Assembly structure and self-driving robot

Abstract

Assembly structure mounted on a base of a self-driving robot, the assembly structure comprising: a protective shell comprising a protective chamber for accommodating a positioning module; and a cover plate placed on top of the protective case to form a receiving space between the cover plate and the protective case, which is used to receive a voice receiving module; wherein the self-driving robot also includes a top cover which is placed on the base and wherein the top cover is provided with a through-hole to allow space for the protective cover of the mounting structure.

Description

CROSS-REFERENCE TO RELEVANT REGISTRATIONS

[0001] This application claims priority over the Chinese patent application with application number 202322303757.5, filed on August 25, 2023, the entire contents of which are incorporated into this application by reference. TECHNICAL AREA

[0002] The present disclosure relates to the technology of robotic vacuum cleaners and in particular to an assembly structure and a self-driving robot. STATE OF THE ART

[0003] With the iterative updating and development of the technology, the intelligent cleaning robot has become integrated into everyday family life and has gradually spread. Based on relevant technologies, the intelligent cleaning robot is equipped with a voice receiver to enable functions such as voice interaction and voice activation. To ensure that the voice receiver has a good reception angle and is not obstructed, it is usually placed at the most protruding point of the entire machine, i.e., at the location of the laser distance measuring unit. However, problems with the voice receiver's connecting cables often arise during assembly, particularly cable pinching and difficulties with cable routing.

[0004] It should be noted that the information set out above in the section “Technical Background” is only intended to improve the understanding of the background of the present disclosure and may therefore contain information that does not represent a related technology known to the average person skilled in the art in this field. CONTENT OF THE PRESENT APPLICATION

[0005] By using one or more embodiments of the “disclosure of the invention”, the technical problems of cable pinching and the difficult cable routing of the connecting cable of the voice reception module can be at least partially solved.

[0006] According to some embodiments of the present disclosure, a mounting structure is provided which is mounted on the basis of the self-driving robot, wherein the mounting structure comprises: a protective shell having a protective chamber for receiving a position determination module; and a cover plate placed on top of the protective shell to form a receiving space between the cover plate and the protective shell which is used to receive a speech receiving module.

[0007] According to some embodiments of the present disclosure, a self-driving robot is provided, wherein the self-driving robot comprises: a base; a previously mentioned mounting structure, wherein the mounting structure is mounted on the base; a control module arranged on the base; a speech receiver module mounted in the receiving space of the mounting structure, wherein the connecting cable of the speech receiver module is connected to the control module; and a position determination module mounted on the base and located in the protective chamber of the mounting structure of the speech receiver module. BRIEF DESCRIPTION OF THE DRAWING

[0008] To clarify the technical solutions of the embodiments of this disclosure, the drawings necessary for the descriptions in these embodiments are briefly described below. It is understood that the accompanying drawings represent only some embodiments of this disclosure and that further drawings can be derived by the person skilled in the art without inventive step. Fig. Figure 1 shows a schematic view of the self-driving robot (with the top cover removed) according to some embodiments of the present disclosure; Fig. Figure 2 shows an exploded view of the assembly structure of the self-driving robot in Fig. 1; Fig. Figure 3 shows an exploded view of the assembly structure according to some other embodiments of the present disclosure; Fig. Figure 4 shows an exploded view of the assembly structure according to some other embodiments of the present disclosure; Fig. Figure 5 shows a schematic representation of the relative position of the cover plate, the adhesive bonding layer, and the speech receiver module in Fig. 4. Reference symbol:

[0009] 100. Protective cover; 110. Second through-hole; 120. Dividing plate; 130. First Through-hole; 140. Mounting column; 200. Cover plate; 210. Voice pickup opening; 300. Bracket; 310. Cable groove; 400. Adhesive bonding layer; 500. Waterproof breathable film; 1000. Positioning module; 2000. Voice reception module; 2100. Circuit board; 2200. Microphone; 2300. Mounting hole; 2400. Sound wave through-hole; 3000. Control module; 4000. Base. DETAILED DESCRIPTION

[0010] The technical solutions of the embodiments of this disclosure are described clearly and completely below in conjunction with the accompanying drawings shown in the embodiments of this disclosure. Obviously, the described embodiments are only some of the embodiments of this disclosure, not all of them. All other embodiments that a person skilled in the art in this field could derive from the embodiments in this disclosure without any creative activity are within the scope of protection of this disclosure.

