A home cleaning robot with visual navigation module

Abstract

The utility model discloses a domestic cleaning robot with visual navigation module relates to robot technical field, the utility model discloses a robot main body, and the inside integrated drive system, dust collection system and control system of robot main body still include the mounting groove block, and the mounting groove block fixed setting is in the robot main body front end outer wall, and the one side wall of mounting groove block is equipped with the slot mouth. The utility model discloses a domestic cleaning robot with visual navigation module, and the mounting groove block and the plug -in block between adopt the "drawer type" plug -in cooperation, and the fixed structure originally needing to dismantle the top cover, break the wire is converted into the external module of whole pull -out, when the lens is contaminated by dust or pet hair, and the user only needs to press the handle end compression spring, and the limiting guide column is immediately withdrawn on the upper wall of plug -in block, and the plug -in block is together with the slot frame, support and double camera disposable pull out, realize the second grade disassembly, and after wiping, calibrating or replacing, push into the slot mouth again.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a household cleaning robot with a visual navigation module. Background Technology

[0002] A home cleaning robot is an intelligent service robot capable of autonomously moving, sensing environmental information, and completing cleaning tasks in a home environment. It integrates multiple technologies including drive, sweeping, vacuuming, sensing, navigation, and control. Through built-in sensors, it collects real-time data on ground conditions, obstacle locations, and its own posture. After algorithmic processing, it plans its path and automatically performs tasks such as floor sweeping, dust collection, corner cleaning, and even mopping and sterilization. It can also autonomously return to its charging dock when its battery is low, requiring no continuous human intervention. Its shape is typically a flat cylindrical or square-round body, with wheels, side brushes, a roller brush, a fan, and a dust collection box at the bottom, and cameras and LiDAR sensors on the top or inside. Equipped with navigation modules such as inertial measurement units and infrared or ultrasonic sensors, it can identify room layout, furniture positions, carpet edges, and stair differences, enabling various cleaning modes such as edge cleaning, zigzag cleaning, spot cleaning, and scheduled cleaning. It also supports remote interaction via mobile app and voice assistant, allowing users to start, stop, monitor, or set no-go zones at any time. Powered primarily by lithium batteries, the home cleaning robot features low-power operation, automatic recharging, and resume cleaning after interruption. It can adapt to various floor materials such as wood floors, tiles, and carpets, effectively reducing the burden of daily household cleaning and improving living comfort. It is one of the most representative autonomous mobile service robot products in the current smart home field.

[0003] Current household cleaning robots generally fix the camera navigation module directly to the top cover of the machine with screws, forming a non-removable integrated structure. Although it can complete visual mapping and path planning, after long-term operation, the lens surface is easily contaminated by dust, pet hair, or oil fumes, resulting in blurred images, loss of features, and thus navigation drift, collisions, or missed scans. When a fault or upgrade is required for maintenance, the user must remove the entire top cover and disconnect the internal ribbon cable to clean the lens, calibrate the focus, or replace the hardware. The operation is cumbersome and requires a high level of expertise. Therefore, the existing technology needs to be improved. Utility Model Content

[0004] The purpose of this invention is to provide a home cleaning robot with a visual navigation module, so as to solve the problem mentioned in the background art that the existing home cleaning robot's camera navigation module is integrated with the body, making it inconvenient to disassemble and maintain.

[0005] To solve the above problems, the technical solution adopted by this utility model is as follows:

[0006] A household cleaning robot with a visual navigation module includes a robot body, which integrates a drive system, a vacuuming system, and a control system. It also includes:

[0007] The mounting slot is fixedly installed on the outer wall of the front end of the robot body, and a slot opening is provided on one side wall of the mounting slot.

[0008] A plug-in block, which is inserted into a slot.

[0009] The slot frame is fixedly disposed on one side wall of the plug-in block;

[0010] A bracket is fixedly installed inside the slot frame, and a visual navigation component is provided on the bracket;

[0011] A top limiting component is disposed above the mounting slot block and is used to limit and constrain the top of the plug-in block.

[0012] Preferably, the robot body is in the shape of a flattened cylinder.

