Automatic cleaning device

Abstract

The automatic cleaning device includes a moving platform (100), a positioning device (121), and an assembly structure (300) for assembling the positioning device (121) to the moving platform (100), the assembly structure (300) includes an assembly bracket (310), the assembly bracket (310) includes a rotor accommodating portion (311) including a first arcuate sidewall (3111) and a motor accommodating portion (312) including a second arcuate sidewall (3121), and the first arcuate sidewall (3111) of the rotor accommodating portion (311) and the motor accommodating portion (312) are arranged to be in contact with each other. the first arc-shaped side wall (3111) is smoothly connected to the second arc-shaped side wall (3121) and the opening area formed by the first arc-shaped side wall (3111) is larger than the opening area formed by the second arc-shaped side wall (3121); and the positioning device (121) includes a positioning element (400), and the positioning element (400) includes a rotor (320) whose rotation axis is substantially located at the geometric center of the rotor accommodating portion (311), and a motor (330) whose output shaft is substantially located on the connecting line between the geometric center of the motor accommodating portion (312) and the geometric center of the rotor accommodating portion (311).

Description

[Technical field]

[0001] This application claims priority to Chinese patent application No. 202220066123.5, filed on January 11, 2022, the entire contents of which are incorporated herein by reference.

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

[0003] Cleaning robots include sweeping robots, mopping robots, sweeping and mopping robots, etc. Cleaning robots need to detect the situation of surrounding obstacles during the traveling process, plan a traveling route according to the situation of the obstacles, avoid the obstacles, etc.

[0004] In the prior art, the positioning devices for the cleaning robot to detect obstacles include laser distance measuring devices (LDS), cameras, line laser sensors, ultrasonic sensors, etc., and each positioning device has its own advantages and disadvantages. Due to its complex structure and large size, the positioning device needs to occupy a large assembly space in the cleaning robot, which impedes the installation of other parts of the cleaning robot. Moreover, the assembly space cannot be adjusted according to different sizes of the positioning device, which brings inconvenience to the flexible application of the positioning device. Summary of the Invention

[0005] An object of the present disclosure is to provide an automatic cleaning device, comprising: a moving platform; a positioning device; and an assembly structure for assembling the positioning device to the moving platform, the assembly structure including an assembly bracket, the assembly bracket including a rotor accommodating portion including a first arc-shaped side wall and a motor accommodating portion including a second arc-shaped side wall, the first arc-shaped side wall of the rotor accommodating portion and the second arc-shaped side wall of the motor accommodating portion being smoothly connected, and an opening area formed by the first arc-shaped side wall is larger than an opening area formed by the second arc-shaped side wall, the positioning device including a positioning element, the positioning element including: a rotor, the rotation axis of which is substantially disposed in the geometric center of the rotor accommodating portion and configured to transmit and / or receive detection signals while continuously rotating; and a motor, the output shaft of which is substantially disposed in a connecting line between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion and connected to the rotor via a power transmission structure and configured to provide a driving force to the rotor.

[0006] In some embodiments, the motor housing comprises: a first opening located on a bottom surface of the motor housing portion and configured to house the motor; a first support rib extending inward along an inner side of the side wall of the motor accommodating portion to an edge of the first opening, Here, the geometric center of the first opening is closer to the geometric center of the rotor accommodating portion than the geometric center of the motor accommodating portion.

[0007] In some embodiments, the rotor housing comprises: a second opening located on a bottom surface of the rotor receiving portion and configured to receive the rotor; a second support rib extending inwardly along an inner side of the side wall of the rotor accommodating portion to an edge of the second opening, Here, the geometric center of the second opening corresponds to the geometric center of the rotor accommodating portion.

[0008] In some embodiments, the second opening communicates with the first opening, and the area of ​​the second opening is greater than the area of ​​the first opening.

[0009] In some embodiments, the position determining device comprises: The cover is arranged to cover the top of the rotor and includes a circular top surface, a bottom ring, and a plurality of connecting members connecting the circular top surface and the bottom ring, wherein the bottom ring is fixedly connected to the top surface of the automatic cleaning device and a first gap is formed between the bottom ring and the outer peripheral surface of the rotor.

