Cliff sensor assembly, cleaning equipment and assembling jig

Abstract

The utility model relates to but is not limited to the technical field of cliff sensor assemblies, and discloses a cliff sensor assembly, cleaning equipment and an assembling jig, the cliff sensor assembly comprises a shell, a circuit board and a time flight sensor, the shell is provided with a containing cavity, an opening is formed in at least one side of the containing cavity, and a limiting structure is arranged on the inner wall of the containing cavity; the circuit board is arranged in the accommodating cavity and is fixedly connected with the limiting structure; the time flight sensor is arranged on the circuit board. According to the technical scheme, the assembling efficiency of the cliff sensor assembly can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the technical field of cliff sensor assembly, and particularly relates to a cliff sensor assembly, a cleaning device and an assembly jig. BACKGROUND

[0002] The cliff sensor assembly plays a crucial role in the cleaning device, which is usually based on infrared light or laser ranging technology, and identifies the cliff by emitting light signals to the ground and receiving reflected signals to prevent the cleaning device from falling or accidentally falling from a high place. In the related art, the structure of the cliff sensor assembly is relatively complex, and there is a problem of low assembly efficiency. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the above problems, the embodiments of the present application provide a cliff sensor assembly, a cleaning device and an assembly jig, which can improve the assembly efficiency of the cliff sensor assembly.

[0004] In a first aspect, the present application provides a cliff sensor assembly, which comprises a shell, a circuit board and a time-of-flight sensor. The shell has a receiving cavity, at least one side of the receiving cavity is formed with an opening, and the inner wall of the receiving cavity is provided with a limiting structure. The circuit board is arranged in the receiving cavity and is fixedly connected with the limiting structure. The time-of-flight sensor is arranged on the circuit board.

[0005] In the technical scheme provided by the present application, the cliff sensor assembly comprises a shell, a circuit board and a time-of-flight sensor. The shell has a receiving cavity, at least one side of the receiving cavity is formed with an opening, and the inner wall of the receiving cavity is provided with a limiting structure. The circuit board can be arranged in the receiving cavity and fixedly connected with the limiting structure. The time-of-flight sensor can be arranged on the circuit board and fixed in the receiving cavity through the circuit board. In the application of the cliff sensor assembly, the time-of-flight sensor can emit light pulses and receive reflected signals to calculate the distance from the target object, and the circuit board can identify the cliff by analyzing the distance data. When assembling the cliff sensor assembly, the time-of-flight sensor can be arranged on the circuit board first, and then the circuit board is loaded into the receiving cavity through the opening and fixedly connected with the limiting structure on the inner wall of the receiving cavity. Here, the circuit board is fixedly connected with the limiting structure on the inner wall of the receiving cavity, on the one hand, during the process of loading the circuit board into the receiving cavity, the circuit board can determine the installation position in the receiving cavity through the limiting structure, which facilitates the rapid and accurate assembly of the circuit board and is conducive to improving the assembly efficiency of the cliff sensor assembly; on the other hand, the limiting structure can reliably fix the circuit board on the inner wall of the receiving cavity, preventing the circuit board from being displaced or loosened under vibration or impact, thereby improving the reliability of the cliff sensor assembly in use. In addition, the inner wall of the receiving cavity and the circuit board are in contact through the limiting structure, which is conducive to heat conduction to the shell and dissipation to the environment, thereby improving the heat dissipation efficiency of the cliff sensor assembly.

[0006] In a possible implementation of the present application, the limiting structure comprises a first limiting piece and a second limiting piece arranged along the direction of the opening, the circuit board comprises a center portion and an edge portion arranged around the center portion, and the time-of-flight sensor is arranged on the center portion, and the edge portion is clamped and fixed between the first limiting piece and the second limiting piece.

[0007] In a possible implementation of the present application, along the direction of the opening, the distance between the first limiting piece and the opening is greater than the distance between the second limiting piece and the opening, the first limiting piece has a first limiting surface, and the first limiting surface is continuously arranged around the inner wall of the accommodating cavity, and the second limiting piece has a second limiting surface, and the edge portion is fixed between the first limiting surface and the second limiting surface.

[0008] In a possible implementation of the present application, the second limiting piece has a first guide surface, and along the direction away from the opening, the first guide surface extends in a direction away from the inner wall of the accommodating cavity.

[0009] In a possible implementation of the present application, the inner wall of the accommodating cavity further has a positioning piece, the positioning piece has a second guide surface and a positioning surface which are continuously arranged, along the direction away from the opening, the second guide surface extends in a direction away from the inner wall of the accommodating cavity, and the distance between the second guide surface and the opening is less than the distance between the first guide surface and the opening, and the positioning surface is in abutting fit with the edge portion in the thickness direction of the wall of the accommodating cavity.

[0010] In a possible implementation of the present application, the cliff sensor assembly further comprises a lens assembly, the lens assembly comprises a first lens and a second lens, the side of the shell away from the opening is formed with a first mounting cavity and a second mounting cavity which are in communication with the accommodating cavity, a first barrier portion is formed between the first mounting cavity and the second mounting cavity, the first lens is mounted in the first mounting cavity, and the second lens is mounted in the second mounting cavity, the time-of-flight sensor comprises a transmitting end and a receiving end, the transmitting end transmits signals to the outside through the first lens, and the receiving end receives signals through the second lens.