[0013] Preferably, the visual navigation component includes a forward-facing wide-angle camera and a downward-facing wide-angle camera, with the forward-facing wide-angle camera tilted at the upper end of the bracket and the downward-facing wide-angle camera fixedly mounted at the lower end of the bracket.

[0014] Preferably, the top limiting component includes a cavity column fixedly disposed on the upper wall of the mounting slot block, a spring fixedly connected to one side wall inside the cavity column, a limiting guide post fixedly connected to one end of the spring, and the limiting guide post slidably disposed in the cavity groove inside the cavity column. A handle end is fixedly connected to the upper wall of the limiting guide post, and the bottom wall of the limiting guide post contacts and fits against the upper wall of the insertion block.

[0015] Preferably, it also includes magnetic absorbing sheets symmetrically and fixedly disposed on both sides of the plug-in block. The visual navigation component is covered with a protective cover. Two metal strips are fixedly connected to one side wall of the protective cover. The magnetic absorbing sheets and the metal strips are connected by magnetic attraction. The protective cover is made of transparent acrylic material.

[0016] Preferably, a rubber pad is fixedly connected to the side wall of the magnetic accumulator away from the metal strip, and the side wall of the rubber pad abuts against the front side wall of the mounting groove block.

[0017] Compared with the prior art, this utility model has the following advantages:

[0018] This utility model uses a "drawer-type" plug-in connection between the mounting slot and the plug-in block, transforming the original fixed structure that required removing the top cover and cutting the ribbon cable into an external module that can be pulled out as a whole. When the lens is contaminated by dust or pet hair, the user only needs to press the compression spring at the end of the handle, and the limit guide post will immediately retract from the upper wall of the plug-in block. The plug-in block, along with the slot frame, bracket and dual cameras, can be pulled out at once, achieving second-level disassembly. After wiping, calibration or replacement, it can be pushed back into the slot. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall external structure of a home cleaning robot with a visual navigation module.

[0020] Figure 2 This is a first-person view structural diagram of a home cleaning robot with a visual navigation module.

[0021] Figure 3 This is a partial disassembly diagram of a home cleaning robot with a visual navigation module;

[0022] Figure 4 A home cleaning robot with a visual navigation module Figure 3 Enlarged view of a portion of point A in the middle.

[0023] In the diagram: 1. Robot body; 2. Mounting slot; 3. Connecting block; 4. Slot frame; 5. Bracket; 6. Forward wide-angle camera; 7. Downward wide-angle camera; 8. Cavity column; 9. Spring; 10. Limiting guide column; 11. Handle end; 12. Magnetic suction plate; 13. Protective cover; 14. Metal strip; 15. Rubber pad. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1:

[0026] Please see Figures 1-4 As shown, this utility model is a household cleaning robot with a visual navigation module, including...

[0027] Robot body 1, which integrates a drive system, a dust collection system, and a control system, and also includes:

[0028] Mounting slot 2, the mounting slot 2 is fixedly set on the front outer wall of the robot body 1, and a slot opening is opened on one side wall of the mounting slot 2;

[0029] Plug-in block 3, which is inserted into the slot opening;

[0030] The slot frame 4 is fixedly installed on one side wall of the plug block 3;

[0031] The slot frame 4 has a bracket 5 fixedly installed inside, and the bracket 5 is equipped with a visual navigation component.

[0032] A top limiting component is disposed above the mounting slot 2 and is used to limit and constrain the top of the plug-in block 3.

[0033] The robot body 1 is in the shape of a flattened cylinder.

[0034] As can be seen from the above, the mounting slot 2 and the plug-in block 3 adopt a "drawer-type" plug-in connection, which transforms the original fixed structure that required removing the top cover and cutting the ribbon cable into an external module that can be pulled out as a whole. When the lens is contaminated by dust or pet hair, the user only needs to press the handle end 11 to compress the spring 9, and the limit guide post 10 will immediately exit the upper wall of the plug-in block 3. The plug-in block 3, together with the slot frame 4, bracket 5 and dual cameras, can be pulled out at once, achieving second-level disassembly. After wiping, calibrating or replacing, it can be pushed back into the slot. The spring 9 will reset and lock. No tools are needed and there is no need to touch the inside of the body, thus completely solving the problem of cumbersome maintenance and high professional requirements.