[0010] In some embodiments, the assembly comprises: The rotor further includes an annular shielding member provided in intimate contact with the inner side of the bottom ring, and a second gap is formed between the annular shielding member and an outer peripheral surface of the rotor, the second gap being smaller than the first gap.

[0011] In some embodiments, the annular shielding member has a width extending along a radial direction and a height extending along an axial direction, the width of the annular shielding member being greater than the height.

[0012] In some embodiments, the annular shielding member includes an insert member (plug) that fits into the connecting member, and after the insert member is inserted into the connecting member, the annular shielding member is fitted tightly against the inside of the bottom ring.

[0013] In some embodiments, the inner wall of the connecting member includes a first slot, and the outer wall of the insert member includes a protruding beam that fits into the first slot, and after the protruding beam is inserted into the first slot, the annular shielding member is tightly fitted to the inside of the bottom ring.

[0014] In some embodiments, the bottom ring includes a second slot extending circumferentially along a bottom surface of the bottom ring and a third slot located on an inner surface of the bottom ring, the second slot communicating with the third slot; The annular shielding member includes a T-shaped protrusion protruding outward along an outer wall of the annular shielding member, and the annular shielding member is closely fitted to the inner side of the bottom ring after the T-shaped protrusion is inserted into the third slot.

[0015] In some embodiments, the third slot is disposed below the connecting member and the T-shaped protrusion is disposed below the insert member.

[0016] In some embodiments, the bottom ring further includes a position control groove provided on an inner surface of the bottom ring, the position control groove being symmetrically provided on both sides of the third slot, and the annular shielding member further includes a position control protrusion provided on both sides of the T-shaped protrusion, and when the annular shielding member is closely attached to the inner surface of the bottom ring, the position control protrusion is positioned in the position control groove.

[0017] In some embodiments, the position determining device is a laser ranging device, the position determining element is a laser ranging element, and the detection signal is a laser signal.

[0018] Compared with the prior art, the embodiments of the present disclosure have the following technical advantages:

[0019] In the automatic cleaning device provided by the embodiments of the present disclosure, during the assembly process of the position determination device, a position determination element smaller than the size of a conventional position determination device can be assembled into an assembly part corresponding to the conventional size by using an assembly bracket and / or annular shielding member having a corresponding structure, making it easy to apply the position determination element size according to the needs of the application.

[0020] 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]

[0021] [Figure 1] 1 is a perspective view of an automatic cleaning device according to some embodiments of the present disclosure. [Diagram 2] 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 an overall structural diagram of a position determination element according to some embodiments of the present disclosure. [Figure 4] 1 is an enlarged structural view of a locator element according to some embodiments of the present disclosure; [Diagram 5] 1 is a structural diagram of a module bracket according to some embodiments of the present disclosure. [Figure 6] 1 is a structural diagram of a cover according to some embodiments of the present disclosure. [Figure 7] 1 is a partial cross-sectional view of a cover according to some embodiments of the present disclosure; [Figure 8] 1 is a structural diagram of an annular shielding member according to some embodiments of the present disclosure; [Figure 9] 4A to 4C are enlarged structural views of an annular shielding member according to some embodiments of the present disclosure. [Explanation of symbols]

[0022] 100 Moving Platform 110 Rear-facing part 111 Front-facing part 120 Sensing System 122 Buffer 123 Cliff Sensor 130 Control System 140 Drive System 141 Drive Wheel Assembly 142 Steering Assembly 150 Cleaning Module 151 Dry Cleaning Module 152 Side Brush 200 Assembly Department 300 Assembly structure 310 Assembly bracket 320 Rotor 330 Motor 340 Cover 311 Rotor housing 312 Motor housing 3111 First circular arc side wall 3121 Second arc-shaped side wall 331 Motor Roller 332 Conveyor Belt 3122 First opening 3124 Bottom of motor housing 3123 First support rib 3112 Second opening 3113 Second support rib 3114 Bottom of rotor housing 341 Circular top surface 342 Bottom Ring 343 Connection parts 350 Annular shielding member 351 Insertion member 3431 1st Slot 3432 2nd Slot 3433 3rd Slot 3511 Protruding beam 3512 T-shaped protrusion 3434 Position control groove 3513 Position regulating protrusion DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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 includes other elements explicitly listed or inherent in those products or devices. Unless further limited, an element defined with the term "comprises" does not exclude the presence of other identical elements in a product or device that includes said element.

