Automatic cleaning device

Abstract

The present disclosure provides an automatic cleaning device, comprising: a moving platform (100) including a receiving cavity (1011), a positioning device (121) at least a portion of which is disposed in the receiving cavity (1011), a circuit board (105) disposed on the moving platform (100) adjacent to the receiving cavity (1011), and a water stop bracket (104) disposed between the circuit board (105) and the receiving cavity (1011) to prevent liquid from flowing into the circuit board (105). The automatic cleaning device provided by the present disclosure has a waterproof function.

Description

[Technical field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202210028857.9, filed on January 11, 2022, the entire disclosure of which is incorporated herein by reference as part of this application.

[0002] The present disclosure relates to the technical field of cleaning robots, and in particular to automatic cleaning devices. [Background technology]

[0003] With the development of science and technology, cleaning robots are becoming more and more popular, which is convenient for home life. Automatic cleaning devices, such as sweeping robots, mopping robots and sweeping and mopping robots, etc., are becoming more and more popular. With the popularity of automatic cleaning devices, the functions and structures of cleaning robots are also becoming more and more complicated.

[0004] If an automatic cleaning device is operated in a humid environment (such as a kitchen room or a bathroom), water may get inside the device, causing damage to devices such as circuit boards and ultimately causing damage to the automatic cleaning device. Summary of the Invention

[0005] The objective of the present disclosure is to provide an automatic cleaning device that can solve at least one of the above technical problems. Specific solutions are as follows:

[0006] According to a specific embodiment of the present disclosure, the present disclosure provides an automatic cleaning device, the automatic cleaning device comprising: The device comprises a moving platform including a storage cavity, a positioning device at least partially disposed in the storage cavity, a circuit board disposed on the moving platform adjacent to the storage cavity, and a water stop bracket disposed between the circuit board and the storage cavity to prevent liquid from flowing into the circuit board.

[0007] Optionally, the water-stop bracket includes a bottom wall provided at a first end of the circuit board close to the accommodating cavity and extending along at least a portion of an edge of the first end, and a side wall extending from an edge of the bottom wall close to the circuit board in a direction substantially perpendicular to the bottom wall, wherein a free end of the side wall away from the bottom wall is farther from the bottom surface of the moving platform than the circuit board.

[0008] Optionally, the positioning device includes a positioning unit and a protective cover that is covered on the positioning unit, the protective cover includes a bottom plate and a joint cover that protrudes from the bottom plate and is configured to accommodate at least a portion of the positioning unit, and a liquid guide hole is provided at the joint between the bottom plate and the joint cover, so that liquid that falls onto the bottom plate falls into the accommodating cavity through the liquid guide hole.

[0009] Optionally, the mobile platform includes a mobile platform body having the storage cavity and a platform cover having an opening, and in response to the platform cover being covered by the mobile platform body, the platform cover substantially covers the bottom plate, at least a portion of the joining cover passes through the opening, and a water-stopping rib protruding toward the mobile platform body is provided on the side of the platform cover facing the mobile platform body.

[0010] Optionally, in response to the platform cover being covered by the moving platform body, the water-stopping rib is located at a first end of the circuit board close to the accommodating cavity and at a side of the water-stopping bracket away from the circuit board.

[0011] Optionally, at least a portion of the bottom plate is arranged to overlap the bottom wall of the water-stop bracket, and a liquid guide groove is formed in the bottom plate between the edge portion close to the water-stop bracket and the side wall of the water-stop bracket, configured to guide liquid that falls onto the bottom plate into the accommodating cavity.

[0012] Optionally, a water blocking wall is provided within the accommodating cavity, and the water blocking wall guides the liquid that has flowed into the accommodating cavity via the liquid guide groove to the bottom of the accommodating cavity to prevent splashing.

[0013] Optionally, a drain hole is provided in the bottom of the receiving cavity to allow liquid collected in the receiving cavity to drain from the receiving cavity.

[0014] Optionally, the moving platform includes a moving platform body having the storage cavity and a platform bottom plate covering the bottom of the moving platform body, the platform bottom plate having a storage groove configured to store liquid discharged from the drain hole, and a perpendicular projection of the drain hole onto the platform bottom plate is located within the storage groove.

[0015] Optionally, a drain hole is provided on a side wall of the receiving groove.

[0016] Optionally, the platform bottom plate is provided with an opening configured to expose at least a portion of the dry cleaning module of the automatic cleaning device and to communicate with the moving platform body, the storage groove is provided adjacent to the opening, and the drain outlet is configured to guide liquid in the storage groove to flow out of the automatic cleaning device through the opening.

[0017] Optionally, one end of the base plate and the water stop bracket are pivotally connected via a pivot axis, and a trigger protrusion is provided on the bottom surface of the other end of the base plate away from the water stop bracket, and the automatic cleaning device further comprises a trigger assembly provided on the moving platform, the trigger assembly including a trigger button that, when pressed by the trigger protrusion, causes the automatic cleaning device to perform an anti-snag operation.

[0018] Optionally, the moving platform is provided with a storage groove, and the trigger assembly includes an elastic plate member provided in the storage groove and substantially parallel to and spaced apart from a bottom of the storage groove, the elastic plate member having a fixed end fixedly connected to a side wall of the storage groove and a free end provided in a cantilevered manner, and the trigger button is provided on the elastic plate member and located at the free end.

