Automatic cleaning device

Abstract

An embodiment of the present disclosure provides an automatic cleaning device, the automatic cleaning device includes an integrated moving platform (100), a positioning device (121), and an assembly structure (300) for assembling the positioning device (121) to the moving platform (100), the positioning device (121) includes a positioning element and a cover (340), the positioning element includes a rotor (320) and a motor (330), and the cover (340) is provided to cover a top of the rotor (320). The assembly structure (300) includes a circular top surface (341), a bottom annular ring (342), and a plurality of connecting members (343) connecting the circular top surface (341) and the bottom annular ring (342), where a first gap is formed between the bottom annular ring (342) and the outer peripheral surface of the rotor (320), and the assembly structure (300) includes an annular shielding member (350) abutting the inside of the bottom annular ring (342), where a second gap is formed between the annular shielding member (350) and the outer peripheral surface of the rotor (320), the second gap being smaller than the first gap. The assembly structure (300) can be adapted to a miniaturized position determination device (121).

Description

[Technical field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202220065971.4, 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] Cleaning robots include sweeping robots, mopping robots, and sweeping / mopping robots. Cleaning robots need to be able to detect the status of obstacles around them while they are moving, plan their travel route according to the status of the obstacles, and easily avoid the obstacles.

[0004] In the prior art, the positioning device of the cleaning robot for detecting obstacles includes a laser distance measuring device (LDS), a camera, a line laser sensor, an ultrasonic sensor, etc., and each of these positioning devices has its own advantages and disadvantages. As for the positioning device, due to its complex structure and large size, it needs to occupy a large assembly space of the cleaning robot, which brings obstacles to the setup of other components of the cleaning robot, and furthermore, 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 embodiment of the present disclosure provides an automatic cleaning device, the automatic cleaning device including a moving platform, a positioning device, and an assembly structure for assembling the positioning device to the moving platform; the position determining device includes a position determining element and a cover; the position determining element includes a rotor and a motor, the rotor configured to transmit and / or receive detection signals while continuously rotating, and the motor configured to be connected to the rotor by a power transmission structure to provide a driving force to the rotor; the cover is provided to cover the rotor top, and includes a circular top surface, a bottom ring, and a plurality of connecting members connecting the circular top surface and the bottom ring, and a first gap is formed between the bottom ring and an outer circumferential surface of the rotor; The assembly structure includes an annular shielding member abutting against the inside of the bottom ring, and a second gap is formed between the annular shielding member and the rotor outer peripheral surface, the second gap being smaller than the first gap.

[0006] 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]

[0007] [Figure 1] FIG. 1 is a perspective view 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. 1 is an overall structural diagram of a position determination element according to some embodiments of the present disclosure. [Figure 4] FIG. 1 is an expanded structural view of a locator element according to some embodiments of the present disclosure. [Diagram 5] FIG. 1 is a structural diagram of a module bracket according to some embodiments of the present disclosure. [Figure 6] FIG. 1 is a structural diagram of a cover according to some embodiments of the present disclosure. [Figure 7] FIG. 1 is a partial cross-sectional view of a cover according to some embodiments of the present disclosure; [Figure 8] FIG. 1 is a structural diagram of an annular shielding member according to some embodiments of the present disclosure. [Figure 9] FIG. 1 is an enlarged structural view of an annular shielding member according to some embodiments of the present disclosure; [Explanation of symbols]

[0008] 100 Moving Platform 110 Rear part 111 Forward 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 Motor housing bottom 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 Convex rib 3512 T-shaped projection 3434 Position limiting groove 3513 Position limiting protrusion DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0015] An embodiment of the present disclosure provides an automatic cleaning device, and as an example, FIGS. 1 and 2 are schematic diagrams illustrating an exemplary structure of the automatic cleaning device.

[0016] As shown in Figures 1 and 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 drive system 140, a cleaning module 150, an energy system 160 and a man-machine interactive system 170.