[0011] In a possible implementation of the present application, the cliff sensor assembly further comprises a buffer piece, the buffer piece is arranged in the accommodating cavity, and the buffer piece is located on the side of the time-of-flight sensor away from the opening, the buffer piece has a first through hole and a second through hole, a second barrier portion is formed between the first through hole and the second through hole, at least part of the transmitting end extends into the first through hole, at least part of the receiving end extends into the second through hole, and along the direction of the opening, the second barrier portion is arranged opposite to the first barrier portion.

[0012] In a possible implementation of the present application, the cliff sensor assembly further comprises a buffer piece, the buffer piece is arranged in the accommodating cavity, and the buffer piece is located on the side of the time-of-flight sensor away from the opening, the buffer piece has a first through hole and a second through hole, a second barrier portion is formed between the first through hole and the second through hole, at least part of the transmitting end extends into the first through hole, at least part of the receiving end extends into the second through hole, and along the direction of the opening, the second barrier portion is arranged opposite to the first barrier portion. In a possible implementation of the present application, the cliff sensor assembly further comprises a buffer piece, the buffer piece is arranged in the accommodating cavity, and the buffer piece is located on the side of the time-of-flight sensor away from the opening, the buffer piece has a first through hole and a second through hole, a second barrier portion is formed between the first through hole and the second through hole, at least part of the transmitting end extends into the first through hole, at least part of the receiving end extends into the second through hole, and along the direction of the opening, the second barrier portion is arranged opposite to the first barrier portion.

[0013] In the technical solution of this application, since the cleaning equipment includes the cliff sensor assembly of the first aspect, it has the same technical effect. That is, it can improve the assembly efficiency of the cliff sensor assembly.

[0014] In one possible implementation of this application, at least one cliff sensor assembly is provided on the main body, and the cliff sensor assembly is located at the bottom of the main body.

[0015] Thirdly, this application provides an assembly fixture for assembling the cliff sensor assembly of the first aspect. The assembly fixture includes a first driving structure and a second driving structure. The first driving structure includes a first fixing member and a first driving member. The first fixing member is used to fix the housing, and the first driving member is connected to the first fixing member to drive the first fixing member to move along a first direction. The second driving structure includes a second fixing member and a second driving member. The second fixing member is used to fix the circuit board, and the second driving member is connected to the second fixing member to drive the second fixing member to move along a second direction, which is perpendicular to the first direction.

[0016] In the technical solution of this application, since the assembly fixture is used to assemble the cliff sensor assembly of the first aspect, it has the same technical effect. That is, it can improve the assembly efficiency of the cliff sensor assembly.

[0017] In one possible implementation of this application, the assembly fixture further includes a testing device having test leads with test ends for detachable connection to a circuit board.

[0018] In one possible implementation of this application, the testing device further includes a reflector, the testing end being used to provide an input signal to the circuit board and to receive a detection signal emitted by the cliff sensor assembly in response to the input signal, and the reflector being used to reflect the detection signal. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application;

[0020] Figure 2 This is a schematic diagram of the cliff sensor assembly provided in an embodiment of this application;

[0021] Figure 3 for Figure 2 Sectional view at point AA;

[0022] Figure 4 for Figure 2 Sectional view at point BB;

[0023] Figure 5 A schematic diagram of the buffer component on the cliff sensor assembly;

[0024] Figure 6 Fig. 1 is a structural schematic view of an upper shell of a cliff sensor assembly;

[0025] Figure 7 Fig. 2 is another structural schematic view of the upper shell of the cliff sensor assembly;

[0026] Figure 8 Fig. 3 is a structural schematic view of an assembling jig provided by an embodiment of the present application;

[0027] Figure 9 Fig. 4 is another structural schematic view of the assembling jig provided by the embodiment of the present application.

[0028] Explanation of reference signs:

[0029] 1 - main body; 2 - walking assembly; 3 - cliff sensor assembly; 31 - shell; 311 - accommodating cavity; 3111 - opening; 312 - first mounting cavity; 313 - second mounting cavity; 314 - first blocking part; 32 - limiting structure; 321 - first limiting member; 3211 - first limiting surface; 322 - second limiting member; 3221 - second limiting surface; 3222 - first guide surface; 33 - positioning member; 331 - second guide surface; 332 - positioning surface; 34 - circuit board; 35 - time-of-flight sensor; 351 - transmitting end; 352 - receiving end; 36 - lens assembly; 361 - first lens; 362 - second lens; 37 - buffer member; 371 - first through hole; 372 - second through hole; 373 - second blocking part; 4 - assembling jig; 41 - first driving structure; 411 - first fixing member; 412 - first driving member; 42 - second driving structure; 421 - second fixing member; 422 - second driving member; 43 - testing device; 431 - testing wire; 44 - reversing member. DETAILED DESCRIPTION

[0030] It should be noted that the embodiments and technical features in the present application can be combined with each other without conflict, and the detailed description in the specific embodiments should be understood as the explanation and illustration of the purpose of the present application, and should not be regarded as improper limitation of the present application.

