Automatic cleaning devices and systems

Abstract

The automatic cleaning device includes a moving platform, a circuit board including a circuit board body mounted on the moving platform and having an intermediate region and an edge region surrounding the intermediate region, an interface device mounted on the circuit board body and located in the edge region, and an electronic device mounted on the circuit board body and located in the intermediate region, and a blocking rib disposed between the interface device and the electronic device and configured to prevent liquid and / or moisture from contacting the electronic device.

Description

Related Applications

[0001] This application claims priority to Chinese Patent Application No. 202222205872.4 filed on August 22, 2022, and Chinese Patent Application No. 202222346054.6 filed on September 2, 2022, the entire contents of which are incorporated herein by reference. [Technical Field]

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

[0003] With the continuous development of science and technology, cleaning robots are becoming more and more popular, bringing convenience to household life. Automatic cleaning devices include sweeping robots, mopping robots, and combined sweeping and mopping robots. With the popularity of automatic cleaning devices, the functions and structures of cleaning robots are becoming more and more complicated.

[0004] When an automatic cleaning device is used in a humid environment (such as a kitchen or bathroom), water may seep into the device, damaging components such as the circuit board, which may lead to damage to the device and ultimately to the automatic cleaning device itself. Summary of the Invention

[0005] Some embodiments of the present disclosure provide an automatic cleaning device, A moving platform; a circuit board including: a circuit board body provided on the moving platform, the circuit board body having a middle region and an edge region surrounding the middle region; an interface device provided on the circuit board body and located on the edge region; and an electronic device provided on the circuit board body and located on the middle region; a blocking rib disposed between the interface device and the electronic device and configured to prevent liquid and / or moisture from contacting the electronic device.

[0006] In some embodiments, the blocking rib has a semi - surrounding structure, is provided surrounding the interface device, the semi - surrounding structure has an opening, and the opening is provided facing away from the intermediate region.

[0007] In some embodiments, the blocking rib is provided between the interface device and the electronic device, and includes a first sub - support blocking rib having a first end portion and a second end portion, a second sub - support blocking rib extending from the first end portion towards the edge region, and a third sub - support blocking rib extending from the second end portion towards the edge region. In the direction from the first sub - support blocking rib towards the opening, the second sub - support blocking rib and the third sub - support blocking rib gradually move away from each other. In the direction from the first sub - support blocking rib towards the opening, the second sub - support blocking rib and the third sub - support blocking rib gradually move away from each other.

[0008] In some embodiments, the blocking rib extends along the edge of the intermediate region, is provided surrounding the electronic device, and has a fully - surrounding structure.

[0009] In some embodiments, the moving platform includes a moving platform body provided with the circuit board, and a platform cover body detachably attached to the moving platform body so as to shield the circuit board. The blocking rib is provided on the surface of the platform cover body facing the moving platform body.

[0010] In some embodiments, when the platform cover body is attached to the moving platform body, there is a gap between the blocking rib and the circuit board body, and the gap d satisfies 0 < d ≤ 0.2 mm.

[0011] In some embodiments, the blocking rib and the platform cover body are of an integral structure.

[0012] In some embodiments, when the platform cover body is attached to the movement platform body, the blocking rib is pressed against the circuit board body.

[0013] In some embodiments, the blocking rib material is a resilient material.

[0014] In some embodiments, the blocking rib is provided on the circuit board body.

[0015] Some embodiments of the present disclosure further provide a cleaning device, comprising: a moving platform configured to move over an operating surface; a pile locating module provided on one side of the mobile platform and configured to receive pile signals transmitted from a base station and identify the location of the base station; and a stray light rejection structure configured to reject an interference signal of the pile signal when the pile search module receives the pile signal.

[0016] In some embodiments, the pile search module includes a signal window for receiving the pile signal, and the stray light filtering structure is provided at an edge position of the signal window.

[0017] In some embodiments, the stray light removal structure is disposed surrounding the signal window.

[0018] In some embodiments, the stray light removal structure is a sloped surface surrounding the signal window, and the sloped surface is roughened.

[0019] In some embodiments, the stray light removal structure is a sloped surface surrounding the signal window, and the sloped surface is black or semi-transparent black.

[0020] In some embodiments, the stray light removal structure is a sloped surface surrounding the signal window, and a light absorbing layer is provided on the sloped surface.

[0021] In some embodiments, the stray light removal structure is a sloped surface surrounding the signal window, and a light extinction structure is provided on the sloped surface.

[0022] In some embodiments, the extinction structure comprises micro-protrusions disposed on the inclined surface.

[0023] In some embodiments, the microprotrusions include at least one of arc-shaped protrusions, conical protrusions, or prismatic protrusions.

[0024] In some embodiments, the stray light removal structure is a vertical surface surrounding the signal window, the vertical surface being perpendicular to the signal window.

[0025] In some embodiments, the moving platform includes a water tank, and the stray light removal structure and the water tank are integrally or separately molded.