[0028] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0029] An embodiment of the present disclosure provides an automatic cleaning device, and as an example, FIGS. 1-2 are structural schematic diagrams illustrating an exemplary automatic cleaning device.

[0030] 1-2 , the automatic cleaning device may be a vacuum cleaning robot, a mopping / brushing robot, a window climbing robot, etc. 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 human-machine interactive system 170.

[0031] The mobile platform 100 may be configured to automatically move 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, if the automatic cleaning device is a mopping robot, the automatic cleaning device works on a floor surface, and the floor surface is the manipulation surface. If the automatic cleaning device is a window cleaning robot, the automatic cleaning device works on the exterior glass surface of a building, and the glass is the manipulation surface. If the automatic cleaning device is a pipe cleaning robot, the automatic cleaning device works on the interior surface of a pipe, and the interior surface of the pipe is the manipulation surface. Purely for purposes of illustration, a mopping robot is used as an example in the present application.

[0032] 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.

[0033] The sensing system 120 includes a positioning device 121 located above the mobile platform 100, a buffer 122 located on the forward portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and other sensing devices such as ultrasonic sensors (not shown), infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), and odometers (not shown), and provides various position information and moving status information of the equipment to the control system 130.

[0034] To more clearly describe the behavior of the automatic cleaning device, the following directions are defined. The automatic cleaning device can move on a 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 extends between the right and left wheels of the automatic cleaning device along an axis center substantially defined by the center point of the drive wheel assembly 141. Here, the automatic cleaning device can rotate about the Y axis. The automatic cleaning device is "pitch up" when the forward facing portion of the automatic cleaning device is tilted upward and the rear facing portion is tilted downward, and is "pitch down" when the automatic cleaning device is tilted downward and the rear facing portion is tilted upward. Additionally, the automatic cleaning device can rotate about the Z axis. When the automatic cleaning device tilts to the right on the X-axis in the forward direction of the automatic cleaning device, it is referred to as "turning right," and when the automatic cleaning device tilts to the left on the X-axis, it is referred to as "turning left."

[0035] 2, cliff sensors 123 are provided at the bottom of the moving platform 100, in front and behind the drive wheel assembly 141. The cliff sensors 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.

[0036] Specific types of position determining device 121 include, but are not limited to, a camera, a laser distance measuring device (LDS), and the like.

[0037] Each assembly in the sensing system 120 may operate independently or in concert to achieve more precise 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 a camera, laser ranging device, 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 bumper 122 is provided on the forward-facing portion 111 of the moving platform 100, and when the drive wheel assembly 141 propels the automatic cleaning device to travel on the floor surface during the cleaning process, the bumper 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. The automatic cleaning device may control the drive wheel assembly 141 in response to the event (or object), e.g., through an obstacle, wall, detected by the bumper 122, so that the automatic cleaning device moves away from the obstacle, for example.

[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 laser ranging device, etc., and uses a positioning algorithm, such as SLAM, to draw an instant map of the environment in which the automatic cleaning device is installed, and 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 steering, 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 the 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 exceeding the threshold, climbing up the carpet, located on the cliff, stuck above or below, the dust box is 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 give a better user experience. In addition, 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. The drive system 140 can control the left and right wheels simultaneously, and for more precise control of 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 drive wheel assembly and the right drive wheel assembly are symmetrically disposed along the horizontal axis defined by the mobile platform 100.

[0043] In order for the automatic cleaning device to move more stably on the floor surface or have a higher mobility, the automatic cleaning device may include one or more steering assemblies 142. The steering assembly 142 may be a driven wheel or a driving wheel, and its structural form includes, but is not limited to, a universal wheel, and the steering 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 and a lithium battery. The rechargeable battery may be 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 through a charging electrode provided on the side or under the main body.

[0045] The human-machine interactive system 170 includes keys on the host panel, which are available for the user to select functions. The human-machine interactive system 170 may further include a display screen and / or an indicator light and / or a speaker, and the display screen, the indicator light and the speaker can display the current status or function options of the device to the user. The human-machine interactive system 170 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 the map of the environment in which the device is installed and the location of the device to the user, and can provide the user with richer and more user-friendly function items.