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the specific technical solutions of the present application will be further described in detail below with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but not to limit the scope of the present application.

[0032] In the embodiments of the present application, the terms "first", "second" are used only for descriptive purpose, and should not be construed as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0033] In addition, in the embodiments of the present application, the orientation terms such as "upper", "lower", "left" and "right" are defined with respect to the orientation of the components shown in the drawings, and it should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and can be changed accordingly according to the change of the orientation of the components shown in the drawings.

[0034] In the embodiments of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood in a broad sense, for example, "connection" can be fixed connection, or detachable connection, or integral; can be directly connected, or indirectly connected through intermediate medium.

[0035] In the embodiments of the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without more limitation, the element defined by the sentence "including a…" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0036] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance or illustration. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of the words "exemplary" or "for example" is intended to present relevant concepts in a concrete manner.

[0037] The present application will be described in detail below.

[0038] In the embodiments of the present application, for the convenience of description of the direction, reference is made to Figure 1 , Figure 3 , Figure 4 , Figure 8 and Figure 9The directions are indicated by arrows, wherein the first direction is the moving direction of the first fixed body on the assembly jig 4, the second direction is the moving direction of the second fixed body on the assembly jig 4, the third direction is the direction of the opening 3111 on the shell 31, and the fourth direction is the advancing direction of the cleaning device. It should be noted that the direction indication is only used to describe the present application, but not to limit the scope of the present application.

[0039] With reference to Figure 1 , the cliff sensor assembly 3 plays a vital role in cleaning devices (such as floor cleaning robots, window cleaning robots, etc.), which usually based on infrared (IR) or laser ranging technology, identifies cliffs by emitting light signals to the ground and receiving reflected signals to prevent the cleaning device from falling from a high place or falling accidentally. In the related art, the structure of the cliff sensor assembly 3 is relatively complex, and there is a problem of low assembly efficiency.

[0040] To solve the above problems, with reference to Figure 2 、 Figure 3 and Figure 4 , the present application provides a cliff sensor assembly 3, which comprises a shell 31, a circuit board 34 and a time-of-flight sensor 35. The shell 31 has a receiving cavity 311, at least one side of the receiving cavity 311 is formed with an opening 3111, and the inner wall of the receiving cavity 311 is provided with a limiting structure 32; the circuit board 34 is arranged in the receiving cavity 311 and is fixedly connected with the limiting structure 32; the time-of-flight sensor 35 is arranged on the circuit board 34.

[0041] In the present application, the shell 31 serves as a protective structure for the internal elements of the cliff sensor assembly 3, and its shape design has multiple possibilities, for example, the shell 31 can be rectangular, circular or irregular in shape, and the present application does not limit this.

[0042] In the present application, the receiving cavity 311 is a structured space inside the shell 31 for accommodating and fixing the internal elements of the cliff sensor assembly 3. The internal elements of the cliff sensor assembly 3 can enter or exit the receiving cavity 311 through the opening 3111. Here, the shape of the opening 3111 has multiple possibilities, for example, the opening 3111 can be rectangular, circular, and the present application does not limit this.

[0043] In the present application, the limiting structure 32 serves to fix the circuit board 34, and therefore the connection mode between the limiting structure 32 and the circuit board 34 has multiple possibilities, for example, the limiting structure 32 and the circuit board 34 can be connected by fasteners; or the limiting structure 32 and the circuit board 34 can also be fixed by clamping, bonding and other methods, and the present application does not limit this.

[0044] In the embodiment of the present application, the circuit board 34 is the electronic control core of the cliff sensor assembly 3, and the circuit board 34 is integrated with optical elements (such as infrared emitting units, infrared receiving units, etc.), signal processing chips (such as master control chips, etc.), and connection interfaces (such as communication interfaces, etc.), and can be responsible for signal transmission, reception, data processing, and instruction output.

[0045] In the embodiment of the present application, the time-of-flight sensor 35 is an optical distance measuring device, which calculates the distance to the target object by using the time difference between the emission and the reflection of the light pulse (usually infrared light or laser) from the target object and returning to the sensor, combined with the constant of the speed of light.

[0046] In the embodiment of the present application, the structure of the time-of-flight sensor 35 has multiple possibilities, for example, the transmitting end 351 and the receiving end 352 of the time-of-flight sensor 35 can be fixed on different chips respectively, so that the heat generated by the transmitting end 351 and the receiving end 352 is conducted to the corresponding chips respectively, reducing the risk of local overheating; or the transmitting end 351 and the receiving end 352 of the time-of-flight sensor 35 can be fixed on the same chip, so that the volume of the time-of-flight sensor 35 can be reduced, thereby reducing the space occupation of the time-of-flight sensor 35 on the circuit board 34, which is conducive to the miniaturization design of the cliff sensor assembly 3.