[0026] Some embodiments of the present disclosure further provide a cleaning system comprising a cleaning base station and a cleaning device according to any one of the above claims. [Effects of the Invention]

[0027] The embodiments of the present disclosure have the following technical effects.

[0028] By providing blocking ribs on the moving platform to prevent liquid and / or moisture from contacting the electronic devices on the circuit board, damage to the electronic devices can be avoided and the service life of the automatic cleaning device can be guaranteed. [Brief explanation of the drawings]

[0029] 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 explain 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 derive other drawings based on these accompanying drawings without creative work. [Figure 1] 1 is a structural schematic diagram of an automatic cleaning device provided by some embodiments of the present disclosure. [Figure 2] 1 is a schematic diagram of a bottom structure of an automatic cleaning device provided by some embodiments of the present disclosure. [Figure 3] 1 is a structural schematic diagram of a moving platform body of a moving platform of an automatic cleaning device provided by some embodiments of the present disclosure; FIG. [Figure 4] 1 is a schematic exploded view of the structure of a moving platform of an automatic cleaning device provided by some embodiments of the present disclosure. FIG. [Figure 5] 1 is a schematic exploded view of the structure of a moving platform of an automatic cleaning device provided by some embodiments of the present disclosure. FIG. [Figure 6] 1 is a structural schematic diagram of a platform cover body of a moving platform of an automatic cleaning device provided by some embodiments of the present disclosure; [Figure 7] FIG. 7 is an enlarged schematic view of region N in FIG. [Figure 8] 1 is a schematic exploded view of the structure of a moving platform of an automatic cleaning device provided by some embodiments of the present disclosure. FIG. [Figure 9] 1 is a schematic exploded view of the structure of a moving platform of an automatic cleaning device provided by some embodiments of the present disclosure. FIG. [Figure 10] 1 is a structural schematic diagram of a platform cover body of a moving platform of an automatic cleaning device provided by some embodiments of the present disclosure; [Figure 11] 1 is a structural schematic diagram of a signal window of an automatic cleaning device according to some embodiments of the present disclosure. [Figure 12]1 is a schematic diagram of a three-dimensional structure of a cleaning base station according to some embodiments of the present disclosure. FIG. [Figure 13] 1 is a structural schematic diagram of a cleaning system according to some embodiments of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0030] 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. Obviously, the described embodiments are only some embodiments of the present disclosure, but not all of the embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without any creative work are all included in the protection scope of the present disclosure.

[0031] The terms used in the embodiments of the present disclosure are used only for the purpose of describing particular embodiments and are not intended to limit the present disclosure. As used in the embodiments of the present disclosure and the appended claims, the singular forms "a," "the," and "the" are also intended to encompass the plural, and "plurality" generally includes at least two, unless the context clearly dictates otherwise.

[0032] The term "and / or" used in this specification merely describes 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.

[0033] In the embodiments of the present disclosure, terms such as "first," "second," and "third" may be used for explanatory purposes, but it should be understood that these terms are not intended to be limiting. These terms are used only for distinction. For example, a "first" may also be called a "second," and similarly, a "second" may also be called a "first," without departing from the scope of the embodiments of the present disclosure.

[0034] It should be noted that terms such as "comprises," "having," or any 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 in those products or devices. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in a product or device that includes that element.

[0035] In the related art, a circuit board is typically provided inside the mobile platform of an automatic cleaning device, and various electronic devices and interface devices are provided on the circuit board. The interface devices are electrically connected to various electrical control assemblies within the mobile platform via connecting lines, and the electrical control assemblies include, for example, a drive wheel assembly. When the automatic cleaning device operates in a humid or water-related environment, moisture or water may enter the mobile platform and contact the electronic devices on the circuit board. For example, in a water-related environment, the drive wheels may splash water into the mobile platform during the operation of the automatic cleaning device, which may then travel along the connecting lines to the interface device and eventually penetrate the circuit board and contact the electronic devices. As a result, the electronic devices may be damaged, and the automatic cleaning device may not operate normally.

[0036] The present disclosure provides an automatic cleaning device. The automatic cleaning device includes: a moving platform; a circuit board body mounted on the moving platform and having a middle region and an edge region surrounding the middle region; an interface device mounted on the circuit board body and located at the edge region; and an electronic device mounted on the circuit board body and located at the middle region. A blocking rib is mounted on the moving platform and configured to prevent liquid and / or moisture from contacting the electronic device. By providing the blocking rib on the moving platform and preventing liquid and / or moisture from contacting the electronic device on the circuit board, damage to the electronic device can be avoided and the service life of the automatic cleaning device can be ensured.

[0037] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0038] FIG. 1 is a structural schematic diagram of an automatic cleaning device according to some embodiments of the present disclosure. FIG. 2 is a schematic diagram of a bottom structure of the automatic cleaning device according to some embodiments of the present disclosure. As shown in FIGS. 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 comprises a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a man-machine interactive system 170.