[0019] Optionally, said position determining device is a laser ranging device and said position determining unit is a laser ranging unit.

[0020] Compared with the prior art, the embodiments of the present disclosure have the following technical advantages:

[0021] The automatic cleaning device provided by the present disclosure has a water-stop bracket between the circuit board and the accommodating cavity to prevent liquid from entering from the outside from entering the circuit board and causing damage to the circuit device, and further has a trigger assembly on the positioning device, which has a simple structure and low cost.

[0022] The accompanying drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and are used together with the specification to interpret the principles of the present disclosure. Obviously, the accompanying drawings in the following description are merely some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these accompanying drawings without creative labor. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a structural schematic diagram of an automatic cleaning device according to some embodiments of the present disclosure; [Diagram 2] FIG. 1 is a schematic diagram of a bottom structure of an automatic cleaning device according to some embodiments of the present disclosure; [Diagram 3] FIG. 2 is a schematic top view of a moving platform body in the automatic cleaning device shown in FIG. [Figure 4] FIG. 2 is a schematic bottom view of a platform cover installed on the upper part of the moving platform body in the automatic cleaning device shown in FIG. [Diagram 5] FIG. 2 is a schematic top view of a base plate of a platform mounted on the moving platform body in the automatic cleaning device shown in FIG. [Figure 6] 1 is a structural schematic diagram of a waterstop bracket according to some embodiments of the present disclosure; [Figure 7] FIG. 1 is a structural schematic diagram of a position determining device according to some embodiments of the present disclosure; [Figure 8] Schematic diagram of the assembly structure of the positioning device and the moving platform shown in Figure 7. [Figure 9] 8 is a schematic diagram showing the structure of a protective cover in the position determination device shown in FIG. [Figure 10] Schematic diagram of the bottom structure of the protective cover shown in Figure 9 [Figure 11] FIG. 1 is a schematic diagram of an assembly of a moving platform, a positioning device, and a trigger assembly according to some embodiments of the present disclosure. [Figure 12] 12 is an enlarged schematic diagram of the trigger assembly in the assembled configuration shown in FIG. [Figure 13] 13 is an exploded view of the trigger assembly shown in FIG. [Explanation of symbols]

[0024] 100 Moving Platform 110 Rear-facing part 111 Front-facing part 101 Mobile platform body 1011 Storage Cavity 10111 Water cutoff wall 10112 Drain hole 1012 Storage groove 10121 Fastener 102 Platform Cover 1021 Open hole 1022 Water-stopping rib 1023 Access Port 103 Platform bottom plate 1031 Storage Groove 1032 Drainage port 1033 Aperture 104 Water stop bracket 1041 Bottom wall 1042 Side wall 10421 First side wall 10422 Second side wall 10423 3rd side wall 10424 4th side wall 10425 5th side wall 1043 Pivot shaft 1044 Mounting hole 105 Circuit Board 120 Sensing System 121 Positioning devices (e.g. laser ranging devices) 1210 Positioning unit (e.g. laser ranging unit) 1220 Protective cover 1221 Bottom plate 12210 Open mouth 1222 Junction Cover 12220 Window 1223 Liquid guide hole 1224 Pivot structure 1225 Liquid guide groove 122 Buffer 123 Cliff Sensor 130 Control System 140 Drive System 141 Drive Wheel Assembly 142 Turnaround Assembly 150 Cleaning Module 151 Dry Cleaning Module 152 Side Brush 153 Dustbin 160 Energy Systems 170 Man-machine interactive system 180 Trigger System 181 Trigger protrusion 182 Trigger Assembly 1821 Trigger button 1822 Elastic plate member 18221 Fixed end 18222 Free end 1823 Anti-warping fastener 1824 Positioning Pillar DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in more detail below with reference to the accompanying drawings, but obviously, the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without creative labor are all included in the protection scope of the present disclosure.

[0026] The terms used in the embodiments of the present disclosure are used only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure. The singular forms "a," "the," and "the" used in the embodiments of the present disclosure and the appended claims are also intended to include the plural, and "plurality" generally includes at least two, unless the context clearly indicates otherwise.

[0027] It should be noted that the term "and / or" as used herein is merely an explanation of the relationship between related objects, and there are three relationships; for example, A and / or B means that A may exist alone, A and B may exist simultaneously, or B may exist alone. In addition, in this specification, " / " generally indicates that the related objects before and after it are in an "or" relationship.

[0028] In addition, in the embodiments of the present disclosure, terms such as first, second, and third may be used for explanation, but it should be understood that they should not be limited to these terms. These terms are used only for distinction. For example, the first may be called the second, and similarly, the second may be called the first, without departing from the scope of the embodiments of the present disclosure.

[0029] It should be noted that the terms "comprises," "has," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or device that includes a set of elements not only includes those elements, but also other elements explicitly listed or inherent to those products or devices. Unless further limited, an element defined with the phrase "comprises..." does not exclude the presence of other identical elements in a product or device that includes said element.

[0030] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0031] 1 and 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment. As shown in FIG. 1 and FIG. 2, the automatic cleaning device may be a vacuum cleaning robot, a mopping / brushing robot, a window climbing robot, etc., and the automatic cleaning device is composed of a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160 and a man-machine interactive system 170.