[0047] In the technical scheme provided by the embodiment of the application, the cliff sensor assembly 3 comprises a housing 31, a circuit board 34 and a time-of-flight sensor 35. The housing 31 has a receiving cavity 311, at least one side of the receiving cavity 311 is formed with an opening 3111, and the inner wall of the receiving cavity 311 is provided with a limiting structure 32. The circuit board 34 can be arranged in the receiving cavity 311 and connected and fixed with the limiting structure 32. The time-of-flight sensor 35 can be arranged on the circuit board 34 and fixed in the receiving cavity 311 through the circuit board 34. In the application of the cliff sensor assembly 3, the time-of-flight sensor 35 can emit light pulses and receive reflected signals to calculate the distance from a target object, and the circuit board 34 can identify a cliff by analyzing the distance data. When assembling the cliff sensor assembly 3, the time-of-flight sensor 35 can be arranged on the circuit board 34 first, then the circuit board 34 is loaded into the receiving cavity 311 through the opening 3111, and the circuit board 34 is connected and fixed with the limiting structure 32 on the inner wall of the receiving cavity 311. Here, the circuit board 34 is connected and fixed with the limiting structure 32 on the inner wall of the receiving cavity 311. On the one hand, during the process of loading the circuit board 34 into the receiving cavity 311, the circuit board 34 can determine the installation position in the receiving cavity 311 through the limiting structure 32, which facilitates quick and accurate assembly of the circuit board 34 and is beneficial to improving the assembly efficiency of the cliff sensor assembly 3. On the other hand, the limiting structure 32 can reliably fix the circuit board 34 on the inner wall of the receiving cavity 311, preventing the circuit board 34 from being displaced or loosened under vibration or impact, and improving the reliability of the cliff sensor assembly 3 in use. In addition, the inner wall of the receiving cavity 311 is in contact with the circuit board 34 through the limiting structure 32, which is beneficial to heat conduction to the housing 31 and dissipation to the environment, thereby improving the heat dissipation efficiency of the cliff sensor assembly 3.

[0048] In the embodiment of the application, the limiting structure 32 has various possible structural designs. For example, the limiting structure 32 can comprise a limiting block, and the limiting block is provided with a threaded mounting hole. The circuit board 34 is provided with a fixing hole for alignment with the threaded mounting hole of the limiting block. When fixing the circuit board 34, the fastener can be sequentially inserted through the fixing hole and the threaded mounting hole to realize the connection and fixation of the limiting block and the circuit board 34.

[0049] With reference to Figure 3 , Figure 4 and Figure 6In a possible embodiment of the present application, the limiting structure 32 comprises a first limiting piece 321 and a second limiting piece 322 which are spaced apart along the direction of the opening 3111, the circuit board 34 comprises a center portion and an edge portion which is arranged around the center portion, the time-of-flight sensor 35 is arranged on the center portion, and the edge portion is clamped and fixed between the first limiting piece 321 and the second limiting piece 322. Here, the limiting structure 32 comprises the first limiting piece 321 and the second limiting piece 322 which are spaced apart along the direction of the opening 3111, and the circuit board 34 is clamped and fixed between the first limiting piece 321 and the second limiting piece 322, so that the position of the circuit board 34 in the housing 31 is accurate and stable. The circuit board 34 comprises the center portion and the edge portion which is arranged around the center portion, wherein the center portion is used to arrange the time-of-flight sensor 35, and the edge portion is used to be clamped and fixed between the first limiting piece 321 and the second limiting piece 322. The time-of-flight sensor 35 usually needs a large optical space, and arranging the time-of-flight sensor 35 on the center portion of the circuit board 34 can reduce the probability that the optical path of the time-of-flight sensor 35 is blocked, and the edge portion of the circuit board 34 is used to be clamped and fixed between the first limiting piece 321 and the second limiting piece 322, so that the effective area of the circuit board 34 is not additionally occupied, and the utilization rate of the area of the circuit board 34 is improved. In addition, the edge portion is clamped and fixed between the first limiting piece 321 and the second limiting piece 322, so that the circuit board 34 is supported at multiple points, so as to disperse the vibration stress and improve the fixing reliability of the circuit board 34. When fixing the circuit board 34, only the edge portion of the circuit board 34 needs to be aligned with the limiting structure 32 along the direction of the opening 3111 and pressed and fixed, and other tools (such as a screwdriver) are not needed, so that the installation efficiency of the circuit board 34 is improved.

[0050] In the embodiments of the present application, the first limiting piece 321 and the second limiting piece 322 can be arranged in the accommodation cavity 311 in various ways, for example, the first limiting piece 321 and the second limiting piece 322 can be arranged at multiple positions which are spaced apart around the inner wall of the accommodation cavity 311, or the first limiting piece 321 and the second limiting piece 322 can be arranged continuously in the circumferential direction of the accommodation cavity 311, and the embodiments of the present application are not limited thereto.

[0051] With reference to Figure 3 , Figure 4 and Figure 7In the embodiment, the first limiting member 321 is farther away from the opening 3111 than the second limiting member 322, the first limiting member 321 has a first limiting surface 3211, and the first limiting surface 3211 is continuously arranged around the inner wall of the accommodating cavity 311, the second limiting member 322 has a second limiting surface 3221, and the edge portion is fixed between the first limiting surface 3211 and the second limiting surface 3221. Here, the first limiting member 321 has the first limiting surface 3211, the second limiting member 322 has the second limiting surface 3221, the first limiting surface 3211 cooperates with the second limiting surface 3221 to clamp the edge portion of the circuit board 34, and the position of the circuit board 34 in the shell 31 can be ensured to be accurate and stable. The first limiting member 321 is farther away from the opening 3111 than the second limiting member 322, and the first limiting surface 3211 is continuously arranged around the inner wall of the accommodating cavity 311, which can provide uniform support for the circuit board 34 and improve the stability of supporting the circuit board 34, and can increase the contact area between the first limiting member 321 and the circuit board 34, so that the heat generated by the circuit board 34 can be quickly transmitted to the shell 31 through the limiting structure 32, thereby improving the heat dissipation efficiency of the cliff sensor assembly 3.