[0046] As shown in FIG. 2, the cleaning module 150 may include a dry cleaning module 151 .

[0047] The dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush, which has some interference with the floor surface, 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 it into the dust box through the suction gas generated by the fan that passes through the dust box. The dust removal capacity of the vacuum cleaner is indicated by the dust pickup efficiency DPU. The cleaning efficiency DPU is affected by the structure and material of the roller brush, by the wind power utilization rate of the duct consisting of the dust suction port, the dust box, the fan, the air outlet, and the connecting members between them, and by the type and power of the fan, which is a complex system design issue. Compared with ordinary plug-in dust suction devices, the improvement of the dust removal capacity is of great significance for automatic cleaning devices with energy limitations. The improvement of the dust removal capacity directly and effectively reduces the demand for energy, that is, it can evolve a machine that can clean 80 square meters of floor surface on a single charge to clean more than 180 square meters on a single charge. In addition, by reducing the number of charging times, the battery life is also greatly extended, and users can replace the battery less frequently. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user can directly conclude whether the device cleans cleanly or wipes cleanly. The dry cleaning module may further include a side brush 152 having a rotating shaft, which is at an angle to the floor surface and moves the dirt to the roller brush area of ​​the cleaning module 150.

[0048] As a selectable cleaning module, the automatic cleaning device may further include a wet cleaning module, which is configured to clean at least a part of the operation surface using a wet cleaning method. Here, the wet cleaning module includes a water tank, a cleaning head, a driving unit, etc. Here, water in the water tank flows along a water circuit to the cleaning head, and the cleaning head cleans at least a part of the operation surface under the driving of the driving unit. In the related art, the automatic cleaning device includes a positioning device, which includes a positioning element and a cover. Usually, the positioning element disposed in the automatic cleaning device has a certain size. The size of the positioning element substantially matches the assembly space, but if the application device needs to reduce the size of the positioning element, it is necessary to redevelop the mold or adjust the position of the equipment around the assembly space of the positioning element, which causes great inconvenience in flexible application of the positioning element.

[0049] For this reason, the embodiment of the present disclosure provides an automatic cleaning device that assembles a miniaturized positioning element in the original assembly space. The positioning device described in this embodiment includes, but is not limited to, a camera or a laser distance measuring device (LDS). For ease of understanding, the positioning device described in this embodiment is described as a laser distance measuring device. This embodiment makes the application of the positioning device more flexible by rationally setting the structure and positional relationship of the assembly bracket, rotor, motor, cover, etc. The same structure has the same technical effect, and some technical effects are omitted here. Specifically, as shown in FIG. 3, the automatic cleaning device includes an assembly part 200, an assembly structure 300, and a positioning element 400 provided on a frame. The positioning element 400 is assembled to the assembly part 200 through the assembly structure 300. The assembly part 200 is usually a part of the frame and has one or more screw holes. The assembly structure 300 has one or more corresponding screw holes, and the positioning element 400 is assembled to the assembly part 200 through bolts, and the assembly part 200 is the site for assembling the assembly structure 300 and the positioning element 400 in the automatic cleaning device. Usually, after the design of each part of the automatic cleaning device is completed, its position and size are constant. Correspondingly, the spatial position of the spare assembly part 200 is also constant. As a result, when the automatic cleaning device needs to replace the positioning element with a smaller size, it cannot fit the spare assembly part 200. Therefore, the assembly structure and the structure of the positioning element of the automatic cleaning device in the embodiment of the present disclosure are improved as follows.

