Automatic cleaning device

Abstract

The present disclosure provides an automatic cleaning device.SOLUTION: The present disclosure provides an automatic cleaning device, including a mobile platform including an accommodating cavity (1011), a positioning device at least partially disposed in the accommodating cavity (1011), a circuit board (105) disposed on the mobile platform and adjacent to the accommodating cavity (1011), and a water blocking bracket (104) disposed between the circuit board (105) and the accommodating cavity (1011) to prevent liquid from flowing into the circuit board (105).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to the technical field of cleaning robots, and in particular to automatic cleaning devices. [Background technology]

[0002] With the development of science and technology, cleaning robots are becoming more and more popular, which is convenient for household life. Automatic cleaning devices, such as sweeping robots, mopping robots, and sweeping and mopping robots, are becoming more and more popular. With the popularity of automatic cleaning devices, the functions and structures of cleaning robots are also becoming more and more complicated.

[0003] When an automatic cleaning device is operated in a humid environment (such as a kitchen or toilet), water may get inside the device, causing damage to devices such as circuit boards and ultimately to the automatic cleaning device. Summary of the Invention

[0004] The purpose of the present disclosure is to provide an automatic cleaning device that can solve at least one of the above technical problems, and the specific solutions are as follows:

[0005] According to a specific embodiment of the present disclosure, the present disclosure provides an automatic cleaning device, the automatic cleaning device comprising: a positioning device at least partially disposed in the receiving cavity; a circuit board disposed on the moving platform adjacent to the receiving cavity; and a water stop bracket disposed between the circuit board and the receiving cavity to prevent liquid from flowing into the circuit board. The water stop bracket includes a pivot shaft arranged to be pivotally connected to the position determination device. .

[0006] Optionally, the water-stopping bracket includes a bottom wall provided at a first end of the circuit board close to the accommodating cavity and extending along at least a portion of the edge of the first end, and a side wall extending from the edge of the bottom wall close to the circuit board in a direction substantially perpendicular to the bottom wall, and a free end of the side wall away from the bottom wall is farther from the bottom surface of the moving platform than the circuit board.

[0007] Optionally, the positioning device includes a positioning unit and a protective cover that covers the positioning unit, the protective cover including a bottom plate and a connecting cover that protrudes from the bottom plate and is configured to accommodate at least a portion of the positioning unit, and a liquid guide hole is provided at the connecting point between the bottom plate and the connecting cover, so that liquid that falls onto the bottom plate falls into the accommodating cavity through the liquid guide hole.

[0008] Optionally, the mobile platform includes a mobile platform body having the storage cavity and a platform cover having an opening, and in response to the platform cover being covered by the mobile platform body, the platform cover substantially covers the bottom plate, at least a portion of the joining cover passes through the opening, and a water-stopping rib protruding toward the mobile platform body is provided on the side of the platform cover facing the mobile platform body.

[0009] Optionally, in response to the platform cover being covered by the moving platform body, the water-stopping rib is located at a first end of the circuit board close to the accommodating cavity and at a side of the water-stopping bracket away from the circuit board.

[0010] Optionally, at least a portion of the bottom plate is arranged to overlap the bottom wall of the water-stop bracket, and a liquid guide groove is formed in the bottom plate between the edge closest to the water-stop bracket and the side wall of the water-stop bracket, configured to guide liquid that falls onto the bottom plate into the storage cavity.

[0011] Optionally, a water blocking wall is provided within the accommodating cavity, and the water blocking wall guides the liquid that has flowed into the accommodating cavity via the liquid guide groove to the bottom of the accommodating cavity to prevent splashing.

[0012] Optionally, a drain hole is provided in the bottom of the receiving cavity to allow liquid collected in the receiving cavity to drain from the receiving cavity.

[0013] Optionally, the moving platform includes a moving platform body having the storage cavity and a platform bottom plate covering the bottom of the moving platform body, the platform bottom plate having a storage groove configured to store liquid discharged from the drain hole, and the orthogonal projection of the drain hole onto the platform bottom plate is located within the storage groove.