[0011] Furthermore, reference numerals and / or reference letters may be repeated in various examples of this disclosure for the purposes of simplification and clarity, but such repetition does not in itself indicate the relationship between the various described embodiments and / or settings. Moreover, this disclosure provides examples of various specific processes and materials; however, a person skilled in the art in this field will recognize the application of other processes and / or the use of other materials.

[0012] The technical solutions of this disclosure are described below with reference to the attached drawings and specific embodiments.

[0013] In relevant technology, the laser distance measuring unit and the voice receiver are typically located in the upper cover of the entire machine. To enable the functions of the laser distance measuring unit and the voice receiver, they must be connected to the control unit via a connecting cable. However, the control unit is often located in the lower shell. The connecting cable must be attached to the lower shell before the upper cover can be snapped into place, which complicates assembly. During the actual assembly process, problems frequently arise with the voice receiver's connecting cables, such as cable compression and cable management difficulties.

[0014] To solve the aforementioned problems, the assembly structure according to some embodiments of the present disclosure, as shown in the Fig. 1, Fig. 2, Fig. 3, Fig. 4 to Fig. Figure 5 shows a protective cover 100, wherein the protective cover 100 has a protective chamber for receiving the position determination module 1000; and a cover plate 200, wherein the cover plate 200 is placed on the protective cover 100 to form a receiving space for receiving the voice receiving module 2000 between the cover plate 200 and the protective cover 100.

[0015] In some embodiments, such as in the Fig. 1 and Fig. As shown in Figure 2, a speech receiver module 2000 can be installed, which can be mounted directly onto the base 4000 of the self-propelled robot using a mounting structure. This allows the connection cable of the speech receiver module 2000 to be pre-connected and organized with the control module 3000 in the base 4000 of the mobile robot before the top cover is mounted on the mobile robot. This prevents incorrect installation or cable pinching when the top cover is snapped into place, thus avoiding any impairment of the performance of the speech receiver module 2000.

[0016] In some embodiments, such as in the Fig. 1 and Fig. As shown in Figure 2, the connecting cables of the speech receiver module 2000 and the position sensing module 1000 can be connected to the control module 3000, which is mounted on the mobile robot base 4000, before the various modules are assembled. The position sensing module 1000 can then be attached directly to the base 4000 of the mobile robot, while the speech receiver module 2000, the protective cover 100, and the cover plate 200 are also attached to the base 4000 of the mobile robot, thus completing the installation of the mounting structure. Finally, while snapping the top cover of the mobile robot into place and mounting it, the wiring and connection of the speech receiver module 2000 and the position sensing module 1000 are completed within the mounting structure, thus avoiding problems such as blind installation and cable compression.This ensures the reliability and stability of the connection between the connection cable of the speech reception module 2000, the connection cable of the position determination module 1000 and the control module 3000 after the mobile robot has been assembled.

[0017] In some embodiments, such as in the Fig. 1 and Fig. As shown in Figure 2, the positioning module 1000 is first attached directly to the base 4000 of the mobile robot, while the speech receiver module 2000, the protective cover 100, and the cover plate 200 are also attached to the base 4000. Then, the connecting cables of the speech receiver module 2000 and the positioning module 1000 can be connected to the control module 3000, which is mounted on the mobile robot base 4000, to complete the installation of the assembly structure. Finally, while snapping the top cover of the mobile robot into place and mounting it, the wiring and connection work of the assembly structure is completed, thus avoiding problems such as blind mounting and cable compression. This ensures the reliability and stability of the connection between the assembly structure and the control module 3000 after the mobile robot is assembled.

[0018] In some embodiments, the Speech Receiver Module 2000 is used to capture sound information and collect speech information from the target group to enable human-machine speech interaction functionality. In some embodiments, the target group includes, among others, elderly people, children, and other individuals who cannot use smartphones for voice calls, as well as individuals for whom using smartphones is difficult. In certain embodiments, the target group may also include animals such as cats and dogs.

[0019] In some embodiments, the speech reception module 2000 may also include a speech transmitter, for example a loudspeaker, which serves to display the current status of the self-driving robot to the user, to carry out human-machine interaction, to select functions and to actively play informational notes.