[0035] Depend on Figure 3 It is known that the visual navigation component includes a forward-facing wide-angle camera 6 and a downward-facing wide-angle camera 7. The forward-facing wide-angle camera 6 is tilted and mounted on the upper end of the bracket 5, and the downward-facing wide-angle camera 7 is fixedly mounted on the lower end of the bracket 5.

[0036] As can be seen from the above, the forward-facing wide-angle camera 6 and the downward-facing wide-angle camera 7 are integrated into the same rigid frame through the bracket 5. After being removed, they form an independent "binocular vision unit". Users can place them directly on the desktop for simultaneous cleaning or replacement without adjusting the two lenses separately, which greatly reduces the workload of maintenance. At the same time, the two cameras share the same rigid reference of the bracket 5, which eliminates the relative displacement that may occur when they are fixed separately, ensures the consistency of visual feature matching, and reduces the risk of navigation drift.

[0037] Specifically, the forward-facing wide-angle camera 6 acquires color images of a 120° horizontal field of view in real time at a 30° elevation angle. Using a lightweight YOLOv8 network, it performs semantic segmentation and distance estimation of obstacles such as furniture legs, shoes, and pet feces within 30ms at the edge. Simultaneously, it extracts static texture features such as ceiling light strips and wall corner lines, constructs a top-down sparse point cloud map using ORB-SLAM3, and marks passable areas with a 0.5m grid granularity. Meanwhile, the downward-facing wide-angle camera 7 continuously captures images of the ground from a 90° vertical perspective. It quickly determines the texture richness of the current frame using grayscale variance and frequency domain energy. When the texture score exceeds a threshold, it enables LK optical flow tracking of sub-pixel-level feature points in adjacent frames, calculating the robot's millimeter-level displacement and θ angle change along the X / Y axes at 50ms intervals. As a real-time error correction for the wheeled odometry, if the texture score is less than or equal to the threshold, the system switches to IMU + encoder fusion mode. After the images of the preceding and following frames are hard-synchronized with timestamps in the DSP, the forward map information and the ground visual odometry are coupled at a frequency of 40Hz in an extended Kalman filter to dynamically update the robot pose and local sub-map. When the loop closure detection module finds that the similarity between the forward image and the historical keyframe is greater than 85%, it triggers global pose map optimization to eliminate accumulated errors. In low-light scenarios, the hidden LED provides supplementary lighting in the 850nm near-infrared band, and the camera switches to IR mode simultaneously to ensure navigation continuity. Finally, based on the fused high-precision semantic map, the robot uses a hybrid A* and DWA algorithm to plan a collision-free path, achieving fully autonomous navigation with edge cleaning, bow-shaped coverage, and automatic recharging.

[0038] Depend on Figure 4 It is known that, in order to facilitate the limiting constraint of the top of the plug-in block 3, the top limiting component includes a cavity column 8 fixedly disposed on the upper wall of the mounting slot block 2. A spring 9 is fixedly connected to one side wall inside the cavity column 8. One end of the spring 9 is fixedly connected to a limiting guide post 10, and the limiting guide post 10 is slidably disposed in the cavity groove inside the cavity column 8. A handle end 11 is fixedly connected to the upper wall of the limiting guide post 10, and the bottom wall of the limiting guide post 10 is in contact with and fits against the upper wall of the plug-in block 3.

[0039] As can be seen from the above, the top limiting component uses the preload of spring 9 to keep the limiting guide post 10 pressed against the upper wall of the plug block 3, forming a locking effect. When the robot is subjected to vibration or accidental collision during operation, the plug block 3 is still firmly pressed into the slot, preventing image jitter or poor contact caused by loosening. When disassembly is required, the lock can be released by pressing the pull handle end 11 with one hand, improving the convenience and safety of daily maintenance for users.