[0039] The mobile platform 100 is configured to automatically move 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, and the floor surface is the operating surface. The automatic cleaning device may be a window cleaning robot, where the automatic cleaning device works on the exterior glass surface of a building, and the glass is the operating surface. The automatic cleaning device may be a pipe cleaning robot, where the automatic cleaning device works on the interior surface of a pipe, and the interior surface of the pipe is the operating surface. Purely for purposes of illustration, the present disclosure will be described with reference to a mopping robot.

[0040] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The term "autonomous mobile platform" refers to a mobile platform 100 that can automatically and adaptively make operational decisions in response to unexpected environmental inputs. The term "non-autonomous mobile platform" refers to a mobile platform that cannot adaptively make operational decisions in response to unexpected environmental inputs, but can execute a predetermined program or operate according to a certain logic. Correspondingly, if the mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by an automatic cleaning device. If the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by a system or manually. If the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 is composed of a front section 111 and a rear section 110.

[0041] As shown in Figures 1 and 2, the sensing system 120 includes a positioning device 121 located above the mobile platform 100, a buffer 122 located 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 an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), and an odometer (not shown), and provides various position information and movement status information of the equipment to the control system 130.

[0042] 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 through various combinations of movement along three mutually perpendicular axes defined by the mobile platform 100: the lateral axis Y, the front-to-rear axis X, and the central vertical axis Z. The forward drive direction along the front-to-rear axis X is designated "forward," and the rear drive direction along the front-to-rear axis X is designated "rear." The lateral axis Y is substantially defined by the center point of the drive wheel assembly 141, and its axis center extends between the right and left wheels of the automatic cleaning device. Here, the automatic cleaning device can rotate around the Y axis. When the front portion of the automatic cleaning device tilts upward and the rear portion tilts downward, this is referred to as "pitch up." When the front portion of the automatic cleaning device tilts downward and the rear portion tilts upward, this is referred to as "pitch down." Furthermore, the automatic cleaning device can rotate around the Z axis. When the automatic cleaning device tilts to the right of the X axis at the front of the automatic cleaning device, this is referred to as "right turn," and when the automatic cleaning device tilts to the left of the X axis, this is referred to as "left turn."

[0043] 2, cliff sensors 123 are provided at the bottom of the moving platform 100, in front and behind the drive wheel assembly 141, to prevent the automatic cleaning device from falling when retreating and to prevent damage to the automatic cleaning device. The "front" refers to the side in the same direction as the automatic cleaning device's traveling direction, and the "rear" refers to the side opposite to the automatic cleaning device's traveling direction.

[0044] Specific types of position determining device 121 include, but are not limited to, a camera, a laser ranging device (LDS), and the like.

[0045] Each assembly in the sensing system 120 may operate independently or may work 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 accurate determination.

[0046] For example, an ultrasonic sensor may be used to determine whether the surface to be cleaned is carpet, 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.

[0047] A buffer 122 is provided on the front portion 111 of the mobile platform 100, and during the cleaning process, when the drive wheel assembly 141 propels the automatic cleaning device and makes it run on the floor surface, the buffer 122 detects one or more events (or objects) in the running path of the automatic cleaning device through a sensor system, for example, an infrared sensor, and based on the event (or object), for example, an obstacle or wall, detected by the buffer 122, the automatic cleaning device may control the drive wheel assembly 141 so that the automatic cleaning device responds to the event (or object), for example, moves away from the obstacle.

[0048] The control system 130 is mounted on a circuit board within the mobile platform 100 and includes a computing processor, such as a central processing unit (CPU) or an application processor, that communicates with non-transitory memory, such as a hard disk, flash memory, or random access memory. The application processor receives environmental information sensed by the multiple sensors from the sensing system 120 and obstacle information fed back from the positioning device, and uses a positioning algorithm, such as SLAM (Simultaneous Localization and Mapping), to draw an instant map of the environment in which the automatic cleaning device is installed. It then autonomously determines a travel path based on the environmental information and the environmental map. The control system 130 then controls the forward, reverse, and / or steering operations of the drive system 140 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.

[0049] Specifically, the control system 130 combines distance and speed information fed back from the buffer 122, cliff sensor 123, and sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current operating status of the vacuum cleaner, such as crossing a threshold, riding on a carpet, being on a cliff, being stuck above or below, the dustbin being full, or being lifted, and provides specific next operating strategies according to different situations, so that the operation of the automatic cleaning device can better meet the needs of the owner and provide a better user experience. Furthermore, the control system can plan the most efficient and rational cleaning path and cleaning method according to the instant map information drawn by SLAM, thereby significantly improving the cleaning efficiency of the automatic cleaning device.

[0050] Based on specific distance and angle information, such as x, y, and θ components, the drive system 140 can execute drive commands to steer the automatic cleaning device to travel across a floor surface. As shown in FIG. 2, the drive system 140 includes a drive wheel assembly 141. The drive system 140 can simultaneously control the left and right wheels. For more precise control of the device operation, the drive system 140 preferably comprises a left drive wheel assembly and a right drive wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically arranged along a horizontal axis defined by the mobile platform 100.