[0014] Optionally, a drain hole is provided on a side wall of the receiving groove.

[0015] Optionally, the platform bottom plate has an opening configured to expose at least a portion of the dry cleaning module of the automatic cleaning device and to communicate with the moving platform body, the storage groove is provided adjacent to the opening, and the drain outlet is configured to guide liquid in the storage groove through the opening to flow out of the automatic cleaning device.

[0016] Optionally, one end of the bottom plate and the water stop bracket are pivotally connected via a pivot shaft, and a trigger protrusion is provided on the bottom surface of the other end of the bottom plate away from the water stop bracket, and the automatic cleaning device further comprises a trigger assembly provided on the moving platform, the trigger assembly including a trigger button that, when pressed by the trigger protrusion, causes the automatic cleaning device to perform an anti-snag operation.

[0017] Optionally, the moving platform is provided with a storage groove, and the trigger assembly includes an elastic plate member provided in the storage groove and substantially parallel to and spaced apart from the bottom of the storage groove, the elastic plate member having a fixed end fixedly connected to a side wall of the storage groove and a free end provided in a cantilevered manner, and the trigger button is provided on the elastic plate member and located at the free end.

[0018] Optionally, the position determining device is a laser ranging device and the position determining unit is a laser ranging unit.

[0019] Compared with the prior art, the embodiments of the present disclosure have the following technical advantages:

[0020] The automatic cleaning device provided by the present disclosure has a water-stop bracket between the circuit board and the receiving cavity, which can prevent external liquid from entering the circuit board and causing damage to the circuit device; further, the positioning device is provided with a trigger assembly, which has a simple structure and low cost.

[0021] 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. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a structural schematic diagram of an automatic cleaning device according to some embodiments of the present disclosure; [Figure 2] 1 is a schematic diagram of the bottom structure of an automatic cleaning device according to some embodiments of the present disclosure; [Figure 3] 2 is a schematic top view of the moving platform body of the automatic cleaning device shown in FIG. [Figure 4] FIG. 2 is a schematic bottom view of a platform cover installed on the top of the moving platform body in the automatic cleaning device shown in FIG. [Figure 5] FIG. 2 is a schematic top view of a platform base plate installed on the moving platform body in the automatic cleaning device shown in FIG. [Figure 6] 1 is a structural schematic diagram of a waterstop bracket according to some embodiments of the present disclosure; [Figure 7] 1 is a structural schematic diagram of a position determination device according to some embodiments of the present disclosure; [Figure 8] Schematic diagram of the assembly structure of the positioning device and the mobile platform shown in Figure 7 [Figure 9] 8 is a schematic diagram of the structure of the protective cover of the position determination device shown in FIG. [Figure 10] Schematic diagram of the bottom structure of the protective cover shown in Figure 9 [Figure 11] 1 is a schematic diagram of an assembly of a moving platform, a positioning device, and a trigger assembly according to some embodiments of the present disclosure. [Figure 12] An enlarged schematic diagram of the trigger assembly in the assembly configuration shown in Figure 11. [Figure 13] Schematic exploded view of the trigger assembly shown in Figure 12 [Explanation of symbols]