[0050] As shown in FIG. 4, the assembly structure 300 includes an assembly bracket 310. The positioning device includes a rotor 320, a motor 330, a cover 340, etc. The assembly bracket 310 is fixed to the assembly part 200 through screw holes around the bracket. The rotor 320 and the motor 330 are installed inside the assembly bracket 310. The cover 340 is installed to cover the top of the rotor 320, and performs a shielding and protection function. The rotor 320 protrudes from the top surface of the automatic cleaning device, and the rotor 320 continuously rotates and scans within a range of 360 degrees, thereby continuously detecting obstacles in the course of the automatic cleaning device. As shown in FIG. 5, the assembly bracket 310 includes a rotor receiving part 311 and a motor receiving part 312. The rotor receiving part 311 includes a first arc-shaped sidewall 3111. The first arc-shaped sidewall 3111 includes an arc-shaped sidewall or an arc-shaped sidewall of another curvature. Here, the arc-shaped sidewall is at least a part of a circle. As shown in FIG. 5, the first arc-shaped sidewall 3111 is a major part of a circular structure, for example, a part within a range of 180 to 270 degrees. The motor housing 312 includes a second arc-shaped sidewall 3121, which may be a part of a circular structure, or a joint of arc-shaped structures with different central angles, or a joint of a circular structure or an arc structure and a linear structure, but is not limited thereto. The first arc-shaped sidewall 3111 of the rotor housing and the second arc-shaped sidewall 3121 of the motor housing are smoothly connected, and are divided into the rotor housing 311 and the motor housing 312 by a line MN, as shown in FIG. 5. Here, the opening area formed by the first arc-shaped sidewall 3111 is larger than the opening area formed by the second arc-shaped sidewall 3121. The position determination element 400 includes a rotor 320. The axis of rotation of the rotor 320 is disposed substantially in the geometric center of the rotor receiving portion 311 .When the first arc-shaped sidewall 3111 is an arc-shaped sidewall, the geometric center of the rotor accommodating part 311 corresponds to the center of the circle in which the first arc-shaped sidewall 3111 is located, and when the first arc-shaped sidewall 3111 is a combination structure of arcs with a plurality of different curvatures, the geometric center of the rotor accommodating part 311 corresponds to the center of the circle in which the arc with the largest central angle is located, at point A shown in FIG. 5, and the rotor 320 is configured to transmit and / or receive detection signals, such as visible light and / or invisible light, while continuously rotating. The rotor 320 in this case has a smaller diameter than the rotor in the conventional positioning element, i.e., the distance to the first arc-shaped sidewall 3111 of the rotor accommodating part is larger, but it is still assembled at the geometric center of the rotor accommodating part 311, ensuring the symmetry of the structure and stability after rotation. The positioning element 400 includes a motor 330. The output shaft of the motor 330 is substantially located at the communication part between the rotor housing 311 and the motor housing 312, i.e., at point B shown in FIG. 5, which is substantially located on the connection line between the geometric center of the motor housing and the geometric center of the rotor housing, specifically, substantially located between the connection line between the geometric center C of the motor housing and the geometric center A of the rotor housing, except for points A and C, i.e., closer to the geometric center A of the rotor housing than the geometric center C of the motor housing, so that the motor in the miniaturized positioning element is closer to the rotor, the internal housing structure of the assembly bracket can be more compatible with the motor and rotor of the positioning element, which can increase stability, reduce the size of the transmission element, such as the belt, and reduce energy loss and material costs. In some embodiments, the communication part is substantially located at the center of the smooth connection part between the first circular arc side wall 3111 and the second circular arc side wall 3121, i.e., the MN connection line. When the second arc-shaped sidewall 3121 is an arc-shaped sidewall, the geometric center of the motor accommodating section 312 corresponds to the center of a circle on which the second arc-shaped sidewall 3121 is located, and when the second arc-shaped sidewall 3121 is a combined structure of a plurality of arcs with different curvatures, the geometric center of the motor accommodating section 312 corresponds to the center of a circle on which the arc with the largest central angle is located, as shown at point C in Fig. 5. The motor 330 is configured to be connected to the rotor via a transfer structure 332, such as a belt, to provide a driving force to the rotor.Here, the motor 330 drives the rotor 320 through the motor roller 331 and the transfer structure 332. The transfer structure 332 may be a belt, a metal belt, an organic material belt, etc. The rotation shaft of the motor 330 is hardwired to the motor roller 331, and the motor roller 331 rotates freely under the drive of the motor rotation shaft.

[0051] In some embodiments, the position determining device is a laser ranging device, where the position determining element is a laser ranging element that detects distance or position by transmitting and receiving laser signals while rotating continuously.