[0020] In some embodiments, the detection device in the position determination module 1000 includes, but is not limited to, an image acquisition device and a laser distance measuring device. The image acquisition device can determine the location of the self-driving robot and / or its distance to the obstacle using captured image information; the laser distance measuring device can determine the location of the self-driving robot and / or its distance to the obstacle using laser scanning.

[0021] In some embodiments, the image capture device can also be used to capture action information from the target group. This action information triggers corresponding actions. This not only expands the nature of human-machine interaction but also enables the control of the self-driving robot without physical contact.

[0022] In some embodiments, the position determination module 1000 can include both an image acquisition device and a laser distance measuring device; by combining the two, the position determination module 1000 enables more precise position determination.

[0023] In some embodiments, it is provided that the image acquisition device and the laser distance measuring device can be stacked on top of each other in the protective case 100.

[0024] In some other embodiments, the image acquisition device and the laser distance measuring device can be integrated into a single structure. For example, the image acquisition module can comprise multiple cameras and the laser distance measuring device multiple lidar sensors; the cameras and lidar sensors can be arranged in a ring within the positioning module 1000.

[0025] In some embodiments, such as in the Fig. 1 and Fig. As shown in Figure 2, a second through-hole 110 is provided on the side wall of the protective cover 100 to expose the cameras and / or the lidar sensors through the second through-hole 110, so that the cameras in the positioning module 1000 can successfully capture images and the lidar sensors can successfully perform laser measurements.

[0026] As an optional embodiment, it is, as in Fig. 1, Fig. 2, Fig. 3 to Fig. Figure 4 shows that the protective cover 100 is provided with a bottom opening which is used to avoid the positioning module 1000.

[0027] In some embodiments, the protective cover 100 is provided with a bottom opening, the bottom opening providing space for the positioning module 1000. Therefore, the protective cover 100 can be installed after the positioning module 1000 is mounted on the bracket 300 or the base 4000 of the self-propelled robot, so that the protective cover 100 covers the positioning module 1000, thus placing the positioning module 1000 within the protective chamber of the protective cover 100.

[0028] As an optional embodiment, it is, as in Fig. 1, Fig. 2 to Fig. Figure 3 shows that the assembly structure also includes a bracket 300, wherein the bracket 300 serves to provide the protective cover 100 and to attach it to the base 4000 of the self-driving robot.

[0029] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, a bracket 300 can be attached to the bottom of the protective cover 100, allowing the protective cover 100 to be attached to the mobile robot via the bracket 300. This makes it easy to mount and attach the protective cover 100 to the mobile robot. For example, after the positioning module 1000 is attached to the base 4000 of the mobile robot, the voice receiver module 2000, the protective cover 100, the cover plate 200, and the bracket 300 can be mounted and then installed as a whole on the base 4000 of the mobile robot, and the protective cover 100 can then cover the positioning module 1000.

[0030] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the positioning module 1000 can also be attached to the bracket 300, allowing the positioning module 1000 to be mounted on the base 4000 of the mobile robot along with other modules of the assembly structure. For example, the positioning module 1000 can be attached to the bracket 300, while the protective cover 100, the voice receiver module 2000, and the cover plate 200 can be mounted on the bracket 300. This creates a complete assembly structure that is then mounted on the base 4000 of the mobile robot.

[0031] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the protective cover 100 can be attached to the bracket 300 with screws or other connecting elements, or the protective cover 100 can be mounted and secured to the bracket 300 with a snap-fit ​​device, or the protective cover 100 can also be mounted and secured to the bracket 300 by means of an interference fit or threaded connection. In some embodiments, as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the bracket 300 is designed to attach the self-driving robot to the base 4000. The bracket 300 holds the protective cover 100 suspended relative to the base 4000 of the self-driving robot, allowing the connecting cable of the speech receiver module 2000 to be routed through the opening in the bottom of the protective cover 100. This prevents the protective cover 100 from pressing on the connecting cable of the speech receiver module 2000 when it is attached directly to the base 4000 of the self-driving robot, which would compromise the safety and stability of the connecting cable.