[0040] Example 2:

[0041] A home cleaning robot with a visual navigation module, including

[0042] Robot body 1, which integrates a drive system, a dust collection system, and a control system, and also includes:

[0043] Mounting slot 2, the mounting slot 2 is fixedly set on the front outer wall of the robot body 1, and a slot opening is opened on one side wall of the mounting slot 2;

[0044] Plug-in block 3, which is inserted into the slot opening;

[0045] The slot frame 4 is fixedly installed on one side wall of the plug block 3;

[0046] The slot frame 4 has a bracket 5 fixedly installed inside, and the bracket 5 is equipped with a visual navigation component.

[0047] A top limiting component is disposed above the mounting slot 2 and is used to limit and constrain the top of the plug-in block 3.

[0048] refer to Figure 3 As shown, when the protective cover 13 is impacted, to prevent hard compression between the magnetic absorbing piece 12 and the mounting slot block 2, it also includes magnetic absorbing pieces 12 that are symmetrically and fixedly arranged on both sides of the plug block 3. The visual navigation component is covered with a protective cover 13. Two metal strips 14 are fixedly connected to one side wall of the protective cover 13. The magnetic absorbing piece 12 and the metal strips 14 are connected by magnetic adsorption. The protective cover 13 is made of transparent acrylic material.

[0049] A rubber pad 15 is fixedly connected to the side wall of the magnetic absorbing piece 12 away from the metal strip 14, and the side wall of the rubber pad 15 abuts against the front side wall of the mounting groove block 2.

[0050] As can be seen from the above, when the protective cover 13 is subjected to external impact, the impact force is absorbed by the rubber pad 15, preventing it from being directly transmitted to the bracket 5 and the camera body; by utilizing the magnetic adsorption characteristics of the magnetic absorbing piece 12 and the metal strip 14, it is easy to install and remove the protective cover 13 for maintenance of the visual navigation component.

[0051] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0052] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A household cleaning robot with a visual navigation module, comprising a robot body (1), wherein the robot body (1) integrates a drive system, a vacuuming system, and a control system, characterized in that, Also includes: Mounting slot (2), the mounting slot (2) is fixedly set on the front outer wall of the robot body (1), and a slot opening is provided on one side wall of the mounting slot (2); The plug-in block (3) is inserted into the slot; The slot frame (4) is fixedly installed on one side wall of the plug block (3); The slot frame (4) is fixedly installed with a bracket (5), and a visual navigation component is provided on the bracket (5); A top limiting component is disposed above the mounting slot (2) and is used to limit and constrain the top of the plug-in block (3).

2. A household cleaning robot with a visual navigation module according to claim 1, characterized in that: The robot body (1) is in the shape of a flat cylindrical shape.

3. A household cleaning robot with a visual navigation module according to claim 1, characterized in that: The visual navigation component includes a forward wide-angle camera (6) and a downward wide-angle camera (7). The forward wide-angle camera (6) is tilted and mounted on the upper end of the bracket (5), and the downward wide-angle camera (7) is fixedly mounted on the lower end of the bracket (5).

4. A household cleaning robot with a visual navigation module according to claim 1, characterized in that: The top limiting component includes a cavity column (8) fixedly installed on the upper wall of the mounting slot (2). A spring (9) is fixedly connected to one side wall inside the cavity column (8). A limiting guide post (10) is fixedly connected to one end of the spring (9). The limiting guide post (10) is slidably installed in the cavity groove inside the cavity column (8). A handle end (11) is fixedly connected to the upper wall of the limiting guide post (10). The bottom wall of the limiting guide post (10) is in contact with the upper wall of the plug-in block (3).

5. A household cleaning robot with a visual navigation module according to claim 1, characterized in that: It also includes magnetic absorbing pieces (12) that are symmetrically and fixedly arranged on both sides of the plug block (3). The visual navigation component is covered with a protective cover (13). Two metal strips (14) are fixedly connected to one side wall of the protective cover (13). The magnetic absorbing pieces (12) and the metal strips (14) are connected by magnetic adsorption. The protective cover (13) is made of transparent acrylic material.

6. A household cleaning robot with a visual navigation module according to claim 5, characterized in that: A rubber pad (15) is fixedly connected to the side wall of the magnetic absorbing piece (12) away from the metal strip (14), and the side wall of the rubber pad (15) abuts against the front side wall of the mounting groove block (2).

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