[0051] 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, and 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.

[0052] 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 charge control circuit, a battery pack charging temperature detection circuit, and a battery voltage drop monitoring circuit, which are connected to a microcomputer control circuit. The host computer is connected to a base station (also called a charging pile) for charging via charging electrodes provided on the side or bottom of the main unit.

[0053] The man-machine interactive system 170 includes keys on a host panel that can be used by 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 to the user a map of the environment in which the device is installed and the location of the device, providing the user with a richer and more user-friendly range of functions.

[0054] As shown in FIG. 2, the cleaning module 150 may include a dry cleaning module 151. The dry cleaning module 151 includes a roller brush, a dust box, and a fan. The roller brush, which is in contact with the floor to some extent, sweeps dust on the floor toward the dust suction port between the roller brush and the dust box, and then the dust is sucked into the dust box by the suction gas generated by the fan that passes through the dust box. The dust removal capacity of a vacuum cleaner is characterized by its dust pickup efficiency (DPU). DPU is affected by the wind power utilization rate of the duct consisting of the dust suction port, dust box, fan, air outlet, and their connecting components, and is also affected by the type and power of the fan, which can lead to complex system design issues. Compared to ordinary plug-in dust vacuum cleaners, improved dust removal capacity is significant for energy-constrained automatic cleaning devices. Improved dust removal capacity directly and effectively reduces the energy required. This allows a machine that can clean 80 square meters of floor space on a single charge to be upgraded to clean more than 180 square meters on a single charge. In addition, by reducing the number of charging times, battery life is also significantly extended, allowing users to replace batteries less frequently. More intuitively and importantly, improved dust removal capability provides the most obvious and significant user experience, allowing users to directly conclude whether the machine cleans or wipes clean. The dry cleaning module may further include a rotating shaft side brush 152, the rotating shaft of which is angled relative to the floor surface to move dirt to the roller brush area of ​​the cleaning module 150.

[0055] As an optional cleaning module, the automatic cleaning device may further include a wet cleaning module, configured to clean at least a portion of the operating surface using a wet cleaning method, wherein the wet cleaning module includes a water tank 400, a cleaning head, a drive unit, etc., wherein water from the water tank flows along a water circuit to the cleaning head, and the cleaning head cleans at least a portion of the operating surface under the drive of the drive unit.

[0056] Figure 3 is a structural schematic diagram of a mobile platform body of a mobile platform of an automatic cleaning device provided by some embodiments of the present disclosure. Figure 4 is a schematic exploded view of the structure of a mobile platform of an automatic cleaning device provided by some embodiments of the present disclosure, with the mobile platform body not shown. Figure 5 is a schematic exploded view of the structure of a mobile platform of an automatic cleaning device provided by some embodiments of the present disclosure, with the mobile platform body not shown. Figure 6 is a structural schematic diagram of a platform cover body of a mobile platform of an automatic cleaning device provided by some embodiments of the present disclosure, with the location of an interface device shown. Figure 7 is an enlarged schematic view of area N in Figure 6.

[0057] As shown in FIGS. 1 to 6 , some embodiments of the present disclosure provide an automatic cleaning device, such as a vacuum cleaning robot, a mopping / brushing robot, a window climbing robot, etc., which includes a moving platform 100, a circuit board 20 mounted on the corresponding platform, and a blocking rib 30 mounted on the moving platform.

[0058] The mobile platform 100 is configured to automatically move along a target direction on an operation surface, which may be a surface to be cleaned by an automatic cleaning device. A circuit board 20 is provided on the mobile platform 100, and a control center of the automatic cleaning device is provided on the circuit board 20, which can control each assembly of the automatic cleaning device and exchange data.

[0059] The circuit board 20 includes a circuit board body 21, an interface device 22 mounted on the circuit board body, and an electronic device 23. The circuit board body 21 is, for example, a printed circuit board and has a middle area MA and an edge area PA surrounding the middle area. The interface device 22 is mounted on the circuit board body 21 and located in the edge area PA. It is connected to other assemblies of the automatic cleaning apparatus, such as the sensing system 120, the driving system 140, the cleaning module 150, the energy system 160, and the human-machine interactive system 170, via connecting lines, such as electrical wires, to realize data communication between the control center of the automatic cleaning apparatus and the other assemblies. The electronic device 23 is mounted on the circuit board body 21 and located in the middle area MA. It forms a control center of the cleaning apparatus, such as the control system 130.

[0060] The blocking rib 30 is provided on the moving platform 100 and is located between the interface device 22 and the electronic device 23 to prevent liquid and / or moisture from contacting the electronic device 23, for example, to prevent liquid and / or moisture that reaches the interface device along the connecting line from entering the electronic device in the intermediate area, thus avoiding damage to the electronic device and ensuring the service life of the automatic cleaning device.