[0052] With reference to Figure 3 , Figure 4 and Figure 7 In the embodiment, the second limiting member 322 has a first guide surface 3222, and the first guide surface 3222 extends in a direction away from the inner wall of the accommodating cavity 311 in a direction away from the opening 3111. In this way, during the installation of the circuit board 34, the first guide surface 3222 can make the circuit board 34 move along the designed route relative to the second limiting member 322, so that the edge portion of the circuit board 34 can be fixed in the first limiting member 321 and the second limiting member 322, and the adjustment and trial and error during installation can be reduced, thereby improving the installation efficiency of the circuit board 34. In addition, the smooth transition design of the first guide surface 3222 can reduce the mechanical stress suffered by the circuit board 34 during installation.

[0053] With reference to Figure 3 , Figure 4 and Figure 7In a possible embodiment of the present application, the inner wall of the accommodating cavity 311 further has a positioning member 33, the positioning member 33 has a continuously arranged second guide surface 331 and a positioning surface 332, the second guide surface 331 extends in a direction away from the inner wall of the accommodating cavity 311, and the distance between the second guide surface 331 and the opening 3111 is less than the distance between the first guide surface 3222 and the opening 3111, and the positioning surface 332 is in abutting fit with the edge portion along the wall thickness direction of the accommodating cavity 311. In this way, during the installation of the circuit board 34, the second guide surface 331 on the positioning member 33 can first guide the circuit board 34, so that the circuit board 34 moves stably in the accommodating cavity 311, and the probability of the circuit board 34 being deflected due to uneven force is reduced. The positioning surface 332 is in abutting fit with the edge portion along the wall thickness direction of the accommodating cavity 311, which can prevent the circuit board 34 from moving along the wall thickness direction of the accommodating cavity 311 in the accommodating cavity 311, and further improves the accuracy and stability of the installation of the circuit board 34 in the shell 31.

[0054] With reference to Figure 3 , Figure 4 and Figure 6In the embodiment, the cliff sensor assembly 3 further includes a lens assembly 36, the lens assembly 36 includes a first lens 361 and a second lens 362, a first mounting cavity 312 and a second mounting cavity 313 are formed on the side of the shell 31 away from the opening 3111 and communicate with the accommodating cavity 311, a first barrier 314 is formed between the first mounting cavity 312 and the second mounting cavity 313, the first lens 361 is installed in the first mounting cavity 312, and the second lens 362 is installed in the second mounting cavity 313. Here, the cliff sensor assembly 3 further includes a lens assembly 36, the lens assembly 36 includes a first lens 361 and a second lens 362, and the time-of-flight sensor 35 includes a transmitting end 351 and a receiving end 352. In the working process of the cliff sensor assembly 3, the light signal emitted by the transmitting end 351 of the time-of-flight sensor 35 can be transmitted to the outside through the first lens 361, and the signal reflected by the target object (such as the ground) in the outside is transmitted to the receiving end 352 of the time-of-flight sensor 35 through the second lens 362. A first mounting cavity 312 and a second mounting cavity 313 are formed on the side of the shell 31 away from the opening 3111 and communicate with the accommodating cavity 311, the first lens 361 is installed in the first mounting cavity 312, and the second lens 362 is installed in the second mounting cavity 313. Here, the lens assembly 36 and the opening 3111 are located on the opposite sides of the shell 31, on the one hand, the lens assembly 36 and the circuit board 34 can be installed on the shell 31 through different sides, which can reduce the interference between the two and facilitate the maintenance of the cliff sensor assembly 3 later; on the other hand, in the process of installing the circuit board 34 into the accommodating cavity 311 through the opening 3111, the inner wall of the accommodating cavity 311 can position the circuit board 34 upwardly toward the opening 3111, so that the time-of-flight sensor 35 and the lens assembly 36 can be aligned along the direction of the opening 3111, providing a clear reference direction for optical alignment, simplifying the assembly and debugging process of the circuit board 34. The first mounting cavity 312 and the second mounting cavity 313 are formed with a first barrier 314, which can reduce the probability of light signal cross-talk between the first mounting cavity 312 and the second mounting cavity 313, thereby improving the detection accuracy of the cliff sensor assembly 3. It should be noted that here, the cross-talk (also known as light crosstalk) refers to the light signal of the transmitting end 351 directly entering the receiving end 352 without being reflected by the target object.

