module arranged sequentially and side by side along an upward inclined direction. The first camera module is located on the side of the first line laser near the front end of the housing, and the emitting end of the first line laser is inclined toward the first camera module.

2. The robot housing according to claim 1, characterized in that, The lateral sensing device is located closer to the front end of the housing than to the rear end of the housing.

3. The robot housing according to claim 1, characterized in that, The lateral sensing device further includes a first mounting bracket disposed on the side wall of the housing. The inner wall of the first mounting bracket is provided with a first limiting groove and a first limiting hole. The first line laser is inserted and fixed in the first limiting groove, and the first camera module is inserted and fixed in the first limiting hole. The outer wall of the first mounting bracket is provided with a first light-emitting hole that penetrates the bottom surface of the first limiting groove.

4. The robot housing according to claim 3, characterized in that, The first light-emitting aperture is a strip-shaped aperture with a width smaller than the width of the emitting end of the first line laser, and is perpendicular to the side-by-side distribution direction of the first line laser and the first camera module; And / or, the outer wall of the first mounting bracket is provided with a first light inlet hole that mates with the first limiting hole, and the first light inlet hole gradually expands from the inside to the outside; And / or, the lateral sensing device further includes a first circuit board, which is mounted on the inner wall of the first mounting bracket and electrically connected to the first line laser and the first camera module. And / or, the lateral sensing device further includes a first lens, which is disposed on the outer wall of the first mounting bracket and covers the first light-emitting hole and the first camera module.

5. The robot housing according to claim 3, characterized in that, The lateral sensing device further includes a first lens, which is disposed on the outer wall of the first mounting bracket and covers the first light-emitting hole and the first camera module. The first mounting bracket has a first groove on its outer wall, and the first lens adapter is accommodated in the first groove.

6. The robot housing according to any one of claims 1 to 5, characterized in that, The housing also includes a forward sensing device, which is located on the side wall at the front end of the housing.

7. The robot housing according to claim 6, characterized in that, The forward sensing device includes a second line laser and a second camera module arranged side by side, with the second line laser located above the second camera module and tilted toward the second camera module.

8. The robot housing according to claim 7, characterized in that, The forward sensing device further includes a second mounting bracket disposed on the side wall of the housing. The inner wall of the second mounting bracket is provided with a second limiting groove and a second limiting hole. The second line laser is inserted and fixed in the second limiting groove, and the second camera module is inserted and fixed in the second limiting hole. The outer wall of the second mounting bracket is provided with a second light-emitting hole that penetrates the bottom surface of the second limiting groove.

9. The robot housing according to claim 8, characterized in that, The second light-emitting aperture is a strip-shaped aperture with a width smaller than the width of the emitting end of the second line laser, and the second light-emitting aperture is inclined downward and perpendicular to the vertical direction; And / or, the outer wall of the second mounting bracket is provided with a second light inlet hole that mates with the second limiting hole, and the second light inlet hole gradually expands from the inside to the outside; And / or, the forward sensing device further includes a second circuit board, which is mounted on the inner wall of the second mounting bracket and is electrically connected to the second line laser and the second camera module; And / or, the forward sensing device further includes a second lens, which is disposed on the outer wall of the second mounting bracket and covers the second light-emitting hole and the second camera module.

10. The robot housing according to claim 8, characterized in that, The forward sensing device further includes a supplementary lighting module, and the second mounting bracket is provided with a supplementary lighting through hole. The supplementary lighting module is disposed on the inner wall of the second mounting bracket, facing the supplementary lighting through hole. And / or, the forward sensing device further includes a second lens, which is disposed on the outer wall of the second mounting bracket and covers the second light-emitting hole and the second camera module; the outer wall of the second mounting bracket is provided with a second groove, and the second lens is adapted to be accommodated in the second groove.

11. A cleaning robot, characterized in that, Includes the robot housing as described in any one of claims 1 to 10.

12. A cleaning system, characterized in that, The system includes a base station and the cleaning robot as described in claim 11, wherein the base station is provided with a docking station for the cleaning robot to dock.

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