[0061] In some embodiments, as shown in Figures 3-6, the blocking rib 30 has, for example, a semi-encircling structure, surrounding the interface device 22, the semi-encircling structure having an open opening 34, and the open opening 34 is located opposite the intermediate region MA.

[0062] In some embodiments, as shown in FIGS. 3 to 6 , the blocking rib 30 includes a first sub-support blocking rib 31, a second sub-support blocking rib 32, and a third sub-support blocking rib 33. The first sub-support blocking rib 31 is disposed between the interface device 22 and the electronic device 23 and has a first end and a second end. The first sub-support blocking rib 31 is, for example, a linear strip-shaped. The second sub-support blocking rib 22 extends from the first end toward the edge region PA, and the third sub-support blocking rib 23 extends from the second end toward the edge region PA. The second sub-support blocking rib 22 and the third sub-support blocking rib 23 are also, for example, linear strip-shaped. In the direction from the first sub-support blocking rib 31 toward the opening 34, the second sub-support blocking rib 32 and the third sub-support blocking rib 33 gradually move away from each other. The first sub-support blocking rib 31, the second sub-support blocking rib 32 and the third sub-support blocking rib 33 form, for example, an open trapezoid shape with an opening at its long lower base.

[0063] By adopting such a design, after liquid and / or moisture reaches the interface device 22 along the connection lines, it is blocked by the blocking rib 30, and the liquid or moisture condensation water flows out through the open opening, preventing the liquid and / or moisture from contacting the electronic devices on the circuit board and protecting the electronic devices in the intermediate area MA of the circuit board.

[0064] Fig. 8 is a schematic exploded view of the structure of the moving platform of an automatic cleaning device provided by some embodiments of the present disclosure, with the moving platform body not shown. Fig. 9 is a schematic exploded view of the structure of the moving platform of an automatic cleaning device provided by some embodiments of the present disclosure, with the moving platform body not shown. Fig. 10 is a schematic view of the structure of the platform cover body of the moving platform of an automatic cleaning device provided by some embodiments of the present disclosure, with the location of the interface device shown.

[0065] 3 to 10, there may be a plurality of interface devices 22, all of which are provided in the edge region PA, and the blocking rib having the semi-encircling structure may be provided corresponding to any one of the plurality of interface devices 22. There may also be a plurality of electronic devices 23 provided in the middle region MA.

[0066] In some embodiments, as shown in Figures 3 to 10, the blocking rib 30 extends along the edge of the intermediate area MA and surrounds the electronic devices 23, forming a completely surrounding structure. This separates the multiple electronic devices 23 in the intermediate area MA from the multiple interface devices 22 in the peripheral area PA. This prevents liquid and / or moisture that reaches the interface devices 22 along the connecting lines from penetrating into the intermediate area MA and contacting the electronic devices 23. This protects the electronic devices in the intermediate area MA from moisture and water.

[0067] 1 to 10 , the mobile platform 100 includes a mobile platform main body 102 and a platform cover main body 101. The circuit board 20 is provided on the mobile platform main body 102, and the platform cover main body 101 is detachably attached to the mobile platform main body 102 to shield various components on the mobile platform main body 102, such as the circuit board 20. This serves to shield and protect various components on the mobile platform main body 102.

[0068] In some embodiments, the blocking rib 30 is provided on a surface of the platform cover body 101 facing the mobile platform body 102. When the platform cover body 101 is attached to the mobile platform body 102, the blocking rib 30 is located between the interface device 22 and the electronic device 23, and prevents liquid and / or moisture from entering the electronic device 23.

[0069] In some embodiments, when the platform cover body 101 is attached to the moving platform body 102, there is a gap between the blocking rib 30 and the circuit board body 21, and the gap d satisfies 0 < d ≤ 0.2 mm. That is, the distance between the end face of the blocking rib 30 away from the platform cover body 101 and the circuit board body 21 exceeds 0 and is 0.2 mm or less. When a liquid, such as water, reaches this gap, due to the action of its surface tension, the liquid does not enter the intermediate region MA through this gap. At this time, the blocking rib 30 is formed of a hard material, and this gap allows for a certain mounting tolerance when the platform cover body 101 is assembled to the moving platform body 102, avoiding the hard blocking rib being pressed against the circuit board 20 and damaging the circuit board 20.

[0070] In some embodiments, the blocking rib 30 and the platform cover body 101 have an integral structure, and both may be integrally injection molded using the same material.

[0071] In some embodiments, when the platform cover body 101 is attached to the moving platform body 102, the blocking rib 30 is pressed against the circuit board body 21. The material of the blocking rib 30 is an elastic material, such as a material like foamed sponge. When the platform cover body 101 is attached to the moving platform body 102, the blocking rib 30 is pressed and deformed to form a sealing structure, preventing liquid and / or moisture reaching the interface device 22 along the connection line from entering the intermediate region MA and contacting the electronic device 23.