[0055] Referring to Figure 3 , Figure 4 , Figure 5 and Figure 6In the embodiment of the present application, the cliff sensor assembly 3 further comprises a buffer 37, the buffer 37 is arranged in the accommodating cavity 311, and the buffer 37 is located on the side of the time-of-flight sensor 35 away from the opening 3111. The buffer 37 has a first through hole 371 and a second through hole 372, and a second blocking part 373 is formed between the first through hole 371 and the second through hole 372. At least part of the emitting end 351 extends into the first through hole 371, and at least part of the receiving end 352 extends into the second through hole 372. Along the direction of the opening 3111, the second blocking part 373 is arranged opposite to the first blocking part 314. Here, the cliff sensor assembly 3 further comprises a buffer 37, the buffer 37 is arranged in the accommodating cavity 311, and the buffer 37 is located on the side of the time-of-flight sensor 35 away from the opening 3111. This can avoid the time-of-flight sensor 35 directly abutting against the inner wall of the accommodating cavity 311 along the direction of the opening 3111, thereby playing a protective role on the time-of-flight sensor 35. The buffer 37 has a first through hole 371 and a second through hole 372, and at least part of the emitting end 351 extends into the first through hole 371, and at least part of the receiving end 352 extends into the second through hole 372. In this way, the occupied space of the time-of-flight sensor 35 along the direction of the opening 3111 can be reduced, which is conducive to the miniaturization design of the cliff sensor assembly 3. The first through hole 371 and the second through hole 372 form a second blocking part 373 therebetween. The arrangement of the second blocking part 373 can isolate the emitting end 351 and the receiving end 352, thereby reducing the probability of light cross-talk between the emitting end 351 and the receiving end 352, and improving the detection accuracy of the cliff sensor assembly 3. The main purpose of this design is to improve the ranging accuracy, reduce false detection, and enhance environmental adaptability. Along the direction of the opening 3111, the second blocking part 373 is arranged opposite to the first blocking part 314. In this way, the first blocking part 314 and the second blocking part 373 can form a continuous blocking in the direction of the opening 3111, thereby further improving the anti-cross-light effect.

[0056] In the embodiment of the present application, the material of the buffer 37 has multiple possibilities. For example, the buffer 37 can be foam, silica gel, or rubber, and the present application does not limit this.

[0057] On this basis, referring to Figure 1 The embodiment of the present application further provides a cleaning device, which comprises a main body 1, a walking assembly 2, and a cliff sensor assembly 3. The walking assembly 2 is arranged on the main body 1 to drive the cleaning device to move. The cliff sensor assembly 3 is arranged on the main body 1.

[0058] In the embodiment of the present application, the structure of the cleaning device has multiple possibilities. For example, the cleaning device can be a sweeping robot or a window-cleaning robot, and the present application does not limit this.

[0059] In the embodiments of the present application, the main body 1 of the cleaning device refers to the main structure of the cleaning device, which includes key components and functional units of the cleaning device. For example, the main body 1 can include a cleaning assembly and a dirt collection assembly, wherein the cleaning assembly is used to complete the cleaning task during the movement of the cleaning device, and the dirt collection assembly is used to collect dust and other dirt. The embodiments of the present application do not limit this.

[0060] In the embodiments of the present application, the walking assembly 2 is used to drive the cleaning device to move, and therefore, the structure of the walking assembly 2 can have various forms, for example, the walking assembly 2 can include walking wheels, a track structure, or a leg walking structure. The embodiments of the present application do not limit this.

[0061] In the embodiments of the present application, the cliff sensor assembly 3 is arranged on the main body. In this way, the cliff sensor assembly 3 can detect the terrain in front (such as steps, cliffs, depressions, etc.) in advance during the movement of the cleaning device, so that the cleaning device can take measures (such as stopping, turning, etc.) in advance, thereby preventing the cleaning device from falling and causing damage or personal injury.

[0062] The cleaning device provided by the embodiments of the present application can improve the assembly efficiency of the cliff sensor assembly 3.

[0063] Referring to Figure 1 In the embodiments of the present application, at least one cliff sensor assembly 3 is arranged on the main body 1, and the cliff sensor assembly 3 is located at the bottom of the main body 1.

[0064] In the embodiments of the present application, the main body 1 is provided with at least one cliff sensor assembly 3, which can have various forms, for example, the number of cliff sensor assemblies 3 arranged on the main body 1 can be one, two, or four. The embodiments of the present application do not limit this. It should be noted that the more the number of cliff sensor assemblies 3 arranged, the higher the detection accuracy of the cleaning device to the environment, and the stronger the adaptability of the cleaning device to complex environments.

[0065] In the embodiments of the present application, the cliff sensor assembly 3 is located at the bottom of the main body 1. In this way, on the one hand, the cliff sensor assembly 3 is close to the ground, so that the cliff sensor assembly 3 can more accurately detect the height change of the ground and timely identify dangerous areas such as cliffs, steps, or gullies; on the other hand, the center of gravity of the cleaning device can be lowered, thereby improving the stability and balance of the cleaning device.