[0032] In some embodiments, it is provided that the connecting cable for the position determination module 1000 and the connecting cable for the speech reception module 2000 can be led out of the bottom opening of the protective cover 100, so that the connecting cable of the position determination module 1000 and the connecting cable of the speech reception module 2000 are each connected to the terminals of the control module 3000, which is arranged on the base 4000 of the self-driving robot.

[0033] As an optional embodiment, it is, as in Fig. 1, Fig. 2 to Fig. Figure 3 shows that the bracket 300 and the protective cover 100 form a single-piece structure.

[0034] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the bracket 300 and the protective cover 100 are designed to be integrated into a single-piece structure in order to reduce the assembly steps of the assembly structure and improve the assembly efficiency of the assembly structure.

[0035] As an optional embodiment, it is, as in Fig. 1, Fig. 2 to Fig. Figure 3 shows that the holder 300 is provided with a cable groove 310, the cable groove 310 being used to accommodate the connecting cable of the voice reception module 2000.

[0036] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the cable groove 310 in the bracket 300 is designed to accommodate the connecting cable of the speech receiver module 2000, thus fixing the position of the connecting cable. This facilitates the connection of the connecting cable to the control module 3000, prevents interference from the cable during the assembly process of the various modules in the assembly structure, and also prevents the cable from being pinched during assembly.

[0037] As an optional embodiment, it is, as in Fig. 1, Fig. 2 to Fig. Figure 3 shows that a mounting column 140 is provided in the protective cover 100. The voice receiver module 2000 is attached to the mounting column 140 and / or the cover plate 200 extends through the voice receiver module 2000 and is attached to the mounting column 140.

[0038] In some embodiments, the mounting column 140 is arranged on the inner side wall of the protective cover 100, and the speech receiving module 2000 can be attached to the mounting column 140 with screws or other connecting elements, so that the speech receiving module 2000 is located within the receiving space of the protective cover 100.

[0039] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the speech receiver module 2000 is rigidly connected to the mounting column 140, allowing it to be suspended within the receiving space of the protective casing 100. This reduces the influence of vibrations from the mounting structure on the speech receiver module 2000, thereby improving its speech reception performance.

[0040] In some embodiments, in order to attach the voice receiver module 2000 to the mounting column 140 via the connecting element, as shown in the Fig. 1, Fig. 2 to Fig. Figure 3 shows that a mounting hole 2300 corresponding to the mounting column 140 is provided in the voice receiver module 2000. The connecting element can be connected and fastened through the mounting hole 2300 and the mounting column 140.

[0041] In some embodiments, the mounting post 140 can be arranged on the inner side wall of the protective cover 100, and the cover plate 200 can be attached to the mounting post 140 with screws or other fasteners, so that the cover plate 200 is attached to the top of the protective cover 100. A through-hole can be provided in the voice receiver module 2000 to accommodate the screws and other fasteners used to attach the cover plate 200.

[0042] In some embodiments, the mounting column 140 can be arranged on the inner side wall of the protective cover 100, and the cover plate 200 and the speech receiver module 2000 are attached to the mounting column 140 with screws or other connecting elements. This secures the cover plate 200 to the top of the protective cover 100 and positions the speech receiver module 2000 within the receiving space of the protective cover 100.

[0043] In some other embodiments, the speech receiver module 2000 can also be arranged in the protective casing 100 by means of magnetic levitation. For example, a superconductor is arranged in the speech receiver module 2000. A magnetic levitation module is provided in the protective casing 100, corresponding to the position of the superconductor. The speech receiver module 2000 is levitated within the receiving space of the protective casing 100 by the repulsive force generated between the magnetic levitation module and the superconductor. This reduces the effects of vibrations of the mounting structure on the speech receiver module 2000, improves the speech reception performance of the speech receiver module 2000, and increases the accuracy of the speech recognition.

[0044] As an optional embodiment, it is, as in Fig. 1, Fig. 2, Fig. 3, Fig. 4 to Fig. Figure 5 shows that the protective cover 100 is provided with a separating plate 120, wherein the separating plate 120 is arranged between the voice reception module 2000 and the position determination module 1000, and the mounting column 140 is arranged on the separating plate 120.