[0052] 5, the motor housing 312 further includes a first opening 3122 located on a bottom surface 3124 of the motor housing 312 and configured to accommodate the motor 330, and a first support rib 3123 extending inwardly along an inner side of a sidewall 3121 of the motor housing 312 to an edge of the first opening 3122. Here, the geometric center B of the first opening 3122 is closer to the geometric center A of the rotor housing than the geometric center C of the motor housing 3122. Here, the geometric center B of the first opening 3122 is substantially located at the center of a circle on which the arc of the first opening 3122 is located, and the geometric center C of the motor housing 3122 is substantially located at the center of a circle on which the sidewall 3121 of the motor housing 3122 is located. Compared with the conventional size motor, its mounting position is usually at the geometric center C of the motor housing, but when the entire structure of the positioning element is small and the rotor 320 is still at the geometric center A of the rotor housing, it can reduce the transmission loss, increase the transmission efficiency, and improve the stability during belt transmission, and the motor 330 is assembled close to the rotor, and at this time the rotation gap (clearance) between the motor 330 and the rotor 320 is almost constant, and a considerable transmission efficiency can be maintained, which is suitable for a more miniaturized positioning element, and does not require separate molding, reducing costs, and the motor is closer to the rotor, saving the transmission device such as the belt, further reducing costs, and at the same time reducing the transmission resistance and improving the transmission efficiency. At this time, in order to increase the stability and rigidity of the assembly bracket 310, it is necessary to add the first support rib 3123, and especially the greater the distance from the motor, the longer the first support rib 3123 is.

[0053] In some embodiments, as shown in FIG. 5, the rotor receiving portion 311 further includes a second opening 3112 located on a bottom surface 3114 of the rotor receiving portion 311 and configured to receive the rotor 320, and a second support rib 3113 extending inwardly along the inner side of the side wall 3111 of the rotor receiving portion to an edge of the second opening 3112. The second support rib 3113 improves the stability and rigidity of the assembly bracket 310. Here, the geometric center of the second opening 3112 corresponds to the geometric center of the rotor receiving portion 311 and is substantially located at the center of the circle in which the side wall 3111 of the rotor receiving portion is located, thereby ensuring the symmetry of the structure and the stability after the rotor rotates.

[0054] In some embodiments, the second opening communicates with the first opening, and the area of ​​the second opening is larger than that of the first opening, as shown in Fig. 5. The second opening communicates with the first opening, which reduces the machining process of the bracket structure, and the communication structure drives the motor to rotate the rotor through the transfer structure.

[0055] In some embodiments, as shown in FIG. 6, the positioning device further includes a cover 340 arranged to cover the top of the rotor 320. The cover 340 can shield stray light from entering the positioning device, shield dust, impurities, etc. from entering the positioning device, and also shield the internal components of the positioning device to play an aesthetic role, and if a pivot structure is added to the cover 340, it can avoid hanging obstacles. The cover 340 includes a circular top surface 341, a bottom circular ring 342, and a number of connecting members 343 connecting the circular top surface 341 and the bottom circular ring 342. In some embodiments, the bottom circular ring 342 includes a base plate extending horizontally from its bottom, and the bottom circular ring 342 is fixedly connected to the base plate or is molded integrally with it. The base plate is pivotally connected to the cover 340 and the top surface of the moving platform. A first gap is formed between the bottom ring 342 and the outer circumferential surface of the rotor 320, and gaps are formed between the connecting members 343, so that detection signals, such as visible light and / or invisible light, can be transmitted and / or received by the rotation of the rotor. Furthermore, the rotor structure described in this embodiment is a miniaturized rotor, and the cover 340 corresponds to the size of the cover of a conventional position determination device, so the first gap is larger than the conventional gap.

[0056] In some embodiments, in order to solve technical problems caused by a too large first gap, such as the ingress of stray light, dust, impurities, and the exposure of internal components of the positioning device, the size of the cover may be reduced as a whole to reduce the distance of the first gap. For example, in some embodiments, the cover 340 includes a circular top surface 341, a bottom ring 342, and a number of connecting members 343 connecting the circular top surface 341 and the bottom ring 342. The bottom ring 342 includes a base plate extending horizontally from its bottom, and the bottom ring 342 is fixedly connected to or integrally molded with the base plate. The base plate is used for pivotal connection between the cover 340 and the top surface of the moving platform, and a second gap is formed between the bottom ring 342 and the outer circumferential surface of the rotor 320, the second gap being smaller than the first gap, and the second gap allows the bottom ring 342 to be as close as possible to the outer circumferential surface of the rotor 320 without affecting the rotation of the rotor, and may be, for example, 1-5 mm apart.