[0066] In addition, referring to Figure 8The embodiment of the present application further provides an assembling jig 4 used for assembling the cliff sensor assembly 3, the assembling jig 4 comprises a first driving structure 41 and a second driving structure 42, the first driving structure 41 comprises a first fixing member 411 and a first driving member 412, the first fixing member 411 is used for fixing the shell 31, and the first driving member 412 is connected with the first fixing member 411 to drive the first fixing member 411 to move along a first direction; the second driving structure 42 comprises a second fixing member 421 and a second driving member 422, the second fixing member 421 is used for fixing the circuit board 34, and the second driving member 422 is connected with the second fixing member 421 to drive the second fixing member 421 to move along a second direction, and the second direction is perpendicular to the first direction. Figure 3 The time-of-flight sensor 35 can be first arranged on the circuit board 34; then, the shell 31 is fixed by the first fixing member 411, and the circuit board 34 is fixed by the second fixing member 421; then, the second driving member 422 is used to drive the second fixing member 421 to move along the second direction, so that the circuit board 34 is aligned with the opening 3111 on the shell 31 along the first direction; finally, the first driving member 412 is used to drive the first fixing member 411 to move along the first direction, so that the shell 31 moves towards the circuit board 34, the circuit board 34 enters the accommodating cavity 311 of the shell 31 through the opening 3111, and the circuit board 34 is connected and fixed with the limiting structure 32 on the inner wall of the accommodating cavity 311; after the circuit board 34 is reliably fixed with the limiting structure 32 on the inner wall of the accommodating cavity 311, the assembled cliff sensor assembly 3 is removed from the assembling jig 4. Here, the assembling jig 4 is used to assemble the cliff sensor, which can improve the assembling efficiency of the cliff sensor assembly 3 and reduce the production cost of the cliff sensor assembly 3.

[0067] In the embodiment of the present application, the structure of the first fixing member 411 has multiple possibilities, for example, the first fixing member 411 can comprise a clamping portion, and the first fixing member 411 clamps and fixes the shell 31 through the clamping portion; or the first fixing member 411 can comprise a clamping portion, and the first fixing member 411 clamps and fixes the shell 31 through the clamping portion, which is not limited in the embodiment of the present application.

[0068] In the embodiment of the present application, the first driving member 412 is used to drive the first fixing member 411 to move along the first direction, therefore, the structure of the first driving member 412 has multiple possibilities, for example, the first driving member 412 can be a hydraulic cylinder, or a pneumatic cylinder, or an electric telescopic cylinder, which is not limited in the embodiment of the present application.

[0069] In the embodiment of the present application, the first fixing member 411 has various possible structural forms. For example, the second fixing member 421 can include a suction cup, and the second fixing member 421 can be fixed to the circuit board 34 by suction. Alternatively, the second fixing member 421 can include a clamping portion, and the second fixing member 421 can be fixed to the circuit board 34 by clamping. The present application is not limited in this regard.

[0070] In the embodiment of the present application, the second driving member 422 drives the second fixing member 421 to move in the second direction. Therefore, the second driving member 422 has various possible structural forms. For example, the second driving member 422 can be a hydraulic cylinder, a pneumatic cylinder, or an electric telescopic cylinder. The present application is not limited in this regard.

[0071] In the embodiment of the present application, when the first driving member 412 drives the first fixing member 411 to move in the first direction, the driving force of the first driving member 412 can be greater than the force required to connect and fix the circuit board 34 to the limiting structure 32, and less than the upper limit of the force acting on the circuit board 34. The specific value of the driving force of the first driving member 412 can be determined according to actual conditions. The present application is not limited in this regard.

[0072] In the embodiment of the present application, after the cliff sensor assembly 3 is assembled, it needs to be tested to evaluate whether it meets the factory requirements. To this end, with reference to Figure 9 , the assembly jig 4 further includes a testing device 43, and the testing device 43 has a testing line 431 with a testing end for detachable connection with the circuit board 34. In this way, after the cliff sensor assembly 3 is assembled, the cliff sensor assembly 3 can be fixed to the first fixing member 411 through the housing 31, and the circuit board 34 of the cliff sensor assembly 3 can be connected to the testing end of the testing line 431. The detachable connection between the testing end of the testing line 431 and the circuit board 34 facilitates quick connection between the testing line 431 and the circuit board 34, thereby improving the testing efficiency. In the case where the cliff sensor assembly 3 does not meet the factory requirements, the testing line 431 and the circuit board 34 can also be quickly disconnected, thereby improving the maintenance efficiency.

[0073] In the embodiment of the present application, the connection between the testing end of the testing line 431 and the circuit board 34 has various possible forms. For example, the testing end of the testing line 431 has a plug, and the circuit board 34 has a socket matched with the plug. Alternatively, the testing end of the testing line 431 has a magnetic suction head, and the circuit board 34 has a magnetic suction interface matched with the magnetic suction head. The present application is not limited in this regard.

[0074] In the embodiment of the present application, the test of the cliff sensor assembly 3 can include a limit performance test and an anti-light-infiltration performance test. To this end, with reference to Figure 9The testing device 43 can further comprise a reflecting member 44. The testing end is configured to provide an input signal to the circuit board 34 and receive a detection signal emitted by the cliff sensor assembly 3 in response to the input signal. The reflecting member is configured to reflect the detection signal. After the cliff sensor assembly 3 is assembled, first, the cliff sensor assembly 3 can be fixed to the first fixing member 411 through the housing 31, and the circuit board 34 of the cliff sensor assembly 3 is connected to the testing end of the testing line 431, so that the testing end provides an input signal to the circuit board 34. Then, the reflecting member 44 is fixed to the second fixing member 421 by adhesion or the like. Then, the second fixing member 421 is driven by the second driving member 422 to move along the second direction, so that the reflecting member 44 is aligned with the lens assembly 36 of the cliff sensor assembly 3 along the first direction. Finally, the first fixing member 411 is driven by the first driving member 412 to move along the first direction, so that the lens assembly 36 of the cliff sensor assembly 3 is attached to the reflecting member 44. The reflecting member 44 reflects the detection signal emitted by the cliff sensor assembly 3 in response to the input signal. The testing device 43 receives the reflected detection signal through the testing end, and evaluates whether the cliff sensor assembly 3 meets the testing requirements.