[0023] 100 Moving Platform 110 Rear-facing part 111 forward-facing part 101 Moving platform body 1011 Containment cavity 10111 Water cutoff wall 10112 Drainage hole 1012 Storage groove 10121 Fasteners 102 Platform cover 1021 Open hole 1022 Water-stopping rib 1023 Access Port 103 Platform bottom plate 1031 Storage groove 1032 drain port 1033 Aperture 104 Water Stop Bracket 1041 Bottom wall 1042 Side wall 10421 First side wall 10422 Second side wall 10423 Third side wall 10424 4th side wall 10425 5th side wall 1043 Pivot shaft 1044 Mounting hole 105 Circuit Board 120 Sensing System 121 Positioning devices (e.g. laser ranging devices) 1210 Positioning unit (e.g. laser ranging unit) 1220 Protective Cover 1221 Bottom plate 12210 Open mouth 1222 Junction Cover 12220 window 1223 Liquid guide hole 1224 Pivoting structure 1225 Liquid guide groove 122 Buffer 123 Cliff Sensor 130 Control System 140 Drive System 141 Drive Wheel Assembly 142 Directional Change Assembly 150 Cleaning Module 151 Dry Cleaning Module 152 Side Brush 153 Dustbin 160 Energy Systems 170 Man-machine interactive system 180 Trigger System 181 Trigger protrusion 182 Trigger Assembly 1821 Trigger button 1822 Elastic plate member 18221 Fixed end 18222 Free end 1823 Anti-warping fastener 1824 Positioning Pillar DETAILED DESCRIPTION OF THE INVENTION

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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 comprising a set of elements not only includes those elements, but also other elements explicitly listed or inherent in 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.

[0029] Selected embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings.

[0030] 1 and 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment. 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 is composed of a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160 and a man-machine interactive system 170.

[0031] The mobile platform 100 is configured to automatically move across an operating surface in a target direction. 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; a window cleaning robot, where the automatic cleaning device works on the glass exterior surface of a building, and the glass is the operating surface; or 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.

[0032] In some embodiments, mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. An autonomous mobile platform means that mobile platform 100 itself can automatically and adaptively make operational decisions in response to unexpected environmental inputs. A non-autonomous mobile platform cannot adaptively make operational decisions in response to unexpected environmental inputs, but can operate according to a predetermined procedure or logic. Correspondingly, if mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by an automatic cleaning device. If mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by a system or manually. If mobile platform 100 is an autonomous mobile platform, mobile platform 100 is composed of a forward-facing portion 111 and a backward-facing portion 110.

[0033] 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 forward-facing portion 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.

[0034] To more clearly describe the behavior of the automatic cleaning device, the following directions are defined. The automatic cleaning device can move on a floor surface through various combinations of movement about 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 about the Y axis. When the forward-facing portion of the automatic cleaning device tilts upward and the rear-facing portion tilts downward, this is referred to as "pitch up." When the forward-facing portion of the automatic cleaning device tilts downward and the rear-facing portion tilts upward, this is referred to as "pitch down." Furthermore, the automatic cleaning device can rotate about 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 "turn right," and when the automatic cleaning device tilts to the left of the X axis, this is referred to as "turn left."

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

[0036] Each assembly in the sensing system 120 may operate independently or may work in concert to more accurately achieve its purpose and function. The cliff sensor 123 and ultrasonic sensor identify the surface to be cleaned and determine the physical characteristics of the surface to be cleaned, including the surface material, cleanliness, etc., which can be combined with cameras, laser ranging devices, etc. for more accurate determination.

[0037] 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.

[0038] A buffer 122 is provided on the forward-facing portion of the mobile platform 100, and when the drive wheel assembly 141 propels the automatic cleaning device to travel over the floor surface during the cleaning process, the buffer 122 detects one or more events (or objects) in the travel path of the automatic cleaning device via a sensor system, for example, an infrared sensor, and the automatic cleaning device may detect the event (or object), for example, an obstacle, a wall, through the buffer 122 and control the drive wheel assembly 141 to, for example, move away from the obstacle in response to the event (or object).

[0039] The control system 130 is provided on a circuit board within the mobile platform 100 and includes an arithmetic processor, such as a central processing unit (CPU) or an application processor, that communicates with a 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 a positioning device, uses a positioning algorithm, such as SLAM, to draw an instant map of the environment in which the automatic cleaning device is installed, autonomously determines a travel path based on the environmental information and the environmental map, and then controls operations such as forward movement, backward movement, and / or turning 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.

[0040] 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 positioned on a cliff, being caught above or below, the dustbin being full, or being lifted, and provides specific next operating strategies according to different situations, allowing the automatic cleaning device to better meet the owner's requirements 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.

[0041] 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.