[0057] 7 to 9, in some embodiments, in order to solve the technical problem caused by the first gap being too large, the assembly structure 300 further includes an annular shielding member 350, which is closely attached to the inside of the bottom ring 342, and a second gap is formed between the annular shielding member 350 and the outer circumferential surface of the rotor 320, and the second gap is smaller than the first gap. The second gap allows the rotor to rotate flexibly, and the second gap allows the annular shielding member 350 to be as close as possible to the outer circumferential surface of the rotor 320 without affecting the rotor rotation, and the gap can be, for example, 1 to 5 mm.

[0058] In some embodiments, as shown in FIG. 8, the annular shielding member 350 has a radial width and an axial height, and the width of the annular shielding member is greater than the height. The annular shielding member 350 has a radial width sufficient to shield stray light caused by a large first gap. The annular shielding member 350 has an axial height sufficient to facilitate assembly of the annular shielding member 350 inside the bottom annulus 342.

[0059] 8, the annular shielding member 350 includes an insert member 351 adapted to the connecting member 343. After the insert member 351 is inserted into the connecting member 343, the annular shielding member 350 is closely fitted to the inside of the bottom ring 342. The insert member 351 is provided in one-to-one correspondence with the connecting member 343. The third slot 3433 is provided below the connecting member 343. A T-shaped protrusion 3512 is provided below the insert member 351. When the insert member 351 is inserted into the inner wall of the connecting member 343, the thickness of the connecting member 343 increases and the distance of the first gap decreases, thereby further reducing stray light entering the rotor 320.

[0060] In some embodiments, as shown in FIG. 7, an inner wall of the connecting member 343 includes a first slot 3431. An outer wall of the inserting member 351 includes a protruding beam 3511 that fits into the first slot 3431. When the protruding beam 3511 is inserted into the first slot 3431, the annular shielding member 350 is closely fitted to the inner side of the bottom ring 342, and when the protruding beam 3511 is inserted into the first slot 3431, the circumferential stability of the annular shielding member 350 is improved. In some embodiments, as shown in FIG. 7, the bottom ring includes a second slot 3432 that extends along the bottom circumferential direction of the bottom ring, and a third slot 3433 on the inner surface of the bottom ring 342, and the second slot 3432 communicates with the third slot 3433. 9, the annular shielding member 350 includes a T-shaped protrusion 3512 protruding outward along an outer wall of the annular shielding member 350, and when the T-shaped protrusion 3512 is inserted into the third slot 3433, the annular shielding member 350 is closely fitted to the inner side of the bottom ring 342. When assembling the annular shielding member 350, the T-shaped protrusion 3512 is first inserted along the bottom of the second slot 3432 and then pushed upward so that the T-shaped protrusion 3512 is inserted into the third slot 3433, which further improves the stability of the annular shielding member 350 in the circumferential and radial directions.

[0061] 7, the bottom ring 343 further includes a position limiting groove 3434 on the inner surface of the bottom ring 343. The position limiting groove 3434 is symmetrically provided on both sides of the third slot 3433. The annular shielding member 350 further includes a position limiting protrusion 3513 provided on both sides of the T-shaped protrusion 3512. The annular shielding member 350 is closely attached to the inner surface of the bottom ring 342, and the position limiting protrusion 3513 is disposed in the position limiting groove 3434. The position of the annular shielding member 350 is further limited by the engagement of the position limiting protrusion 3513 with the position limiting groove 3434.

[0062] The embodiments of the present disclosure provide an automatic cleaning device, in which in the positioning device, by using an assembly bracket having a corresponding structure, a positioning element smaller than a conventional positioning element can be assembled into an assembly part corresponding to a conventional size, and it is convenient to change the size of the positioning element as needed.

[0063] Finally, please note that each embodiment in this specification will be described gradually, with each embodiment focusing on the differences from other embodiments, and that identical or similar parts between each embodiment may be referenced to each other.