[0017] The mobile platform 100 is configured to move automatically in a target direction on an operating surface. The operating 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 operating 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 operating 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 operating surface. Purely for purposes of illustration, a mopping robot is used as an example in the present application.

[0018] 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 front part 111 and a rear part 110.

[0019] The sensing system 120 includes a positioning device 121 located above the mobile platform 100, a buffer 122 located in the front portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, and 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.

[0020] In order to more clearly describe the behavior of the automatic cleaning device, the following directions are defined. That is, the automatic cleaning device can move on the floor surface by various combinations of movements 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 rear driving direction along the front-rear axis X is designated as "rear". The lateral axis Y extends substantially from the axis center defined by the center point of the drive wheel assembly 141 between the right wheel and the left wheel of the automatic cleaning device. Here, the automatic cleaning device can rotate around the Y axis. When the front part of the automatic cleaning device is tilted upward and the rear part is tilted downward, it is called "pitch up", and when the front part of the automatic cleaning device is tilted downward and the rear part is tilted upward, it is called "pitch down". Furthermore, the automatic cleaning device can rotate around 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".

[0021] 2, cliff sensors 123 are provided at the bottom of the moving platform 100, in front of the driving wheel assembly 141 and behind the driving 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.

[0022] Specific types of position determining device 121 include, but are not limited to, a camera, a laser distance measuring device (LDS), and the like.

[0023] 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 cameras, laser ranging devices, etc. for more precise determination.

[0024] 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.

[0025] A buffer 122 is provided at the front portion 111 of the moving platform 100, and when the drive wheel assembly 141 propels the automatic cleaning device to run on the floor surface during the cleaning process, the buffer 122 detects one or more events (or objects) in the running path of the automatic cleaning device via a sensor system, e.g., an infrared sensor, and the automatic cleaning device may control the drive wheel assembly 141 through the event (or object), e.g., an obstacle, a wall, detected by the buffer 122, so that the automatic cleaning device responds to the event (or object), e.g., moves away from the obstacle.

[0026] 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., 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 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.

[0027] 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 threshold crossing, carpet riding, located on a cliff, upper or lower caught, 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 needs of the owner and obtain 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.

[0028] 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 equipment 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 mobile platform 100.

[0029] 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 steering assemblies 142, the steering assembly 142 may be a driven wheel or a driving wheel, and its structural form may be a universal wheel, and the steering assembly 142 may be located in front of the driving wheel assembly 141.

[0030] 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.

[0031] 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.

[0032] As shown in FIG. 2, the cleaning module 150 may include a dry cleaning module 151 .

[0033] 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 a vacuum cleaner is characterized by the dust pickup efficiency DPU, which is affected by the roller brush structure and material, the wind power utilization rate of the duct consisting of the dust suction port, the dust box, the fan, the air outlet, and their connecting members, and the type and power of the fan, which causes a problem of complex system design. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is of great significance for an automatic cleaning device with energy limitations. The improvement of dust removal capacity directly and effectively reduces the required energy. Therefore, a machine that can clean 80 square meters of floor on a single charge can be evolved 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 machine cleans cleanly or wipes cleanly. The dry cleaning module may further include a side brush 152 on the 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.

[0034] As a selectable cleaning module, the automatic cleaning device may further include a wet cleaning module, configured to clean at least a part of the operation surface using a wet cleaning method, where the wet cleaning module includes a water tank, a cleaning head, a driving unit, etc., where the 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, where the positioning device includes a positioning element and a cover. Usually, the positioning element arranged in the automatic cleaning device has a certain size, and the size of the positioning element is substantially matched to the assembly space, but when the application device needs to reduce the volume 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 the flexible application of the positioning element.