[0072] In some embodiments, the blocking rib 30 may be directly provided on the circuit board body 21, and when the platform cover body 101 is attached to the moving platform body 102, the end of the blocking rib 30 away from the circuit board body 21 abuts against the surface of the platform cover body 101 facing the circuit board 20, or the distance between the end of the blocking rib 30 away from the circuit board body 21 and the surface of the platform cover body 101 facing the circuit board 20 is greater than 0 and less than 0.2 mm, thereby preventing liquid and / or moisture reaching the interface device 22 along the connecting line from penetrating into the intermediate area MA and contacting the electronic device 23.

[0073] After cleaning or during the cleaning process, the automatic cleaning device needs to return to the base station for garbage collection or charging. During this process, the automatic cleaning device needs to accurately find the pile signal from the base station. When the automatic cleaning device communicates with the base station, the automatic cleaning device receives the signal from the base station as the signal receiving end. During the process of aligning the automatic cleaning device with the base station, the automatic cleaning device should avoid receiving multiple interference signals. For example, if the automatic cleaning device is located to the side of the base station and the signal is reflected by the edge of the signal receiving window to the receiving end within the window, the automatic cleaning device will enter the base station at an angle from the side of the base station. After entering the base station, it will be unable to align the charging port or garbage collection port, and will not be able to complete the return to the base station.

[0074] According to a specific embodiment of the present disclosure, there is provided a cleaning device comprising: a mobile platform 100 configured to automatically move on an operation surface; a pile search module 200 provided on one side of the mobile platform and configured to identify the location of a base station after receiving a pile signal; and a stray light removal structure 300 configured to remove an interference signal of the pile signal when the pile search module 200 receives the pile signal.

[0075] The cleaning device is provided separately from the base station and docks with the base station when it needs to charge or dump trash. When the cleaning device performs cleaning, it separates from the base station to perform cleaning operations. The base station includes an infrared transmitting device used to transmit infrared signals. When the cleaning device needs to return to the base station, it needs to receive infrared signals transmitted from the base station to perform operations such as positioning, pile search, and pile climbing.

[0076] A stray light elimination structure is provided around the signal transmission and reception window of the automatic cleaning device, and when the pile search module receives the pile signal, the stray light elimination structure can eliminate interference signals of the pile signal, allowing the automatic cleaning device to more accurately receive the signal transmitted from the base station, accurately identify the location of the base station, and accurately return to the base station for self-cleaning or charging.

[0077] 11, the cleaning apparatus is equipped with a pile search module 200, which is provided on one side of the mobile platform, such as the front side, rear side, or diagonal side relative to the forward direction of the mobile platform 100, as shown in FIG. 1, and is used to receive infrared signals transmitted from a base station. When the cleaning apparatus needs to return to the base station, the controller controls the pile search module 200 to search for infrared signals near the base station. When the pile search module 200 receives the infrared signal, it guides the cleaning apparatus to dock with the base station based on the infrared signal. After the cleaning apparatus docks with the base station, the cleaning apparatus can communicate two-way with the base station.

[0078] In some embodiments, the pile detection module 200 is provided with a signal window, for example, an infrared receiving unit and an infrared emitting unit are provided within the signal window for transmitting and receiving infrared signals. The received infrared signal may be a signal transmitted from a base station. The light source transmitting the infrared signal may be an infrared LED, a line light source, etc., and the infrared signal may be received by an infrared sensor, such as an infrared CCD. The infrared signal is not limited to infrared signals, and may be a visible light signal or other radio wave signal as long as communication is possible. The signal window is made of an optical lens or a highly transparent material that transmits signals of a predetermined wavelength. The stray light elimination structure 300 is disposed at the edge of the signal window, for example, surrounding the signal window. The shape of the surrounding may be a complete surrounding, a partial surrounding, or any local surrounding. Typically, the signal window forms a recessed window structure with the stray light elimination structure 300, which is used for transmitting and receiving signals.

[0079] In some embodiments, the stray light elimination structure 300 is an inclined surface surrounding the signal window, with an inclination angle of 70 to 90 degrees. It collects signals transmitted from the base station. Typically, unwanted wavelengths of optical signals are filtered out by the signal window, and the signals transmitted from the base station are directly incident on the signal window and detected, enabling synchronized communication between the cleaning device and the base station. However, if a pile signal is incident on the inclined surface surrounding the signal window, the pile signal light is reflected by the signal window and detected by a sensor within the signal window. This allows the cleaning device to identify the location of the base station, but because the detected optical signal is the reflected light signal from the inclined surface, positioning errors occur, resulting in inaccurate positioning and preventing perfect alignment between the cleaning device and the base station. Therefore, it is necessary to remove the pile signal reflected by the inclined surface. In one embodiment, the inclined surface can be configured as a rough surface. When the pile signal is incident on the rough inclined surface, diffuse reflection occurs, and the diffused optical signal is scattered in all directions. As a result, the strength of the signal incident on the signal window will inevitably decrease and fall below the sensing threshold, and therefore will not be considered a valid pile signal, and the controller will not control the cleaning device to dock based on such a signal.