[0032] The mobile platform 100 is configured to automatically move across a manipulation surface in a target direction. The manipulation surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, where the automatic cleaning device works on a floor surface, where the floor surface is the manipulation surface, the automatic cleaning device may be a window cleaning robot, where the automatic cleaning device works on a glass exterior surface of a building, where the glass is the manipulation surface, and the automatic cleaning device may be a pipe cleaning robot, where the automatic cleaning device works on an inner surface of a pipe, where the inner surface of the pipe is the manipulation surface. Purely for purposes of illustration, the mopping robot is used as an example in the present disclosure.

[0033] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions in response to unexpected environmental inputs, while the non-autonomous mobile platform itself cannot adaptively make operational decisions in response to unexpected environmental inputs, but can operate according to a predetermined procedure or a certain logic. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by an automatic cleaning device, and when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by a system or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 is composed of a forward-facing part 111 and a backward-facing part 110.

[0034] As shown in Figures 1 and 2, the sensing system 120 includes a positioning device 121 located above the mobile platform 100, a buffer 122 located on the forward-facing portion of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and other sensing devices such as an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown), and provides various position information and moving status information of the equipment to the control system 130.

[0035] In order to more clearly explain the behavior of the automatic cleaning device, the following directions are defined. The automatic cleaning device can move on the floor surface by various combinations of movement about three mutually perpendicular axes defined by the moving platform 100: the lateral axis Y, the front-rear axis X, and the central vertical axis Z. The forward driving direction along the front-rear axis X is designated as "forward", and the rearward driving direction along the front-rear axis X is designated as "rear". The lateral axis Y is substantially defined by the center point of the drive wheel assembly 141, and the axis center extends between the right and left wheels of the automatic cleaning device. Here, the automatic cleaning device can rotate about the Y axis. When the forward-facing part of the automatic cleaning device is tilted upward and the rearward-facing part is tilted downward, it is called "pitch up", and when the forward-facing part of the automatic cleaning device is tilted downward and the rearward-facing part is tilted upward, it is called "pitch down". Furthermore, the automatic cleaning device can rotate about the Z axis. When the automatic cleaning device is tilted to the right of the X axis at the front of the automatic cleaning device, it is called "turn right", and when the automatic cleaning device is tilted to the left of the X axis, it is called "turn left".

[0036] 2, cliff sensors 123 are provided at the bottom of the moving platform 100, in front and behind the drive wheel assembly 141, which can prevent the automatic cleaning device from falling when retreating and prevent damage to the automatic cleaning device. The above "front" refers to the same side as the moving direction of the automatic cleaning device, and the above "rear" refers to the opposite side to the moving direction of the automatic cleaning device.

[0037] Each assembly in the sensing system 120 may operate independently or in concert to more precisely achieve its purpose and function. The cliff sensor 123 and ultrasonic sensor identify the surface to be cleaned and determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., which can be combined with cameras, laser ranging devices, etc. for more precise determination.

[0038] For example, an ultrasonic sensor may be used to determine whether the surface to be cleaned is carpeted, and if the ultrasonic sensor determines that the surface to be cleaned is carpeted, the control system 130 may control the automatic cleaning device to perform a carpet mode cleaning.

[0039] A buffer 122 is provided on the forward-facing portion of the moving platform 100, and when the drive wheel assembly 141 propels the automatic cleaning device across the floor surface during the cleaning process, the buffer 122 detects one or more events (or objects) in the travel path of the automatic cleaning device via a sensor system, e.g., an infrared sensor, and the automatic cleaning device may detect the event (or object), e.g., an obstacle, a wall, through the buffer 122 and control the drive wheel assembly 141 in response to the event (or object), e.g., to move away from the obstacle.

[0040] The control system 130 is provided on a circuit board in the mobile platform 100 and includes a central processing unit, an application processor, etc., which communicates with a non-transitory memory such as a hard disk, a flash memory, a random access memory, etc., and the application processor receives the environmental information sensed by the multiple sensors from the sensing system 120, the obstacle information fed back from the positioning device, etc., draws an instant map of the environment in which the automatic cleaning device is installed using a positioning algorithm, such as SLAM, autonomously determines a travel path based on the environmental information and the environmental map, and then controls the operation of the drive system 140, such as forward, backward, and / or turning, according to the autonomously determined travel path. Furthermore, the control system 130 can determine whether to activate the cleaning module 150 to perform a cleaning operation based on the environmental information and the environmental map.

[0041] Specifically, the control system 130 combines distance information and speed information fed back from the buffer 122, cliff sensor 123, and sensing devices such as ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer, etc. to comprehensively determine the current working state of the vacuum cleaner, such as threshold crossing, carpet riding, cliff position, upper or lower stuck, dust box full, lifted, etc., and gives specific next operation strategies according to different situations, so that the work of the automatic cleaning device can better meet the owner's requirements and provide a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method according to the instant map information drawn by SLAM, which can greatly improve the cleaning efficiency of the automatic cleaning device.

[0042] Based on the specific distance and angle information, such as x, y and θ components, the drive system 140 can execute the drive command to steer the automatic cleaning device to move across the floor surface. As shown in FIG. 2, the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can simultaneously control the left and right wheels, and in order to more precisely control the device operation, the drive system 140 is preferably composed of a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically arranged along the horizontal axis defined by the moving platform 100.