[0035] 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, and the positioning device described in this embodiment includes, but is not limited to, a camera and 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, but this embodiment makes the positioning device more flexible to apply 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 partial technical effects are not repeated here. Specifically, as shown in FIG. 3, the automatic cleaning device includes an assembly part 200 provided on a rack, an assembly structure 300, and a positioning element 400, and 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 a rack, 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 a bolt, 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, and the spatial position of the spare assembly part 200 is also constant correspondingly. As a result, when a smaller-sized positioning element of the automatic cleaning device needs to be replaced, it cannot be fitted to 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. That is, as shown in Fig. 4, the assembly structure 300 includes an assembly bracket 310, and 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, and the cover 340 is installed to cover the top of the rotor 320 to perform 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 360 degree range to continuously detect obstacles during the progress 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, and the rotor receiving part 311 includes a first arc-shaped side wall 3111, which includes an arc-shaped side wall or an arc-shaped side wall of another curvature. Here, the arc-shaped sidewall is at least a part of a circle, and as shown in FIG. 5, the first arc-shaped sidewall 3111 is a majority of the circular structure, for example, a part within a range of 180 degrees to 270 degrees. The motor accommodating section 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 arc degrees, or a joint of a circular structure or an arc degree structure and a linear structure, etc., but is not limited thereto. The first arc-shaped sidewall 3111 of the rotor accommodating section and the second arc-shaped sidewall 3121 of the motor accommodating section are smoothly connected, and as shown in FIG. 5, the assembly bracket 310 is divided into the rotor accommodating section 311 and the motor accommodating section 312 at approximately the location indicated by the line MN, and 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 positioning element 400 includes a rotor 320, and the rotation axis of the rotor 320 is disposed substantially at the geometric center of the rotor accommodating portion 311. When the first arc-shaped sidewall 3111 is an arc-shaped sidewall, the geometric center of the rotor accommodating portion 311 corresponds to the center of a circle on 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 portion 311 corresponds to the center of a circle on which an arc with a maximum arc degree is located.In A shown in FIG. 5, the rotor 320 is configured to transmit and / or receive detection signals, such as visible light and / or invisible light, while continuously rotating. Compared with the rotor of the conventional positioning element, such rotor 320 has a smaller diameter, i.e., the distance to the first circular arc-shaped side wall 3111 of the rotor housing is greater, but it is still assembled at the geometric center of the rotor housing 311 to ensure the symmetry of the structure and stability after rotation. The positioning element 400 includes a motor 330, and the output shaft of the motor 330 is substantially provided at the communicating part between the rotor housing 311 and the motor housing 312, i.e., is substantially located on the connecting line between the geometric center of the motor housing and the geometric center of the rotor housing, and is located at B shown in FIG. 5. Specifically, it is substantially located between the connecting line between the geometric center C of the motor housing and the geometric center A of the rotor housing, and is not located at the position of point A or the position of point C. Since the motor housing is closer to the geometric center A of the rotor housing than the geometric center C of the motor housing, the motor of the miniaturized positioning element is closer to the rotor, and 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 arc-shaped side wall 3111 and the second arc-shaped side wall 3121, i.e., the MN connection line. When the second arc-shaped side wall 3121 is an arc-shaped side wall, the geometric center of the motor housing 312 corresponds to the center of the circle on which the second arc-shaped side wall 3121 is located, and when the second arc-shaped side wall 3121 is a combination structure of multiple arcs with different curvatures, the geometric center of the motor housing 312 corresponds to the center of the circle on which the arc with the maximum arc degree is located, and is located at C shown in FIG. 5. The motor 330 is connected to the rotor via a transfer structure 332, such as a belt, and configured to provide a driving force to the rotor. Here, the motor 330 drives the rotor 320 via a motor roller 331 and the transfer structure 332, the transfer structure 332 can be a belt, a metal belt, an organic material belt, etc., and the rotation shaft of the motor 330 is hard-connected to the motor roller 331, and the motor roller 331 rotates freely under the driving of the motor rotation shaft.

[0036] 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.