[0042] In order for the automatic cleaning device to move more stably on the floor surface or have higher mobility, the automatic cleaning device may include one or more direction-changing assemblies 142, and the direction-changing assemblies 142 may be driven wheels or driving wheels, and their structural form may be universal wheels, and the direction-changing assemblies 142 may be located in front of the driving wheel assemblies 141.

[0043] 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 the charging pile via charging electrodes provided on the side or bottom of the main body for charging.

[0044] The man-machine interactive system 170 includes keys on a host panel that can be used by a 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.

[0045] As shown in FIG. 2 , the cleaning module 150 may include a dry cleaning module 151. The dry cleaning module 151 includes a roller brush, a dust box, and a fan. The roller brush, which is in contact with the floor surface to some extent, sweeps dust on the floor surface toward the front of the dust suction port between the roller brush and the dust box, and the dust is sucked into the dust box 153 via suction gas generated by the fan that passes through the dust box. The dry cleaning module may further include a side brush 152 on the rotating shaft, which forms a certain angle with the floor surface and moves the dust to the roller brush area of ​​the cleaning module 150.

[0046] 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, 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.

[0047] In related art, the top of an automatic cleaning device is not completely closed, which can allow water to enter the device. For example, if a user accidentally spills water on the automatic cleaning device, water can enter the device through gaps in the top cover of the automatic cleaning device, such as gaps in the positioning device, and affect elements such as a circuit board, potentially resulting in damage to the automatic cleaning device. The present disclosure provides an automatic cleaning device, including a moving platform with a receiving cavity, a positioning device at least partially mounted in the receiving cavity, a circuit board mounted on the moving platform adjacent to the receiving cavity, and a water stop bracket mounted between the circuit board and the receiving cavity and configured to prevent liquid from entering the circuit. Here, the positioning device includes a positioning unit and a protective cover, and the positioning device may include an imaging device, a laser ranging device, etc. The embodiments of the present disclosure are primarily described using a laser ranging device as an example, and the positioning unit is a laser ranging unit.

[0048] 3 is a schematic top view of a mobile platform body in a mobile platform provided by some embodiments of the present disclosure, FIG. 4 is a schematic bottom view of a platform cover assembled on the top of the mobile platform body provided by some embodiments of the present disclosure, and FIG. 5 is a schematic top view of a platform bottom plate assembled on the mobile platform body provided by some embodiments of the present disclosure. As shown in FIGS. 1 to 5, the present disclosure provides an automatic cleaning device, and the automatic cleaning device comprises: The automatic cleaning device includes a mobile platform 100, a positioning device 121 (e.g., a laser ranging device), a circuit board 105, and a water stop bracket 104. The mobile platform 100 includes a storage cavity 1011, at least a portion of the positioning device 121 is disposed in the storage cavity, the circuit board 105 is disposed on the mobile platform 100 to support various electronic components of the automatic cleaning device and is disposed adjacent to the storage cavity 1011, and the water stop bracket 104 is disposed between the circuit board 105 and the storage cavity 1011 to prevent liquid from flowing into the circuit board 105 and damaging the electronic components on the circuit board 105.

[0049] Specifically, the mobile platform 100 includes a mobile platform body 101, a platform cover 102, and a platform bottom plate 103, and the structures of the platform cover 102 and the platform bottom plate 103 are adapted to the structure of the mobile platform body 101 and may be specifically configured according to the actual product. Here, the mobile platform body 101 drives the automatic cleaning device to move and perform various cleaning tasks, and the mobile platform body 101 is provided with a receiving cavity 1011, which is used to receive at least a part of the structure of the positioning device 121.

[0050] The storage cavity 1011 is a hollow cavity, and a water blocking wall 10111 is provided in the hollow cavity to guide the liquid that has entered the storage cavity to the bottom of the storage cavity and prevent it from splashing. In some embodiments, the water blocking wall 10111 is a side wall of a part of the storage cavity 1011, as shown in FIG. 6 below.