[0043] In order for the automatic cleaning device to move more stably on the floor surface or have higher mobility, the automatic cleaning device may include one or more direction-changing assemblies 142, the direction-changing assembly 142 may be a driven wheel or a driving wheel, and its structural form may be a universal wheel, and the direction-changing assembly 142 may be located in front of the driving wheel assembly 141.

[0044] The energy system 160 includes a rechargeable battery such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery is connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery voltage drop monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery voltage drop monitoring circuit are connected to a microcomputer control circuit. The host computer is connected to the charging pile for charging via a charging electrode provided on the side or bottom of the main body.

[0045] The man-machine interactive system 170 includes keys on a host panel, which are available for the user to select functions, and may further include a display screen and / or indicator lights and / or a speaker, which can display the current status or function options of the device to the user, and may further include a mobile phone client program. In the case of a route navigation type automatic cleaning device, the mobile phone client can display a map of the environment in which the device is installed and the location of the device to the user, providing the user with richer and more convenient function items.

[0046] As shown in FIG. 2, the cleaning module 150 may include a dry cleaning module 151. The dry cleaning module 151 includes a roller brush, a dust box, and a fan. The roller brush, which is in contact with the floor surface to a certain extent, sweeps up the dust on the floor surface to the front of the dust suction port between the roller brush and the dust box, and sucks the dust into the dust box 153 through the suction gas generated by the fan that passes through the dust box. The dry cleaning module may further include a side brush 152 on the rotating shaft, which is at a certain angle with the floor surface, and moves the dust to the roller brush area of ​​the cleaning module 150.

[0047] As a selectable cleaning module, the automatic cleaning device may further include a wet cleaning module, configured to clean at least a portion of the operating surface using a wet cleaning method, where the wet cleaning module includes a water tank, a cleaning head, a driving unit, etc., where water in the water tank flows along a water circuit to the cleaning head, and the cleaning head cleans at least a portion of the operating surface under the driving of the driving unit.

[0048] In the related art, the top of the automatic cleaning device is not completely closed, so there is a risk of water entering the inside. For example, if a user accidentally spills water on the automatic cleaning device, the water may enter the inside of the automatic cleaning device through a gap on the top cover of the automatic cleaning device, such as a gap in a positioning device, and may affect elements such as a circuit board, which may lead to damage to the automatic cleaning device. The present disclosure provides an automatic cleaning device, including a moving platform including a receiving cavity, a positioning device at least a portion of which is disposed in the receiving cavity, a circuit board disposed on the moving platform adjacent to the receiving cavity, and a water stop bracket disposed between the circuit board and the receiving cavity to prevent liquid from entering the circuit. Here, the positioning device includes a positioning unit and a protective cover, and the positioning device includes an imaging device, a laser distance measuring device, etc., and the embodiments of the present disclosure are mainly described using a specific example of a laser distance measuring device, and correspondingly, the positioning unit is a laser distance measuring unit.

[0049] Fig. 3 is a schematic top view of a moving platform body in a moving platform provided by some embodiments of the present disclosure, Fig. 4 is a schematic bottom view of a platform cover assembled on the top of the moving platform body provided by some embodiments of the present disclosure, and Fig. 5 is a schematic top view of a platform bottom plate assembled on the moving platform body provided by some embodiments of the present disclosure. As shown in Figs. 1 to 5, the present disclosure provides an automatic cleaning device, and the automatic cleaning device includes: The device includes a moving platform 100, a positioning device 121 (e.g., a laser ranging device), a circuit board 105, and a water stop bracket 104. The moving platform 100 includes a receiving cavity 1011, at least a part of the positioning device 121 is disposed in the receiving cavity, the circuit board 105 is disposed on the moving platform 100 to support various electronic elements of the automatic cleaning device and is disposed adjacent to the receiving cavity 1011, and the water stop bracket 104 is disposed between the circuit board 105 and the receiving cavity 1011 to prevent liquid from flowing into the circuit board 105 and damaging the electronic elements on the circuit board 105.

[0050] Specifically, the moving platform 100 includes a moving platform body 101, a platform cover 102 and a platform bottom plate 103, and the structures of the platform cover 102 and the platform bottom plate 103 are all adapted to the structure of the moving platform body 101, and may be specifically set according to the actual product. Here, the moving platform body 101 drives the automatic cleaning device to move and perform various cleaning tasks, and the moving platform body 101 is provided with an accommodating cavity 1011, which is used to accommodate at least a part of the structure of the positioning device 121.

[0051] The receiving cavity 1011 is a hollow cavity, and a water blocking wall 10111 is provided in the hollow cavity to guide the liquid that has entered the receiving cavity to the bottom of the receiving cavity and prevent the liquid from splashing. In some embodiments, the water blocking wall 10111 is a side wall of the receiving cavity 1011, as shown in FIG. 6.

[0052] A drain hole 10112 is provided at the bottom of the storage cavity 1011, allowing liquid collected in the storage cavity to flow out of the storage cavity. In some embodiments, the number of the drain holes 10112 is multiple, each of which is provided at a different position on the bottom edge of the storage cavity, and the water blocking wall 10111 forms a water channel together with the bottom of the storage cavity, allowing substantially all of the liquid that has entered the storage cavity to flow into the drain hole 10112.

[0053] The moving platform body 101 further has an accommodating space (not shown), which is used to accommodate a dust box 153 in the cleaning module 150 .