[0037] 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 the motor housing sidewall 3121 to an edge of the first opening 3122, where a geometric center B of the first opening 3122 is closer to a geometric center A of the rotor housing than a geometric center C of the motor housing, where the geometric center B of the first opening 3122 is substantially located at the center of a circle in which the arc of the first opening 3122 is located, and the geometric center C of the motor housing is substantially located at the center of a circle in which the motor housing sidewall 3121 is located. For a conventional size motor, its mounting position is usually at the geometric center C of the motor housing. However, when the overall structure of the positioning element is made small and the rotor 320 is still at the geometric center A of the rotor accommodating part, assembling the motor 330 close to the rotor can reduce the transmission loss, increase the transmission efficiency, and improve the stability during belt transmission. In this case, the rotation gap 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 a separate mold to be developed, reducing costs, and the motor is closer to the rotor, saving the transfer device such as the belt, further reducing costs, and at the same time reducing the transfer resistance and improving the transfer efficiency. At this time, in order to increase the stability and rigidity of the assembly bracket 310, it is necessary to add a first support rib 3123, and especially the greater the distance from the motor, the longer the first support rib 3123 is.

[0038] In some embodiments, as shown in FIG. 5 , the rotor accommodating portion 311 further includes a second opening 3112 located on a bottom surface 3114 of the rotor accommodating portion 311 and configured to accommodate the rotor 320, and a second support rib 3113 extending inward along the inner side of the rotor accommodating portion side wall 3111 to the edge of the second opening 3112, where the second support rib 3113 improves the stability and rigidity of the assembly bracket 310, and wherein the geometric center of the second opening 3112 corresponds to the geometric center of the rotor accommodating portion 311 and is substantially located at the center of the circle in which the rotor accommodating portion side wall 3111 is located, thereby ensuring the symmetry of the structure and the stability after the rotor rotates.

[0039] In some embodiments, as shown in Fig. 5, the second opening communicates with the first opening, and the area of ​​the second opening is larger than that of the first opening. The second opening communicates with the first opening to reduce the machining process of the bracket structure, and the communication structure allows the motor to drive the rotor to rotate the rotor through the transfer structure.

[0040] 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, which can block stray light from entering the positioning device, block dust, impurities, etc. from entering the positioning device, and also block the internal components of the positioning device for aesthetic purposes. After adding a pivot structure to the cover 340, it can avoid hanging obstacles. The cover 340 includes a circular top surface 341, a bottom annular ring 342, and a number of connecting members 343 connecting the circular top surface 341 and the bottom annular ring 342, and in some embodiments, the bottom annular ring 342 includes a bottom plate extending horizontally from its bottom, the bottom annular ring 342 is fixedly connected to the bottom plate or is integrally molded therewith, and the bottom plate is pivotally connected to the cover 340 and the top surface of the moving platform, and a first gap is formed between the bottom annular ring 342 and the outer circumferential surface of the rotor 320, and a gap is formed between the plurality of connecting members 343, and a detection signal, 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 the present embodiment is a miniaturized rotor, and the cover 340 corresponds to the size of the cover of a conventional positioning device, so that the first gap is larger than the conventional gap.

[0041] 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 bottom plate extending horizontally from its bottom, the bottom ring 342 is fixedly connected to the bottom plate or is integrally molded with the bottom plate, the bottom 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. 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 rotor rotation, and the second gap may be, for example, 1 mm to 5 mm.

[0042] As shown in Figures 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 abuts the inner side of the bottom ring 342, and a second gap is formed between the annular shielding member 350 and the outer peripheral surface of the rotor 320, the second gap being smaller than the first gap, allowing the rotor to rotate freely, and the second gap allowing the annular shielding member 350 to be as close as possible to the outer peripheral surface of the rotor 320 without affecting the rotor rotation, and the second gap may be, for example, 1mm to 5mm.

[0043] In some embodiments, the annular shielding member 350 has a width extending along a radial direction and a height extending along an axial direction, and the width of the annular shielding member is greater than the height, as shown in FIG. 8. The width of the annular shielding member 350 extending along a radial direction is sufficient to shield stray light caused by a large size of the first gap. The height of the annular shielding member 350 extending along an axial direction makes it easy to assemble the annular shielding member 350 inside the bottom ring 342.

[0044] 8, the annular shielding member 350 includes an insert member 351 adapted to the connecting member 343, and after the insert member 351 is inserted into the connecting member 343, the annular shielding member 350 abuts against 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, and the 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.