[0051] A drain hole 10112 is provided at the bottom of the storage cavity 1011, allowing liquid collected in the storage cavity to flow out of the storage cavity. In some embodiments, there are multiple drain holes 10112, each provided at a different position on the bottom edge of the storage cavity, and the water blocking wall 10111 forms a water channel together with the bottom of the storage cavity, allowing substantially all of the liquid that has entered the storage cavity to flow into the drain hole 10112.

[0052] The moving platform body 101 further has a storage space (not shown), which is used to store a dust box 153 in the cleaning module 150 .

[0053] The moving platform body 101 further has a storage space, which is used to store a dust box 153 in the cleaning module 150 .

[0054] The platform cover 102 is the top of the automatic cleaning device and has an opening 1021. When the platform cover 102 is covered by the mobile platform body 101, the platform cover 102 substantially covers the positioning device 121, and some structures of the positioning device are exposed to the external environment through the opening 1021.

[0055] The platform cover 102 further includes a water-stopping rib 1022 protruding toward the mobile platform body 101 on its side facing the mobile platform body 101. When the platform cover 102 is attached to the mobile platform body 101, the water-stopping rib 1022 is located between the circuit board 105 and the receiving cavity 1011 and on the side of the water-stopping bracket 104 away from the circuit board 105. The water-stopping rib 1022 effectively guides condensed water formed on the inner surface of the top casing after water vapor that may be generated within the automatic cleaning device rises and condenses. The condensed water moves along the platform cover 102 toward the surface of the mobile platform body, passes over the water-stopping bracket 104 from above, and drips down onto the circuit board 105. This prevents damage to electronic components on the circuit board 105.

[0056] The platform cover 102 further includes an access port 1023 configured to insert or remove a dust box 153 through the access port 1023, and an orthogonal projection of the access port 1023 onto the moving platform is located within the storage space. In response to the dust box being inserted into the storage space, the surface of the dust box that is remote from the platform bottom plate is flush with the platform cover, i.e., the top surface of the dust box functions as a part of the top surface of the automatic cleaning device. In this way, there is no need to provide a top flap, simplifying the device structure and further improving the technical and aesthetic appearance of the automatic cleaning device.

[0057] The platform bottom plate 103 covers the bottom of the moving platform body 101 and faces the platform cover 102. The platform bottom plate 103 is provided with a receiving groove 1031 configured to collect liquid discharged from the drainage holes 10112. The orthogonal projection of the drainage holes 10112 onto the platform bottom plate 103 is located within the receiving groove 1031, allowing liquid discharged from the drainage holes 10112 to naturally fall into the receiving groove 1031. A drainage port 1032 is further provided on a side wall of the receiving groove 1031, and the liquid in the receiving groove 1031 is discharged through the drainage port 1032, which serves to accurately guide the specific discharge direction of the liquid and avoid interference with the cleaning task. In some embodiments, the size and number of the receiving grooves 1031 are adapted to the positions and number of the drainage holes 10112.

[0058] The platform bottom plate 103 further includes an opening 1033 configured to expose at least a portion of the dry cleaning module of the automatic cleaning device and to communicate with the moving platform main body 101. The opening 1033 is located adjacent to the storage groove 1031, and the drain port 1032 guides liquid in the storage groove 1031 through the opening 1033 to flow out of the automatic cleaning device.

[0059] At least a portion of a water stop bracket 104 on the moving platform 100 is provided around the positioning device 121. Fig. 6 is a schematic structural diagram of a water stop bracket provided by some embodiments of the present disclosure. As shown in Fig. 6, the water stop bracket 104 is provided between a circuit board 105 and the receiving cavity 1011 and is configured to prevent liquid from flowing into the circuit board 105. The circuit board 105 is a circuit element within the automatic cleaning device and is generally located on the side of the positioning device closer to the forward portion of the automatic cleaning device.