[0054] The moving platform body 101 further has an accommodating space, which is used to accommodate a dust box 153 in the cleaning module 150 .

[0055] The platform cover 102 is the top of the automatic cleaning device and has an opening 1021, and in response to the platform cover 102 being covered by the moving platform body 101, the platform cover 102 substantially covers the positioning device 121, and some of the structure of the positioning device is exposed to the external environment through the opening 1021.

[0056] The platform cover 102 is further provided with a water stop rib 1022 protruding toward the mobile platform body 101 on the side facing the mobile platform body 101. In response to the platform cover 102 being covered by the mobile platform body 101, the water stop rib 1022 is located between the circuit board 105 and the receiving cavity 1011, and is located on the side of the water stop bracket 104 away from the circuit board 105. The water stop rib 1022 effectively guides condensed water formed on the inner surface of the top casing after water vapor that may be generated in the automatic cleaning device rises and condenses. The condensed water moves toward the surface of the mobile platform body along the platform cover 102, passes the water stop bracket 104 from above, flows above the circuit board 105, and drips down. This can prevent electronic elements on the circuit board 105 from being damaged.

[0057] The platform cover 102 further includes an access port 1023 configured to insert or remove a dust box 153 through the access port 1023, and the orthogonal projection of the access port 1023 onto the moving platform is located within the storage space. In response to the dust box being inserted into the storage space, the surface of the dust box away from the platform bottom plate is flush with the platform cover, i.e., the top surface of the dust box serves as a part of the top surface of the automatic cleaning device. In this way, there is no need to provide a top flap, which simplifies the device structure and further improves the technical and aesthetic appearance of the automatic cleaning device.

[0058] The platform bottom plate 103 is covered at the bottom of the moving platform body 101 and is provided opposite to the platform cover 102. A receiving groove 1031 configured to collect the liquid discharged from the drain hole 10112 is provided on the platform bottom plate 103, and the orthogonal projection of the drain hole 10112 onto the platform bottom plate 103 is located in the receiving groove 1031, so that the liquid flowing out from the drain hole 10112 can naturally fall into the receiving groove 1031. A drain port 1032 is further provided on the side wall of the receiving groove 1031, and the liquid in the receiving groove 1031 is discharged from the drain port 1032, which plays a role of accurately guiding the specific outflow direction of the liquid, and can avoid interference with the cleaning task. In some embodiments, the size and number of the receiving groove 1031 are adapted to the position and number of the drain hole 10112.

[0059] The platform bottom plate 103 further includes an opening 1033 configured to expose at least a portion of a dry cleaning module of the automatic cleaning device and communicate with the moving platform body 101. The opening 1033 is disposed adjacent to the receiving groove 1031, and the liquid drain port 1032 guides liquid in the receiving groove 1031 to flow out of the automatic cleaning device through the opening 1033.

[0060] At least a portion of the water stop bracket 104 on the moving platform 100 is provided around the positioning device 121, and Fig. 6 is a schematic structural diagram of the water stop bracket provided by some embodiments of the present disclosure, as shown in Fig. 6, the water stop bracket 104 is provided between a circuit board 105 and the receiving cavity 1011, and is configured to prevent liquid from flowing into the circuit board 105. The circuit board 105 is a circuit element in the automatic cleaning device, and is generally located on the side of the positioning device closer to the front part of the automatic cleaning device.

[0061] In the present disclosure, since external liquid, such as water, may flow into the inside of the automatic cleaning device through a gap between the positioning device and the platform cover 102, the water stop bracket 104 can prevent liquid from flowing into the circuit board from the position of the positioning device, so that the water stop bracket can be provided between the receiving cavity and the circuit board to enable waterproofing. In some embodiments, at least a part of the water stop bracket 104 is provided on an edge of the circuit board 105 away from the surface of the platform bottom plate 103.

[0062] Specifically, the water-stop bracket 104 includes a bottom wall 1041 provided at a first end of the circuit board close to the accommodating cavity and configured to extend along at least a portion of the edge of the first end, and a side wall 1042 extending from the edge of the bottom wall close to the circuit board along a direction substantially perpendicular to the bottom wall, and a free end of the side wall remote from the bottom wall is farther away from the bottom surface of the moving platform than the circuit board.

[0063] The bottom wall 1041 is a flat plate structure having a certain width, which is the length extending from the end of the bottom wall close to the circuit board to the receiving cavity.

[0064] The sidewall 1042 includes a first sidewall 10421, a second sidewall 10422 and a third sidewall 10423 provided opposite both ends of the first sidewall, a fourth sidewall 10424 connected to one end of the second sidewall remote from the first sidewall, and a fifth sidewall 10425 connected to one end of the third sidewall remote from the first sidewall. The first sidewall 10421 is provided at a first end of the circuit board close to the accommodating cavity, and the fourth sidewall and the fifth sidewall are respectively located at both ends of the waterstop bracket 104, and the ends are free ends. The fourth sidewall and the fifth sidewall are configured such that their orthogonal projections onto the platform bottom plate 103 are located within the accommodating cavity, and the liquid blocked by the waterstop bracket is guided to fall from the free end into the accommodating cavity. In some embodiments, the first sidewall, the second sidewall, and the third sidewall are all flat.