[0045] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the protective cover 100 is provided with a partition plate 120, the partition plate 120 being arranged between the speech receiver module 2000 and the position determination module 1000. The partition plate 120 serves to separate the protective chamber from the receiving space. Simultaneously, the partition plate 120 can be used to mount the speech receiver module 2000, so that the speech receiver module 2000 is attached to the partition plate 120 in the protective cover 100 by the mounting column 140.

[0046] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, the protective cover 100 is provided with a partition plate 120, the partition plate 120 being arranged between the speech receiver module 2000 and the position determination module 1000, the partition plate 120 separating the protective chamber from the receiving space, a mounting column 140 is simultaneously provided on the partition plate 120, with the mounting column 140 the cover plate 200, the speech receiver module 2000 or both the cover plate 200 and the speech receiver module 2000 can be attached.

[0047] In some embodiments, it is provided that a buffer structure can be provided on the separating plate 120 to prevent the speech recording performance of the speech receiver module 2000 from being affected by vibrations.

[0048] In some embodiments, it is provided that a layer of sound-absorbing material can also be provided on the separating plate 120 in order to reduce the noise generated by the self-driving robot during movement or cleaning and to prevent the noise generated by the self-driving robot during movement or cleaning from affecting the speech recording performance of the speech receiver module 2000.

[0049] As an optional embodiment, it is, as in Fig. Figure 2 shows that the separating plate 120 is provided with a first through-hole 130. The first through-hole 130 serves to guide the connecting cable of the voice receiver module 2000 through.

[0050] In some embodiments, such as in Fig. As shown in Figure 2, the connecting cable of the speech receiver module 2000 is provided to be routed through the first through-hole 130 into the protective cover 100 and further through the bottom opening of the protective cover 100 to connect to the control module 3000 on the base 4000 of the self-driving robot by providing a first through-hole 130 in the separating plate 120.

[0051] In some embodiments, the speech receiver module 2000 and the position sensing module 1000 are mounted on the top of the self-propelled robot via the mounting structure, so that the self-propelled robot inevitably generates low-frequency noise during operation due to mechanical vibrations. When the speech receiver module 2000 is subjected to vibrations, the received sound becomes distorted, which impairs the accuracy of the received speech information and leads to poor speech reception performance of the speech receiver module 2000, thus degrading the speech interaction experience.

[0052] To resolve the aforementioned problems with the 2000 voice receiver module, an alternative embodiment, as described in the Fig. 4 and Fig. 5 shown, the assembly structure additionally comprises an adhesive bonding layer 400, the adhesive bonding layer 400 is arranged on the side of the cover plate 200 that borders the receiving space, the adhesive bonding layer 400 being used for bonding and connecting to the speech receiving module 2000.

[0053] In some embodiments, such as in the Fig. 4 and Fig. As shown in Figure 5, the speech receiver module 2000 is designed to be attached to the cover plate 200 by means of the adhesive bonding layer 400, thereby separating the speech receiver module 2000 to a certain extent from the protective shell 100 and other structures of the self-driving robot. This reduces the transmission of internal vibrations from the self-driving robot to the speech receiver module 2000, thus mitigating the effects of vibrations on the speech receiver module 2000, in order to improve the speech reception performance of the speech receiver module 2000 and optimize the speech interaction experience.

[0054] In some embodiments, such as in the Fig. 1, Fig. 2 to Fig. As shown in Figure 3, a through-hole can be provided in the speech reception module 2000 when the cover plate 200 is attached to the mounting column 140 by the connecting element, in order to avoid the connecting element and the mounting column 140 for attaching the cover plate 200, so that the speech reception module 2000 is arranged in the receiving space by the adhesive bonding layer 400.

[0055] As an optional embodiment, it is provided that the adhesive bonding layer 400 comprises a damping layer, a first adhesive layer and a second adhesive layer located on both sides of the damping layer, wherein the first adhesive layer is used for bonding and connecting to the cover plate 200, and wherein the second adhesive layer is used for bonding and connecting to the speech receiving module 2000.

[0056] In some embodiments, the adhesive bonding layer 400 is provided with a damping layer, which reduces the transmission of vibrations to the speech receiver module 2000. This reduces the amount of vibrations transmitted to the speech receiver module 2000 via the cover plate 200, thus preventing the speech receiver module 2000 from being affected by vibrations. This reduces the influence of vibration noise on the speech receiver module 2000 and improves speech reception performance.