[0060] In the present disclosure, since external liquid, such as water, may enter the interior of the automatic cleaning device through a gap between the positioning device and the platform cover 102, the waterproof bracket 104 can prevent liquid from entering the circuit board from the location of the positioning device, and the waterproof bracket can be provided between the receiving cavity and the circuit board to enable waterproofing. In some embodiments, at least a portion of the waterproof bracket 104 is provided on an edge of the circuit board 105 away from the surface of the platform bottom plate 103.

[0061] Specifically, the water-stopping bracket 104 includes a bottom wall 1041 provided at a first end of the circuit board close to the accommodating cavity and configured to extend along at least a portion of the edge of the first end, and a side wall 1042 extending from the edge of the bottom wall close to the circuit board in a direction substantially perpendicular to the bottom wall, and the free end of the side wall remote from the bottom wall is farther from the bottom surface of the moving platform than the circuit board.

[0062] The bottom wall 1041 is a flat plate structure having a certain width, which is the length extending from the end of the bottom wall closest to the circuit board to the receiving cavity.

[0063] The sidewalls 1042 include a first sidewall 10421, a second sidewall 10422 and a third sidewall 10423 disposed opposite each other at both ends of the first sidewall, a fourth sidewall 10424 connected to one end of the second sidewall remote from the first sidewall, and a fifth sidewall 10425 connected to one end of the third sidewall remote from the first sidewall. The first sidewall 10421 is disposed at a first end of the circuit board close to the accommodating cavity, and the fourth and fifth sidewalls are located at both ends of the waterstop bracket 104, respectively, and these ends are free ends. The fourth and fifth sidewalls are configured so that their orthogonal projections onto the platform bottom plate 103 are located within the accommodating cavity and guide liquid blocked by the waterstop bracket to fall from the free ends into the accommodating cavity. In some embodiments, the first, second, and third sidewalls are all flat.

[0064] The waterstop bracket 104 further includes a pivot shaft 1043, which is pivotally connected to the positioning device 121 and configured to move at least some elements of the positioning device relative to the waterstop bracket 104. The pivot shaft 1043 is parallel to the first side wall 10421 and is spaced apart from the first side wall 10421, and both ends of the pivot shaft 1043 are fixed to the second side wall 10422 and the third side wall 10423, respectively.

[0065] The waterstop bracket 104 further includes mounting holes 1044 , which are used to determine the position of the waterstop bracket 104 and secure the waterstop bracket to the movement platform 100 .

[0066] 7 is a schematic structural diagram of a positioning device in an automatic cleaning device provided according to some embodiments of the present disclosure, and FIG. 8 is a schematic diagram of the assembly structure of the positioning device and mobile platform shown in FIG. 7. As shown in FIGS. 7 and 8, at least a portion of the positioning device 121 is installed in a receiving cavity of the mobile platform body 101. Specifically, the positioning device 121 includes a positioning unit 1210 (e.g., a laser distance measuring device) and a protective cover 1220. The positioning unit 1210 is exposed to the outside through an opening 1201 in the platform cover, and the positioning unit 1210 is rotatable relative to the mobile platform 100 and is used to measure the horizontal distance between the automatic cleaning device and an obstacle in the circumferential direction.

[0067] The protective cover 1220 is placed over the positioning unit 1210 to protect it from damage. FIG. 9 is a schematic structural diagram of the cover in the positioning device shown in FIG. 7, and FIG. 10 is a schematic structural diagram of the cover shown in FIG. 9 from another perspective. As shown in FIGS. 9 and 10, the protective cover 1220 specifically includes a base plate 1221 and a mating cover 1222 protruding from the base plate. A liquid guide hole 1223 is provided at the boundary between the base plate 1221 and the mating cover 1222. The number of the liquid guide holes 1223 may be one or more. When there are multiple liquid guide holes 1223, they are spaced apart at the boundary. A portion of the liquid dripped onto the base plate 1221 enters the receiving cavity 1011 through the liquid guide hole 1223.