[0075] In the embodiments of the present application, the reflecting member 44 refers to an object that reflects a specific type of detection signal (such as light wave, sound wave, radar wave, etc.). The reflecting member 44 can have various structural forms, for example, the reflecting member 44 can be a reflecting mirror, a reflecting plate with a reflective coating, or a reflecting prism, and the embodiments of the present application are not limited in this regard.

[0076] The above merely describes the preferred embodiments of the present application, but should not be used to limit the protective scope of the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protective scope of the present application.

Claims

1. A cliff sensor assembly, characterized by include: The housing has a receiving cavity, at least one side of which has an opening, and the inner wall of the receiving cavity has a limiting structure; A circuit board, wherein the circuit board is disposed in the accommodating cavity and is connected and fixed to the limiting structure; A time-of-flight sensor is mounted on the circuit board.

2. The cliff sensor assembly of claim 1, wherein, The limiting structure includes a first limiting member and a second limiting member spaced apart along the orientation of the opening. The circuit board includes a central portion and an edge portion surrounding the central portion. The time-of-flight sensor is disposed in the central portion, and the edge portion is snapped and fixed between the first limiting member and the second limiting member.

3. The cliff sensor assembly of claim 2, wherein, Along the orientation of the opening, the distance between the first limiting member and the opening is greater than the distance between the second limiting member and the opening. The first limiting member has a first limiting surface, and the first limiting surface is continuously arranged around the inner wall of the receiving cavity. The second limiting member has a second limiting surface, and the edge portion is fixed between the first limiting surface and the second limiting surface.

4. The cliff sensor assembly of claim 3, wherein, The second limiting member has a first guide surface that extends obliquely away from the opening in a direction away from the inner wall of the receiving cavity.

5. The cliff sensor assembly of claim 4, wherein, The inner wall of the accommodating cavity also has a positioning element. The positioning element has a second guide surface and a positioning surface that are continuously arranged. The second guide surface extends obliquely in the direction away from the opening, and the distance between the second guide surface and the opening is less than the distance between the first guide surface and the opening. The positioning surface and the edge portion abut against each other along the wall thickness direction of the accommodating cavity.

6. The cliff sensor assembly of any one of claims 1-5, wherein, The cliff sensor assembly further includes a lens assembly, which includes a first lens and a second lens. The housing has a first mounting cavity and a second mounting cavity that communicate with the receiving cavity on the side opposite to the opening. A first partition is formed between the first mounting cavity and the second mounting cavity. The first lens is installed in the first mounting cavity, and the second lens is installed in the second mounting cavity. The time-of-flight sensor includes a transmitter and a receiver. The transmitter transmits signals to the outside through the first lens, and the receiver receives signals through the second lens.

7. The cliff sensor assembly of claim 6, wherein, The cliff sensor assembly further includes a buffer member disposed in the accommodating cavity and located on the side of the time-of-flight sensor facing away from the opening. The buffer member has a first through hole and a second through hole, and a second partition is formed between the first through hole and the second through hole. At least a portion of the transmitting end extends into the first through hole, and at least a portion of the receiving end extends into the second through hole. Along the orientation of the opening, the second partition is positioned opposite to the first partition.

8. A cleaning apparatus, characterized by include: main body; A walking assembly, disposed on the main body, is used to move the cleaning equipment; The cliff sensor assembly according to any one of claims 1-7, wherein the cliff sensor assembly is disposed on the body.

9. The cleaning apparatus of claim 8, wherein, The main body is provided with at least one cliff sensor assembly, and the cliff sensor assembly is located at the bottom of the main body.

10. An assembly jig, characterized by, An assembly jig for assembling the cliff sensor assembly of any one of claims 1-7, comprising: a first driving structure, the first driving structure comprising a first fixing member and a first driving member, the first fixing member being used for fixing the housing, and the first driving member being connected with the first fixing member to drive the first fixing member to move in a first direction; a second driving structure, the second driving structure comprising a second fixing member and a second driving member, the second fixing member being used for fixing the circuit board, and the second driving member being connected with the second fixing member to drive the second fixing member to move in a second direction, the second direction being perpendicular to the first direction.

11. The assembly fixture of claim 10, wherein, The assembly jig further comprises a testing device, the testing device having a testing line, the testing line having a testing end, the testing end being used for detachably connecting with the circuit board.

12. The assembly fixture of claim 11, wherein, The testing device further comprises a reflecting member, the testing end being used for providing an input signal to the circuit board and receiving a detection signal emitted by the cliff sensor assembly in response to the input signal, and the reflecting member being used for reflecting the detection signal.

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