[0057] As an optional embodiment, it is provided that the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

[0058] In some embodiments, the first adhesive layer in the adhesive bonding layer 400 serves to bond and connect to the cover plate 200, and the second adhesive layer of the adhesive bonding layer 400 serves to bond and connect to the speech receiver module 2000, wherein the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer, so that the adhesive bonding layer 400 adheres more firmly to the cover plate 200 and thus prevents detachment from the cover plate 200; on the other hand, the speech receiver module 2000 can be easily removed from the cover plate 200, which facilitates the operation of the production line.

[0059] As an optional embodiment, it is provided that the damping layer consists of foam.

[0060] In some embodiments, the damping layer of the adhesive bonding layer 400 can be made of foam. The foam is characterized by good elasticity, low weight, flexible pliability, ultra-thin volume, and good vibration damping properties. When used in the adhesive bonding layer 400 of the present disclosure, it can better shield the transmission of vibrations to the voice receiver module 2000.

[0061] As an optional embodiment, it is, as in Fig. 2 and Fig. Figure 3 shows that the cover plate 200 is provided with a speech recording opening 210. The position of the speech recording opening 210 corresponds to the position of the speech receiving element of the speech receiving module 2000.

[0062] In some embodiments, such as in the Fig. 2 and Fig. As shown in Figure 3, the speech receiver module 2000 receives sound via the speech receiver element, wherein a speech reception opening 210 is provided on the cover plate 200, and the position of the speech reception opening 210 corresponds to the position of the speech receiver element of the speech receiver module 2000. This facilitates the transmission of sound waves to the speech receiver element and thus improves the speech reception performance of the speech receiver element.

[0063] In some embodiments, the sound information of the target group is generally located above or to the side of the self-driving robot. By arranging the speech recording opening 210 and the microphone 2200 on the top of the mounting structure, it is made easier for the microphone 2200 to capture speech information and the capture effect of the speech information is improved.

[0064] As an optional embodiment, it is, as in Fig. 3 shown, provided that the assembly structure also includes a waterproof breathable film 500, wherein the waterproof breathable film 500 is located on a side of the cover plate 200 facing the recording space, and wherein the waterproof breathable film 500 covers at least the voice recording aperture 210.

[0065] In some embodiments, the application of a waterproof, breathable film 500 to one side of the cover plate 200 adjacent to the recording chamber, and the covering of the speech recording opening 210 with this waterproof, breathable film 500, prevents, to a certain extent, the ingress of moisture, dust, and other contaminants into the recording chamber through the speech recording opening 210. This protects the speech receiver module 2000 and other components, thus ensuring the speech recording performance of the speech receiver module 2000.

[0066] As an optional embodiment, it is, as in Fig. 2 shown, provided that the speech reception module 2000 comprises a printed circuit board 2100 and several speech reception elements arranged on the printed circuit board 2100.

[0067] In some embodiments, such as in Fig. As shown in Figure 2, the speech receiver module 2000 is designed to include a printed circuit board 2100 on which a speech receiver element is mounted. This speech receiver element can be a microphone 2200 used to capture speech information. For example, the printed circuit board 2100 shown in Figure 2 includes a microphone 2200 for capturing speech information. Fig. In the embodiment shown in Figure 2, a circular structure is used. Three microphones 2200 are arranged on the circuit board 2100. These three microphones 2200 are arranged in a ring on the circuit board 2100, enabling the speech receiver 2000 to capture speech information from all directions. In other embodiments, the speech receiver 2000 can also be provided with more or fewer microphones 2200 as required, and the speech receiver 2000 can comprise 1 to 5 microphones 2200.

[0068] According to the same inventive concept, the self-driving robot, according to some embodiments of the present disclosure, comprises a base 4000, the aforementioned mounting structure, a speech receiver module 2000, and a position determination module 1000. The mounting structure is mounted on the base 4000; the control module 3000 is arranged on the base 4000; the speech receiver module 2000 is mounted in the receiving space of the mounting structure, and the connecting cable of the speech receiver module 2000 is connected to the control module 3000; the position determination module 1000 is mounted on the base 4000 and is located in the protective chamber of the mounting structure of the speech receiver module 2000.