[0068] The base plate 1221 has a flat structure, and an opening 12210 is formed on the base plate 1221. The connecting cover 1222 protrudes from the opening 12210 of the base plate toward the side away from the platform bottom plate 103 and is used to accommodate the positioning unit 1210. A pivot structure 1224 is provided on one end of the base plate 1221 on a surface close to the platform bottom plate 103, and the pivot structure 1224 is fitted to the pivot shaft 1043, and the base plate 1221 is pivotally connected to the waterstop bracket 104 via the pivot shaft 1043.

[0069] At least a portion of the base plate 1221 is disposed overlapping the bottom wall of the waterproof bracket 104, and a liquid guide groove 1225 is disposed between the edge of the base plate 1221 closest to the waterproof bracket 104 and the side wall of the waterproof bracket, and is configured to guide liquid that has fallen onto the base plate 1221 into the receiving cavity. That is, the liquid guide groove 1225 collects and guides liquid that would otherwise flow into the circuit board so that it flows out.

[0070] In addition, in the present disclosure, a liquid guide hole 1223 and a liquid guide groove 1225 are provided, and when external liquid that enters through the gaps in the positioning device 121 falls onto the surface of the base plate 1221 and spreads and flows around, some of the liquid flows directly into the accommodating cavity through the liquid guide hole 1223, and when some of the liquid flows onto the circuit board, it flows directly into the liquid guide groove 1225, and some of the liquid in the liquid guide groove 1225 flows into the accommodating cavity along the first side wall 10421, the third side wall 10423 and the fifth side wall 10425, and some of the liquid flows into the accommodating cavity along the first side wall 10421, the second side wall 10422 and the fourth side wall 10424.

[0071] The interface cover 1222 has a groove structure configured to accommodate at least a portion of the positioning unit, and the specific shape of the interface cover 1222 is adapted to the structure of the positioning unit. In some embodiments, the groove structure is a hollow cylinder. The groove structure is inverted and covered over the opening 12210 of the base plate, and the edge of the groove away from the groove bottom is bonded to the edge of the opening of the base plate. Specifically, the groove structure may be fixedly or detachably bonded. A plurality of windows 12220 are provided around the sidewall of the groove structure, and the positioning unit in the interface cover 1222 emits laser light through the windows 12220 and receives the returned laser signal.

[0072] Upon completion of assembly of the moving platform 100, the positioning device 121, and the water-stopping bracket 104, liquid that has entered through the gap between the positioning device 121 and the opening in the platform cover 102 falls onto the surface of the base plate 1221 of the positioning device, and some of it flows into the accommodating cavity through the liquid guide hole 1223, and some of it flows into the accommodating cavity through the liquid guide groove 1225. And / or, when water vapor is generated inside the automatic cleaning device, the water vapor will concentrate on the inner surface of the platform cover 102 to form condensed water, and the water-stopping rib 1022 will guide the condensed water to the surface of the base plate of the positioning device and flow into the accommodating cavity through the liquid guide hole and liquid guide groove, respectively, and then the liquid collected in the accommodating cavity 1011 will fall from the drain hole 10112 at the bottom of the accommodating cavity into the accommodating groove 1031 of the platform bottom plate 103, and the liquid in the accommodating groove will flow out into the automatic cleaning device through the drain port 1032 and opening 1033, thereby avoiding damage to the circuit board caused by unintentional water splashing or condensation, and the automatic cleaning device has a waterproof function.

[0073] The automatic cleaning device provided by the present disclosure has a water-stop bracket between the circuit board and the accommodating cavity, which prevents liquid from flowing in from the outside from entering the circuit board and damaging the circuit elements. It also eliminates the top flap design found in conventional automatic cleaning devices, simplifies the device structure, and improves the technical and aesthetic appearance of the automatic cleaning device.

[0074] Another embodiment of the present disclosure provides an automatic cleaning device, and the difference between the automatic cleaning device described in this embodiment and the automatic cleaning device described in the above embodiment is that the automatic cleaning device described in this embodiment further includes a trigger system 180, which includes a trigger protrusion 181 and a trigger assembly 182. Figure 11 is a schematic diagram of an assembled structure of a moving platform, a positioning device, and a trigger assembly provided by some embodiments of the present disclosure, Figure 12 is a schematic diagram of a partial structure of the assembled structure shown in Figure 11, and Figure 13 is a schematic diagram of an exploded structure of the trigger assembly shown in Figure 12.