[0080] In some embodiments, the stray light removal structure 300 is an inclined surface surrounding the signal window, where the inclined surface is black or semi-transparent black. Black has a large absorption coefficient for optical signals, so when a pile signal is incident on a black or semi-transparent black inclined surface, total reflection does not occur or the reflectivity is extremely low, so the intensity of the signal incident on the signal window is lower than the detection threshold and is not considered a valid pile signal, and the controller does not control the cleaning device to dock based on the signal.

[0081] In some embodiments, the stray light removal structure 300 is an inclined surface surrounding the signal window, wherein the inclined surface is provided with a light absorbing layer, for example, by coating a light absorbing material or pasting a light absorbing layer, so that after the pile signal is incident on the inclined surface with the light absorbing layer, most of the light rays are absorbed without being reflected, or the reflectivity is extremely low, so that the intensity of the signal incident on the signal window is lower than the detection threshold and is not regarded as a valid pile signal, and the controller does not control the cleaning device to dock based on the signal.

[0082] In some embodiments, the stray light removal structure 300 is an inclined surface surrounding the signal window, wherein a light-extinguishing structure is provided on the inclined surface. In some embodiments, the light-extinguishing structure includes micro-protrusions provided on the inclined surface. In some embodiments, the micro-protrusions include at least one of arc-shaped protrusions, conical protrusions, or prism protrusions. Providing a light-extinguishing structure of multiple micro-protrusions on the inclined surface also significantly reduces the reflectivity of the pile signal on the inclined surface, so that the intensity of the signal incident on the signal window is lower than the detection threshold and is not considered a valid pile signal, and the controller does not control the cleaning device to dock based on the signal.

[0083] In some embodiments, the stray light removal structure 300 is a vertical surface surrounding the signal window, where the vertical surface is perpendicular to the signal window. When the structure surrounding the signal window is set as a vertical surface perpendicular to the window plane, the energy of the pile signal incident on the signal window from the side of the cleaning device is significantly reduced. Therefore, the strength of the signal incident on the signal window is lower than the detection threshold and is not considered as a valid pile signal, so the controller does not control the cleaning device to dock based on the signal.

[0084] In some embodiments, as shown in FIG. 11, the mobile platform 100 includes a water tank 400 for storing cleaning water, the water tank 400 is usually provided on the rear side of the mobile platform 100, the water tank 400 and the mobile platform 100 have a detachable structure or an integral structure, and the stray light elimination structure 300 and the water tank 400 are integrally molded or separately molded, that is, the stray light elimination structure 300 may be integrally formed as a surrounding inclined surface or vertical surface when forming the water tank 400, or may be glued or fastened as an inclined surface or vertical surface around the signal window, but is not limited thereto.

[0085] In the automatic cleaning device provided by the present disclosure, a stray light elimination structure is provided around the signal transmission and reception window, which may be one or more combinations of the above embodiments, and when the pile search module receives the pile signal, the stray light elimination structure can eliminate interference signals of the pile signal, such as pile signals from the tilting direction, so that the automatic cleaning device can more accurately receive the correct direction signal transmitted from the base station and accurately identify the location of the base station based on the correct direction signal, so as to accurately return to the base station for self-cleaning or charging.

[0086] According to a specific embodiment of the present disclosure, the present disclosure provides a cleaning system comprising a cleaning base station and a cleaning device as described in any one of the above claims.

[0087] FIG. 12 is a structural schematic diagram of a cleaning base station provided by some embodiments of the present disclosure, where the cleaning base station 700 is configured to provide dirt collection and / or automatic charging functions for an automatic cleaning device.

[0088] As shown in FIG. 12 , the cleaning base station 700 includes a cleaning station base 710 and a cleaning base station main body 720. The cleaning base station main body 720 is configured to collect dust in the dust box of the automatic cleaning device and is attached to the cleaning station base 710. The cleaning station base 710 includes a dust collection port 711 and a conductive sheet. The dust collection port 711 is configured to dock with a port on the main brush module of the automatic cleaning device, so that dust in the dust box of the automatic cleaning device is collected into the cleaning base station main body 720 through the dust collection port 711, and the conductive sheet is configured to charge the cleaning device inserted into the cleaning station base 710. In some embodiments, as shown in FIG. 12 , a sealing gasket 714 is further provided around the dust collection port 711 to seal the dust collection port 711 when docked with the port on the main brush module of the automatic cleaning device and prevent dust leakage. The cleaning base station main body 720 is provided with a signal emission port 721 for transmitting a pile signal to the outside. The cleaning device picks up this signal and then communicates to achieve precise docking with the base station.