[0064] 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 substitute some of the technical features thereof with equivalents, and it should be understood that these modifications and substitutions 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 moving platform; A position determining device; an assembly structure for assembling the positioning device to the mobile platform; Equipped with The assembly structure includes an assembly bracket; The assembly bracket comprises: a rotor receiving portion including a first arcuate sidewall; a motor housing portion including a second arcuate side wall; a first arc-shaped side wall of the rotor accommodating portion and a second arc-shaped side wall of the motor accommodating portion are smoothly connected to each other, and an opening area formed by the first arc-shaped side wall is larger than an opening area formed by the second arc-shaped side wall, the position determining device includes a position determining element; The position determining element is a rotor having an axis of rotation substantially at the geometric center of the rotor housing and configured to transmit and / or receive detection signals while continuously rotating; a motor having an output shaft provided substantially on a connection line between the geometric center of the motor housing and the geometric center of the rotor housing, and located between the geometric center of the motor housing and the geometric center of the rotor housing, and connected to the rotor via a power transmission structure to provide a driving force to the rotor; An automatic cleaning device characterized by:

2. The motor housing portion includes: a first opening located on a bottom surface of the motor housing portion and configured to house the motor; a first support rib extending inward along an inner side of a side wall of the motor accommodating portion to an edge of the first opening, The geometric center of the first opening is closer to the geometric center of the rotor accommodating portion than the geometric center of the motor accommodating portion.

2. The automatic cleaning device according to claim 1.

3. The rotor accommodating portion is a second opening located on a bottom surface of the rotor receiving portion and configured to receive the rotor; a second support rib extending inwardly along an inner side of the side wall of the rotor accommodating portion to an edge of the second opening, The geometric center of the second opening corresponds to the geometric center of the rotor accommodating portion.

3. The automatic cleaning device according to claim 2.

4. The second opening communicates with the first opening, and the area of ​​the second opening is larger than the area of ​​the first opening.

4. The automatic cleaning device according to claim 3.

5. The position determining device is a cover provided to cover the top of the rotor, the cover including a circular top surface, a bottom ring, and a plurality of connecting members connecting the circular top surface and the bottom ring; The bottom ring is fixedly connected to a top surface of the automatic cleaning device, and a first gap is formed between the bottom ring and an outer circumferential surface of the rotor.

2. The automatic cleaning device according to claim 1.

6. The assembly structure includes: The bottom ring further includes an annular shielding member provided in intimate contact with the inner surface of the bottom ring, a second gap is formed between the annular shielding member and an outer circumferential surface of the rotor, the second gap being smaller than the first gap; 6. The automatic cleaning device according to claim 5.

7. The annular shielding member has a width extending along a radial direction and a height extending along an axial direction, The width of the annular shielding member is greater than its height.

7. The automatic cleaning device according to claim 6.

8. the annular shielding member includes an insert member adapted to be fitted to the connecting member; After the insertion member is inserted into the connection member, the annular shielding member is provided in close contact with the inner side of the bottom ring.

7. The automatic cleaning device according to claim 6.

9. an inner wall of the connecting member including a first slot; an outer wall of the insert member including a protruding beam that fits into the first slot; After the protruding beam is inserted into the first slot, the annular shielding member is closely attached to the inner side of the bottom ring.

9. The automatic cleaning device according to claim 8.

10. the bottom ring includes a second slot extending circumferentially along a bottom surface of the bottom ring and a third slot located on an inner surface of the bottom ring; the second slot communicates with the third slot; the annular shielding member includes a T-shaped projection extending outwardly along an outer wall of the annular shielding member; After the T-shaped protrusion is inserted into the third slot, the annular shielding member is closely fitted to the inside of the bottom ring.

10. The automatic cleaning device according to claim 9.

11. The third slot is provided below the connecting member, and the T-shaped protrusion is provided below the insert member.

11. The automatic cleaning device according to claim 10.

12. The bottom ring further includes a position restriction groove provided on an inner surface of the bottom ring, The position restriction grooves are provided symmetrically on both sides of the third slot, The annular shielding member further includes position restriction protrusions provided on both sides of the T-shaped protrusion, When the annular shielding member is provided in close contact with the inside of the bottom ring, the position restriction protrusion is disposed in the position restriction groove.

12. The automatic cleaning device according to claim 11.

13. the position determining device is a laser ranging device, the position determining element is a laser ranging element, and the detection signal is a laser signal; The automatic cleaning device according to any one of claims 1 to 12.

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