[0065] The waterstop bracket 104 further includes a pivot shaft 1043, which is pivotally connected to the positioning device 121 and configured to move at least some elements of the positioning device relative to the waterstop bracket 104. The pivot shaft 1043 is parallel to the first side wall 10421 and is spaced apart from the first side wall 10421, and both ends of the pivot shaft 1043 are fixed to the second side wall 10422 and the third side wall 10423, respectively.

[0066] The waterstop bracket 104 further includes mounting holes 1044 , which are used to determine the position of the waterstop bracket 104 and secure the waterstop bracket to the movement platform 100 .

[0067] FIG. 7 is a schematic structural diagram of a positioning device in an automatic cleaning device provided by some embodiments of the present disclosure, and FIG. 8 is a schematic diagram of an assembly structure of the positioning device and a moving platform shown in FIG. 7. As shown in FIG. 7 and FIG. 8, at least a part of the positioning device 121 is installed in a receiving cavity of the moving platform body 101. Specifically, the positioning device 121 includes a positioning unit 1210 (e.g., a laser distance measuring device) and a protective cover 1220. The positioning unit 1210 is exposed to the outside through an opening 1201 of the platform cover, and the positioning unit 1210 is rotatable relative to the moving platform 100, and is used to measure the horizontal distance between the automatic cleaning device and an obstacle in the circumferential direction.

[0068] The protective cover 1220 is covered on the positioning unit 1210 to protect the positioning unit from damage. FIG. 9 is a schematic structural diagram of the cover in the positioning device shown in FIG. 7, and FIG. 10 is a schematic structural diagram of the cover in FIG. 9 from another viewing angle. As shown in FIG. 9 and FIG. 10, specifically, the protective cover 1220 includes a base plate 1221 and a joint cover 1222 protruding from the base plate, and a liquid guide hole 1223 is provided at the boundary between the base plate 1221 and the joint cover 1222. The number of the liquid guide holes 1223 is one or more, and when there are more than one, they are distributed at the boundary at intervals. A part of the liquid dripped on the base plate 1221 enters the receiving cavity 1011 through the liquid guide hole 1223.

[0069] The base plate 1221 is a flat structure, and an opening 12210 is opened in the base plate 1221, and the joint cover 1222 protrudes from the opening 12210 of the base plate toward the side away from the platform bottom plate 103 and is used to accommodate the positioning unit 1210. A pivot structure 1224 is provided on one end of the base plate 1221 on a surface close to the platform bottom plate 103, and the pivot structure 1224 is fitted to the pivot shaft 1043, and the base plate 1221 is pivotally connected to the waterstop bracket 104 through the pivot shaft 1043.

[0070] At least a portion of the base plate 1221 is provided overlapping the bottom wall of the waterproof bracket 104, and a liquid guide groove 1225 is provided in the base plate 1221 between an edge portion close to the waterproof bracket 104 and a side wall of the waterproof bracket, configured to guide liquid dropped onto the base plate 1221 into the receiving cavity. That is, the liquid guide groove 1225 collects and guides the liquid that would normally flow into the circuit board so that it flows out.

[0071] In addition, in the present disclosure, a liquid guide hole 1223 and a liquid guide groove 1225 are provided, and when external liquid that enters through the gaps in the positioning device 121 falls onto the surface of the base plate 1221 and spreads and flows around, some of the liquid flows directly into the accommodating cavity through the liquid guide hole 1223, and when some of the liquid flows to the circuit board, it flows directly into the liquid guide groove 1225, and some of the liquid in the liquid guide groove 1225 flows into the accommodating cavity along the first side wall 10421, the third side wall 10423 and the fifth side wall 10425, and some of the liquid flows into the accommodating cavity along the first side wall 10421, the second side wall 10422 and the fourth side wall 10424.

[0072] The joint cover 1222 is a groove structure, configured to accommodate at least a part of the positioning unit, and the specific shape of the joint cover 1222 is adapted to the structure of the positioning unit, and in some embodiments, the groove structure is a hollow cylinder. The groove structure is inverted and covered on the opening 12210 of the base plate, and the edge of the groove away from the groove bottom is bonded to the edge of the opening of the base plate, and the specific method may be fixedly bonded or detachably bonded. A number of windows 12220 are provided around the side wall of the groove structure, and the positioning unit in the joint cover 1222 emits a laser through the windows 12220 and receives the returned laser signal.

[0073] Upon completion of assembly of the moving platform 100, the positioning device 121, and the water-stopping bracket 104, liquid that has entered through the gap between the positioning device 121 and the opening of the platform cover 102 falls onto the surface of the base plate 1221 of the positioning device, some of which flows into the accommodating cavity through the liquid guide hole 1223, and some of which flows into the accommodating cavity through the liquid guide groove 1225. And / or, when water vapor is generated in the automatic cleaning device, the water vapor concentrates on the inner surface of the platform cover 102 to form condensed water, and the water-stopping rib 1022 guides the condensed water to the surface of the base plate of the positioning device and allows it to flow into the accommodating cavity through the liquid guide hole and liquid guide groove, respectively, and then the liquid collected in the accommodating cavity 1011 falls from the liquid drainage hole 10112 at the bottom of the accommodating cavity into the accommodating groove 1031 of the platform bottom plate 103, and the liquid in the accommodating groove flows out into the automatic cleaning device through the liquid drainage port 1032 and opening 1033, thereby avoiding damage to the circuit board caused by unintentional water splashing or condensation, and the automatic cleaning device has a waterproof function.