[0089] FIG. 13 is a diagram schematically illustrating a scene after an automatic cleaning device provided by some embodiments of the present disclosure returns to the cleaning base station. As shown in FIG. 13, after the moving platform 100 of the automatic cleaning device, such as a sweeping cleaning robot, returns to the cleaning base station 700 after cleaning, the automatic cleaning device moves along the X direction to the cleaning station base 710, the port of the main brush module of the automatic cleaning device docks with the dust collection port 711, and transfers the dirt in the dust box of the automatic cleaning device into the dirt bag of the cleaning base station, or the charging conductive sheet of the base station docks with the charging interface of the cleaning device to charge.

[0090] Finally, please note that each embodiment in this specification is described step by step, each embodiment focuses on the differences from other embodiments, and the same or similar parts between each embodiment may be referenced to each other.

[0091] 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. Those skilled in the art can modify the technical solutions described in the above embodiments or replace some technical features with equivalent means. It should be understood that even if these modifications or replacements are made, the essence of the corresponding technical solutions will not deviate from the spirit and scope of the technical solutions described in the embodiments of the present disclosure.

Claims

1. A moving platform; a circuit board including: a circuit board body provided on the moving platform and having a middle region and an edge region surrounding the middle region; an interface device provided on the circuit board body and located in the edge region; and an electronic device provided on the circuit board body and located in the middle region; a blocking rib disposed between the interface device and the electronic device and configured to block liquid and / or moisture from contacting the electronic device.

2. The automatic cleaning device of claim 1 , wherein the blocking rib has a semi-encircling structure and is arranged to surround the interface device, the semi-encircling structure having an opening, the opening being arranged opposite the intermediate region.

3. The blocking rib is a first sub-support blocking rib disposed between the interface device and the electronic device and having a first end and a second end; a second sub-support blocking rib extending from the first end toward the edge region; a third sub-support blocking rib extending from the second end toward the edge region; 3. The automatic cleaning device according to claim 2, wherein the second and third sub-support blocking ribs gradually move apart from each other in a direction from the first sub-support blocking rib toward the opening.

4. The automatic cleaning device of claim 1 , wherein the blocking rib extends along the edge of the intermediate region and surrounds the electronic device, forming a complete enclosure structure.

5. The mobile platform includes: a moving platform body on which the circuit board is provided; a platform cover body detachably attached to the moving platform body so as to shield the circuit board; The automatic cleaning device according to any one of claims 1 to 4, wherein the blocking rib is provided on a surface of the platform cover body facing the moving platform body.

6. 6. The automatic cleaning device of claim 5, wherein when the platform cover body is attached to the moving platform body, a gap exists between the blocking rib and the circuit board body, and the gap d satisfies 0<d≦0.2 mm.

7. The automatic cleaning device of claim 6 , wherein the blocking rib and the platform cover body are of one piece structure.

8. 6. The automatic cleaning device of claim 5, wherein the blocking rib is pressed against the circuit board body when the platform cover body is attached to the moving platform body.

9. 9. The automatic cleaning device of claim 8, wherein the blocking rib material is an elastic material.

10. The automatic cleaning device according to any one of claims 1 to 4, wherein the blocking rib is provided on the circuit board body.

11. a moving platform configured to move over an operating surface; a pile locating module provided on one side of the mobile platform and configured to receive pile signals transmitted from a base station and identify the location of the base station; a stray light rejection structure configured to reject an interfering signal of the pile signal when the pile search module receives the pile signal.

12. The cleaning device according to claim 11, wherein the pile search module includes a signal window for receiving the pile signal, and the stray light elimination structure is provided at an edge position of the signal window.

13. The cleaning device according to claim 12, wherein the stray light removal structure is provided surrounding the signal window.

14. 14. The cleaning device of claim 13, wherein the stray light removal structure is a sloped surface surrounding the signal window, the sloped surface being rough.

15. 14. The cleaning device according to claim 13, wherein the stray light elimination structure is a sloped surface surrounding the signal window, and the sloped surface is black or semi-transparent black.

16. The cleaning device according to claim 13, wherein the stray light removal structure is an inclined surface surrounding the signal window, and the inclined surface is provided with a light absorbing layer.

17. The cleaning device according to claim 13, wherein the stray light removal structure is an inclined surface surrounding the signal window, and a light extinction structure is provided on the inclined surface.

18. 18. The cleaning device according to claim 17, wherein the light-extinguishing structure includes minute protrusions provided on the inclined surface.

19. 20. The cleaning device of claim 18, wherein the micro-protrusions include at least one of arc-shaped protrusions, conical protrusions, or prismatic protrusions.

20. 14. The cleaning device of claim 13, wherein the stray light removal structure is a vertical surface surrounding the signal window, the vertical surface being perpendicular to the signal window.

21. 12. The cleaning device of claim 11, wherein the moving platform includes a water tank, and the stray light removal structure is molded integrally with or separately from the water tank.

22. A cleaning system comprising a cleaning base station and a cleaning device according to any one of claims 11 to 21.

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