[0045] In some embodiments, as shown in FIG. 7 , an inner wall of the connecting member 343 includes a first slot 3431, and an outer wall of the inserting member 351 includes a convex rib 3511 adapted to the first slot 3431, and when the convex rib 3511 is inserted into the first slot 3431, the annular shielding member 350 abuts against the inner side of the bottom ring 342, and when the convex rib 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 extending along the circumferential direction of the bottom surface 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. As shown in FIG. 9 , the annular shielding member 350 includes a T-shaped protrusion 3512 protruding outward along the 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 abuts against the inner surface of the bottom ring 342. When the annular shielding member 350 is assembled, the T-shaped protrusion 3512 is first inserted along the bottom of the second slot 3432, and then pushed upward to insert the T-shaped protrusion 3512 into the third slot 3433, which further improves the stability of the annular shielding member 350 along the circumferential and radial directions.

[0046] 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 being symmetrically arranged on both sides of the third slot 3433, and the annular shielding member 350 includes a position limiting protrusion 3513 on both sides of the T-shaped protrusion 3512, and when the annular shielding member 350 abuts against the inner surface of the bottom ring 342, the position limiting protrusion 3513 fits into the position limiting groove 3434. The position limiting protrusion 3513 fits into the position limiting groove 3434, and the position of the annular shielding member 350 is further limited.

[0047] An embodiment of the present disclosure provides an automatic cleaning device, in which in a position determination device, by using an assembly bracket having a corresponding structure, a position determination element smaller than a conventional position determination element can also be assembled into an assembly part corresponding to a conventional size, which is convenient for changing the size of the position determination element as needed.

[0048] In some embodiments, the annular shielding member has a width extending radially and a height extending axially, the width of the annular shielding member being greater than its height.

[0049] In some embodiments, the annular shielding member includes an insert member adapted to the connecting member, such that when the insert member is inserted into the connecting member, the annular shielding member abuts the inside of the bottom ring.

[0050] In some embodiments, the connecting member inner wall includes a first slot and the insert member outer wall includes a convex rib fitted into the first slot, such that the annular shielding member abuts against the inside of the bottom ring when the convex rib is inserted into the first slot.

[0051] 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 outwardly along an outer wall of the annular shielding member, and when the T-shaped protrusion is inserted into the third slot, the annular shielding member abuts against the inner side of the bottom ring.

[0052] In some embodiments, the third slot is disposed below the connecting member and the T-shaped protrusion is disposed below the insert member.

[0053] In some embodiments, the bottom ring further includes a position limiting groove on an inner surface of the bottom ring, the position limiting groove being symmetrically arranged on both sides of the third slot; The annular shielding member further includes position limiting protrusions provided on both sides of the T-shaped protrusion, and when the annular shielding member abuts against the inside of the bottom ring, the position limiting protrusions are fitted into the position limiting grooves.

[0054] In some embodiments, the assembly structure further comprises an assembly bracket, the assembly bracket comprising: a rotor receiving portion having an arcuate side wall; a motor accommodating portion having an arcuate side wall, the arcuate side wall of the rotor accommodating portion being smoothly connected to the arcuate side wall of the motor accommodating portion, and an opening area formed by the arcuate side wall being larger than an opening area formed by the arcuate side wall, Here, the rotation axis of the rotor is disposed substantially at the geometric center of the rotor accommodating portion, and the output shaft of the motor is provided substantially on the connecting line between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion.

[0055] 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 a side wall of the motor housing 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.

[0056] 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 the inner side of the rotor accommodating portion side wall 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.

[0057] In some embodiments, the second opening communicates with the first opening, and the second opening area is greater than the first opening area.

[0058] In some embodiments, the bottom ring includes a bottom plate extending horizontally from a bottom thereof, the bottom plate providing a pivotal connection between the cover and the top surface of the moving platform.

[0059] 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.