[0074] The automatic cleaning device provided by the present disclosure has a water-stop bracket between the circuit board and the accommodating cavity, which can prevent liquid flowing in from the outside from entering the circuit board and damaging the circuit elements, and eliminates the top flap design in the conventional automatic cleaning device, simplifying the device structure, and improving the technical and aesthetic appearance of the automatic cleaning device.

[0075] Another embodiment of the present disclosure provides an automatic cleaning device, and the difference between the automatic cleaning device described in this embodiment and the automatic cleaning device described in the above embodiment is that the automatic cleaning device described in this embodiment further includes a trigger system 180, which includes a trigger protrusion 181 and a trigger assembly 182. Figure 11 is a schematic diagram of an assembly structure of a moving platform, a positioning device and a trigger assembly provided by some embodiments of the present disclosure, Figure 12 is a schematic diagram of a partial structure of the assembly structure shown in Figure 11, and Figure 13 is a schematic diagram of an exploded structure of the trigger assembly shown in Figure 12.

[0076] 10, the trigger protrusion 181 is provided on a bottom surface of the base plate 1221 away from the other end of the waterstop bracket 104. The trigger protrusion is a rigid structure and configured to apply pressure to the trigger assembly, and is not limited to a specific shape.

[0077] 11 to 13, the trigger assembly 182 is provided on the moving platform 100, specifically, the trigger assembly 182 is provided in a receiving groove 1012 of the moving platform 100, and the receiving groove 1012 is provided at a rearward portion of the automatic cleaning device. Specifically, the trigger assembly 182 includes a trigger button 1821 and an elastic plate member 1822, the trigger button 1821 is configured to cause the automatic cleaning device to perform an anti-hooking operation when pressed by the trigger protrusion, and the elastic plate member 1822 is provided in the receiving groove 1012 and is substantially parallel to and spaced apart from the bottom of the receiving groove. The elastic plate member may be a flat plate that is deflected under the action of an external force. In some embodiments, the elastic plate member 1822 is made of a flexible material, such as a carbon nanotube film, a polyester film, etc.

[0078] The elastic plate member 1822 includes a fixed end 18221 and a free end 18222, and in some embodiments, the elastic plate member 1822 has a "T"-shaped structure, the fixed end 18221 has an elongated structure, and the free end 18222 has a square structure, one end of the free end is connected to one end of the fixed end, the fixed end 18221 is fixedly connected on the side wall of the receiving groove 1012, the elongated structure is engaged with the engagement hole 10121 of the receiving groove side wall, and the free end is cantilevered. The trigger button 1821 is provided on the elastic plate member and located at the free end 18222, and in response to the protective cover 1220 being attached to the moving platform, the trigger button 1821 faces the trigger protrusion 181 and is provided at a certain distance.

[0079] The trigger assembly 182 further includes a warp prevention fastener 1823 and a positioning post 1824, and the warp prevention fastener 1823 prevents the elastic plate member from warping in a direction away from the bottom of the accommodating groove 1012 after being biased. The warp prevention fastener 1823 is located on a side wall of the accommodating groove 1012 away from the fixed end 18221 of the elastic plate member, and when the elastic plate member 1822 is in an unbiased state, the free end of the warp prevention fastener 1823 is as close as possible to the surface of the elastic plate member away from the bottom of the accommodating groove 1012.

[0080] One end of the positioning post 1824 is fixed to the bottom of the receiving groove 1012, extends upward along a direction perpendicular to the bottom of the receiving groove, and penetrates the elastic plate member to fix the elastic plate member.

[0081] During the process of performing a cleaning operation, if the automatic cleaning device is caught by an obstacle above, the positioning device 121 pivots around the pivot shaft 1043, the base plate moves in a direction closer to the trigger assembly 182, and the trigger button 1821 is triggered by the trigger protrusion 181 on the base plate, which generates an anti-trapping control signal when triggered and sends it to the control system 130, and then the control system 130 generates a corresponding control command to make the cleaning device perform an anti-trapping operation, which includes, but is not limited to, stopping, retreating, turning, etc. The trigger button 1821 has a certain pressing stroke, and usually, the motion amplitude generated by the base plate 1221 due to an obstacle above is less than the pressing stroke of the trigger button 1821, so that the anti-trapping control signal can be safely generated. When the running speed of the cleaning device is too fast and the height of the obstacle above is too low, the pivot amplitude of the positioning device 121 may be too large, so that the movement amplitude of the trigger protrusion 181 by the base plate 1221 exceeds the pressing stroke of the trigger button 1821, leading to damage to the trigger button. If the trigger button 1821 is provided on the free end 18222 of the elastic plate member 1822, the pressing force caused by the excessive movement acts on the free end, and the trigger button 1821 continues to move downward together with the free end 18222, and this buffering action can avoid damage to the trigger button 1821, extend the service life of the anti-snap element, and improve the safety of the cleaning device. At the same time, after the automatic cleaning device leaves the obstacle above, the elastic plate member 1822 generates a reaction force to move away from the bottom of the receiving groove and warps, and the elastic plate member finally becomes parallel to the plane where the bottom of the receiving groove is located under the blocking action of the warp prevention fastener 1823, and is ready to trigger the next possible anti-snap control signal. The installation of the elastic plate member 1822 ensures the operating safety of the trigger button 1821, while at the same time avoiding the use of other additional elements such as springs, making the device structure simpler, facilitating maintenance and element replacement, and reducing interference with the positioning unit 1210 caused by surrounding metal parts.