[0069] Since the self-driving robot of the present disclosure includes the assembly structure of the above-mentioned technical solution, the self-driving robot of the present disclosure possesses all the advantages of the above-mentioned assembly structure, which are not explained in detail here.

[0070] In some embodiments of the present disclosure, the self-driving robot may be a cleaning robot that has the functions of sweeping and / or mopping the floor. In other embodiments, the self-driving robot may be a food delivery robot, a patrol robot, or another self-driving robot with different usage scenarios.

[0071] In some embodiments, a mainboard is installed on the base 4000, on which the control module 3000 can be mounted. Simultaneously, the connection cable of the voice receiver module 2000 can be connected to the control module 3000 via the mainboard.

[0072] As an optional embodiment, the self-driving robot is also provided to include an upper cover that is placed on the base 4000, and the upper cover is provided with a through-hole to avoid the protective cover 100 of the mounting structure.

[0073] In some embodiments, the upper cover, after being snapped onto the base 4000, can cover the structure inside the base 4000 to protect the structure and prevent dust from entering the base 4000; at the same time, the upper cover can provide space through the through-hole of the protective cover 100 of the mounting structure, so that the position determination module 1000 and the speech reception module 2000 are located in the mounting structure on top of the self-propelled robot, thus facilitating position determination and speech acquisition.

[0074] In some embodiments, the upper cover can be equipped with a display module that is connected to the control module 3000 via cables. The display module serves to show the operating status and the setting parameters of the self-propelled robot.

[0075] In some embodiments, it is provided that function keys are also provided on the upper cover, with which the functions of the self-driving robot can be selected.

[0076] As an optional embodiment, it is, as in Fig. Figure 3 shows that the speech receiver module 2000 comprises a printed circuit board 2100 and a speech receiver element arranged on the side of the printed circuit board 2100 facing away from the cover plate 200; wherein the printed circuit board 2100 is provided with a sound wave passage hole 2400 corresponding to the position of the speech receiver element.

[0077] In some embodiments, such as in Fig. As shown in Figure 3, the speech receiver is arranged on the side of the circuit board 2100 facing away from the cover plate 200. This prevents contact between the speech receiver and the cover plate 200 to a certain extent, thus avoiding a collision. This protects the speech receiver and also prevents it from being affected by interference such as vibrations and shocks. To ensure that the speech receiver can receive sounds normally in this case, a sound wave passage hole 2400 is provided on the circuit board 2100 at the corresponding position of the speech receiver, allowing the sound wave to be transmitted to the speech receiver via the sound wave passage hole 2400.

[0078] As an optional embodiment, it is, as in Fig. 3 shown, provided that the cover plate 200 is provided with a speech recording opening 210, the position of the speech recording opening 210 corresponding to the position of the sound wave passage hole 2400.

[0079] In some embodiments, such as in Fig. As shown in Figure 3, the positions of the speech reception opening 210, the sound wave passage hole 2400, and the speech receiver element can be aligned to enable smooth transmission of sound from outside the assembly structure to the speech receiver module 2000. This allows the sound waves to pass sequentially through the speech reception opening 210 and the sound wave passage hole 2400 before being captured by the speech receiver element, thus ensuring the sound reception capability of the speech receiver element.

[0080] The embodiments described in this disclosure have at least the following advantageous effects:

[0081] The mounting structure according to some embodiments of the present disclosure can be used to mount a speech receiver module, which can be mounted directly onto the base of the self-driving robot by means of the mounting structure. This allows the connecting cable of the speech receiver module to be pre-connected and organized with the control module in the base of the mobile robot before the mounting structure is attached to the mobile robot. This prevents incorrect installation or pinching of the cables when the top cover is snapped into place, which would impair the performance of the speech receiver module.

[0082] In the present disclosure, the case where the first feature is "above" or "below" the second feature can include the first and second features being in direct contact, and also the first and second features not being in direct contact but being connected by another feature between them, unless otherwise clearly stated and limited. Furthermore, the case where the first feature is "above," "on," or "above" the second feature can include the first feature being directly above and obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. The case where the first feature is "below," "below," or "down" the second feature can include the first feature being directly below and obliquely below the second feature, or simply mean that the first feature is at a lower level than the second feature.