[0060] Compared with the prior art, the embodiments of the present disclosure have the following technical advantages:

[0061] The automatic cleaning device provided by the embodiments of the present disclosure enables a positioning element smaller than the size of a conventional positioning device to be assembled into an assembly part having a size equivalent to the conventional size by using an assembly bracket and / or annular shielding member having a corresponding structure during the assembly process of the positioning device, thereby providing convenience for applications in which the size of the positioning element is more in line with the needs of the application.

[0062] 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.

[0063] 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, a positioning device, and an assembly structure for assembling the positioning device to the mobile platform; the position determining device includes a position determining element and a cover; the position determination element includes a rotor and a motor, the rotor configured to transmit and / or receive detection signals while continuously rotating, and the motor configured to be connected to the rotor by a power transmission structure to provide a driving force to the rotor; the cover is provided to cover a top portion 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, and a first gap is formed between the bottom ring and an outer circumferential surface of the rotor; The automatic cleaning device, wherein the assembly structure includes an annular shielding member abutting the inner side of the bottom ring, a second gap is formed between the annular shielding member and the outer peripheral surface of the rotor, and the second gap is smaller than the first gap.

2. The automatic cleaning device of claim 1 , wherein 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 its height.

3. The automatic cleaning device of claim 2 , wherein the annular shielding member includes an insert member that fits into the connecting member, the insert member fittingly fitting the annular shielding member to an inside of the bottom annulus when inserted into the connecting member.

4. 4. The automatic cleaning device of claim 3, wherein an inner wall of the connecting member includes a first slot and an outer wall of the insertion member includes a convex rib that fits into the first slot, the convex rib fitting the annular shielding member into the first slot and tightly fitting the annular shielding member against the inside of the bottom ring when inserted into the first slot.

5. 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; 5. The automatic cleaning device of claim 4, wherein the annular shielding member includes a T-shaped protrusion protruding outwardly along an outer wall of the annular shielding member, the T-shaped protrusion causing the annular shielding member to closely contact the inside of the bottom ring when inserted into the third slot.

6. The automatic cleaning device of claim 5 , wherein the third slot is disposed below the connecting member and the T-shaped projection is disposed below the insert member.

7. The bottom ring further includes a position limiting groove provided on an inner surface of the bottom ring, the position limiting groove being symmetrically provided on both sides of the third slot; 7. The automatic cleaning device of claim 6, wherein the annular shielding member further includes position limiting protrusions provided on both sides of the T-shaped protrusion, and when the annular shielding member is in close contact with the inside of the bottom ring, the position limiting protrusions are positioned in the position limiting grooves.

8. The assembly structure further includes an assembly bracket, the assembly bracket comprising: a rotor receiving portion including an arcuate sidewall; a motor accommodating portion including an arcuate sidewall, the arcuate sidewall of the rotor accommodating portion being smoothly connected to the arcuate sidewall of the motor accommodating portion, and an opening area formed by the arcuate sidewall being larger than an opening area formed by the arcuate sidewall, The automatic cleaning device according to any one of claims 1 to 7, wherein the rotation axis of the rotor is arranged substantially at the geometric center of the rotor accommodating portion, and the output shaft of the motor is provided substantially on a connecting line between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion.

9. 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 the side wall of the motor accommodating portion to an edge of the first opening, The automatic cleaning device of claim 8 , wherein the geometric centre of the first opening is closer to the geometric centre of the rotor housing than to the geometric centre of the motor housing.

10. 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 automatic cleaning device of claim 9 , wherein the geometric centre of the second opening corresponds to the geometric centre of the rotor receiving portion.

11. The automatic cleaning device of claim 10 , wherein the second opening communicates with the first opening, and the area of ​​the second opening is greater than the area of ​​the first opening.

12. The automatic cleaning device of any one of claims 1 to 11, wherein the bottom ring includes a bottom plate extending horizontally from a bottom thereof, the bottom plate being for pivotally connecting the cover to a top surface of a moving platform.

13. The automatic cleaning device according to any one of claims 1 to 12, wherein 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.

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