[0082] Finally, it should be noted that each embodiment in this specification will be described gradually, each embodiment will focus on the differences from other embodiments, and the same or similar parts between each embodiment may be referred to each other. The system or device disclosed in the embodiment will be briefly described since it corresponds to the method disclosed in the embodiment, and the relevant part may be referred to the description of the method part.

[0083] The above embodiments are used to explain the technical solutions of the present disclosure, but are not intended to limit them. The present disclosure has been described in detail with reference to the above embodiments. However, those skilled in the art can still modify the technical solutions described in the above embodiments, or equivalently replace some of the technical features thereof, and it should be understood that these modifications and replacements do not cause the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. a mobile platform including a storage cavity; a position determining device at least partially disposed in the receiving cavity; a circuit board mounted on the moving platform adjacent to the receiving cavity; a water stop bracket disposed between the circuit board and the receiving cavity to prevent liquid from entering the circuit board.

2. The water stop bracket is a bottom wall provided at a first end of the circuit board close to the receiving cavity and extending along at least a portion of an edge of the first end; a side wall extending from an edge of the bottom wall close to the circuit board along a direction substantially perpendicular to the bottom wall, 2. The automatic cleaning device of claim 1, wherein a free end of said side wall remote from said bottom wall is farther from the bottom surface of said moving platform than said circuit board.

3. The position determining device is A position determination unit; a protective cover for covering the position determination unit; The protective cover is The bottom plate and a joint cover protruding from the bottom plate, the interface cover is configured to receive at least a portion of the positioning unit; 3. The automatic cleaning device according to claim 2, wherein a liquid guide hole is provided at the boundary between the bottom plate and the joint cover, and liquid that falls onto the bottom plate falls into the accommodating cavity through the liquid guide hole.

4. The mobile platform includes: a moving platform body in which the receiving cavity is provided; a platform cover having an aperture; In response to the platform cover being covered by the moving platform body, the platform cover substantially covers the bottom plate and at least a portion of the interface cover passes through the aperture; 4. The automatic cleaning device according to claim 3, wherein a water-stopping rib protruding toward the moving platform body is provided on the side of the platform cover facing the moving platform body.

5. 5. The automatic cleaning device according to claim 4, characterized in that in response to the platform cover being covered by the moving platform body, the water-stopping rib is located between the circuit board and the accommodating cavity and is located on the side of the water-stopping bracket that is away from the circuit board.

6. The automatic cleaning device described in claim 3, characterized in that at least a portion of the bottom plate is arranged to overlap the bottom wall of the water-stop bracket, and a liquid guide groove is formed between the edge of the bottom plate close to the water-stop bracket and the side wall of the water-stop bracket, and is configured to guide liquid that falls onto the bottom plate into the storage cavity.

7. The automatic cleaning device according to claim 6, characterized in that a water blocking wall is provided within the accommodating cavity, and in order to prevent splashing, the water blocking wall guides liquid that has entered the accommodating cavity through the liquid guide groove to the bottom of the accommodating cavity.

8. 2. The automatic cleaning device of claim 1, wherein a drain hole is provided at the bottom of the receiving cavity to allow liquid collected in the receiving cavity to flow out of the receiving cavity.

9. The mobile platform includes: a moving platform body having the receiving cavity; a platform bottom plate covered on the bottom of the moving platform body; A receiving groove is provided on the platform bottom plate, and the receiving groove is configured to receive liquid discharged from the liquid drain hole; The automatic cleaning device according to claim 8, wherein an orthogonal projection of the drain hole onto the platform bottom plate is located within the receiving groove.

10. 10. The automatic cleaning device according to claim 9, wherein a drainage port is provided in a side wall of the receiving groove.

11. The platform bottom plate has: an opening configured to expose at least a portion of a dry cleaning module of the automated cleaning device and to communicate with the movement platform body; 11. The automatic cleaning device of claim 10, wherein the storage groove is disposed adjacent to the opening, and the drainage outlet is configured to guide liquid in the storage groove through the opening to flow out of the automatic cleaning device.

12. One end of the bottom plate and the water stop bracket are pivotally connected via a pivot shaft, and a trigger protrusion is provided on a bottom surface of the other end of the bottom plate away from the water stop bracket, The automated cleaning device further comprises a trigger assembly disposed on the moving platform; The trigger assembly includes: The automatic cleaning device of claim 3 , further comprising a trigger button configured to cause the automatic cleaning device to perform an anti-snag operation when depressed by the trigger protrusion.

13. A storage groove is provided on the moving platform, The trigger assembly includes: an elastic plate member provided in the receiving groove and spaced apart from and substantially parallel to a bottom of the receiving groove; The elastic plate member is a fixed end portion fixedly connected to a side wall of the receiving groove; a free end portion provided in a cantilevered manner, 13. The automatic cleaning device according to claim 12, wherein the trigger button is provided on the elastic plate member and located at the free end.

14. 4. The automatic cleaning device of claim 3, wherein the position determining device is a laser ranging device and the position determining unit is a laser ranging unit.

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