[0083] In the present disclosure, it should be noted that, unless otherwise specified and limited, the terms "connection," "fastening," or the like are to be understood broadly. For example, "fastening" may refer to a permanent, detachable, or integral connection; it may be a mechanical or electrical connection; it may be a direct connection or an indirect connection via an interposed medium; and it may refer to internal communication or interaction between two elements, unless otherwise clearly defined. The person skilled in the art in this field may understand the specific meanings of the foregoing terms in the present disclosure according to specific situations.

[0084] Furthermore, the descriptions relating to “first,” “second,” and the like in this disclosure serve only a descriptive purpose and should not be understood as indicating or implying their relative importance or as implicitly explaining the set of technical features disclosed. Thus, features defined as “first” and “second” may explicitly or implicitly include one or more of these features. Therefore, a feature designated with the term “first” or “second” may explicitly or implicitly include one or more of these features. In the description of this disclosure, “more” means two or more unless expressly and specifically stated otherwise.

[0085] Although the embodiments of the present disclosure have been shown and described, the person skilled in the art in this field will understand that various changes, modifications, substitutions and variants can be made to these embodiments without deviating from the principle and purpose of the present disclosure, and the scope of the present disclosure is defined by the claims and their equivalents. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] CN 202322303757.5

[0001]

Claims

[1] Assembly structure mounted on a base of a self-driving robot, the assembly structure comprising: a protective shell comprising a protective chamber for accommodating a positioning module; and a cover plate placed on top of the protective case to form a receiving space between the cover plate and the protective case, which is used to receive a voice receiving module; wherein the self-driving robot also includes a top cover which is placed on the base and wherein the top cover is provided with a through-hole to allow space for the protective cover of the mounting structure. [2] Mounting structure according to claim 1, wherein the protective cover has a bottom opening to provide space for the positioning module. [3] Assembly structure according to claim 1 or 2, further comprising: a bracket used to position the protective cover and attach it to the base of the self-driving robot. [4] Mounting structure according to claim 3, wherein the holder and the protective cover are formed into a one-piece structure. [5] Mounting structure according to claim 3 or 4, wherein the holder is provided with a cable groove for receiving the connecting cable of the voice receiving module. [6] Mounting structure according to any one of claims 1 to 5, wherein the protective cover has a mounting column to which the voice receiver module and / or the cover plate is attached. [7] Mounting structure according to claim 6, wherein the protective cover has a separating plate located between the voice reception module and the position determination module, and the mounting column is arranged on this separating plate. [8] Mounting structure according to claim 7, wherein the separating plate has a first through-hole through which the connecting cable of the voice receiving module passes. [9] Assembly structure according to any one of claims 1 to 8, further comprising: an adhesive bonding layer arranged on a side of the cover plate facing the recording space, wherein the adhesive bonding layer is used for bonding and connecting to the speech reception module. [10] Mounting structure according to claim 9, wherein the adhesive bonding layer comprises a damping layer, a first adhesive layer and a second adhesive layer located on both sides of the damping layer, wherein the first adhesive layer is bonded to the cover plate and the second adhesive layer is bonded to the speech receiver module. [11] Assembly structure according to claim 10, wherein the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer. [12] Mounting structure according to claim 10 or 11, wherein the damping layer consists of foam. [13] Mounting structure according to one of claims 1 to 12, wherein the cover plate is provided with a speech recording opening, the position of which corresponds to the position of the speech receiving element of the speech receiving module. [14] Mounting structure according to claim 13, comprising a waterproof breathable film which is located on the side of the cover plate facing the recording space and which covers at least the voice recording opening. [15] Self-driving robot that includes: a base; a mounting structure according to any one of claims 1 to 14, which is mounted on the base; a control module that is arranged on the base; a speech receiver module mounted in the receiving space of the assembly structure, wherein the connecting cable of the speech receiver module is connected to the control module; and a positioning module that is mounted on the base and is located in the protective chamber of the mounting structure of the voice receiver module. [16] Self-driving robot according to claim 15, wherein the speech receiver module comprises a printed circuit board and a speech receiver element arranged on a side of the printed circuit board facing away from the cover plate; wherein the printed circuit board is provided with a sound wave passage hole corresponding to the position of the speech receiver element. [17] Self-driving robot according to claim 16, wherein the cover plate is provided with a speech recording opening, the position of which corresponds to the position of the sound wave passage hole.

Images