[0075] 10, the trigger protrusion 181 is provided on the bottom surface of the base plate 1221, away from the other end of the waterstop bracket 104. The trigger protrusion has a rigid structure and is configured to apply pressure to the trigger assembly, and is not limited to a specific shape.

[0076] 11 to 13 , the trigger assembly 182 is mounted on the moving platform 100. Specifically, the trigger assembly 182 is mounted in a receiving groove 1012 of the moving platform 100, which is mounted on a rearward-facing portion of the automatic cleaning device. Specifically, the trigger assembly 182 includes a trigger button 1821 and an elastic plate member 1822. The trigger button 1821 is configured to cause the automatic cleaning device to perform an anti-snap operation when pressed by the trigger protrusion. The elastic plate member 1822 is mounted in the receiving groove 1012 and is substantially parallel to and spaced apart from the bottom of the receiving groove. The elastic plate member may be a flat plate that bends under the action of an external force. In some embodiments, the elastic plate member 1822 is formed of a flexible material such as a carbon nanotube film, a polyester film, etc.

[0077] The elastic plate member 1822 includes a fixed end 18221 and a free end 18222, and in some embodiments, the elastic plate member 1822 has a "T"-shaped structure, the fixed end 18221 has an elongated structure, and the free end 18222 has a square structure, one end of the free end is connected to one end of the fixed end, the fixed end 18221 is fixedly connected to a side wall of the accommodating groove 1012, the elongated structure is engaged with an engaging hole 10121 on the side wall of the accommodating groove, and the free end is cantilevered. The trigger button 1821 is provided on the elastic plate member and located at the free end 18222, and in response to the protective cover 1220 being attached to the moving platform, the trigger button 1821 faces the trigger protrusion 181 and is spaced a certain distance apart.

[0078] The trigger assembly 182 further includes a warp prevention fastener 1823 and a positioning post 1824, and the warp prevention fastener 1823 prevents the elastic plate member from warping away from the bottom of the accommodating groove 1012 after being biased. The warp prevention fastener 1823 is located on a side wall of the accommodating groove 1012 away from the fixed end 18221 of the elastic plate member, and when the elastic plate member 1822 is not biased, the free end of the warp prevention fastener 1823 is as close as possible to the surface of the elastic plate member away from the bottom of the accommodating groove 1012.

[0079] One end of the positioning post 1824 is fixed to the bottom of the receiving groove 1012, extends upward along a direction perpendicular to the bottom of the receiving groove, and penetrates the elastic plate member to fix the elastic plate member.

[0080] When the automatic cleaning device is caught by an obstacle above while performing a cleaning operation, the positioning device 121 pivots about the pivot shaft 1043, causing the base plate to move closer to the trigger assembly 182, and the trigger protrusion 181 on the base plate triggers the trigger button 1821. When triggered, the trigger button 1821 generates an anti-trap control signal and sends it to the control system 130. The control system 130 then generates a corresponding control command to cause the cleaning device to perform an anti-trap operation, including, but not limited to, stopping, reversing, turning, etc. The trigger button 1821 has a certain pressing stroke, and usually, the movement amplitude generated by the base plate 1221 due to an obstacle above is less than the pressing stroke of the trigger button 1821, so the anti-trap control signal can be safely generated. If the cleaning device is traveling too fast and the height of the obstacle above is too low, the pivot amplitude of the positioning device 121 may be too large, causing the amplitude of movement of the trigger protrusion 181 by the base plate 1221 to exceed the pressing stroke of the trigger button 1821, resulting in damage to the trigger button. If the trigger button 1821 is located at the free end 18222 of the elastic plate member 1822, the pressing force caused by excessive movement will act on the free end, causing the trigger button 1821 to continue moving downward together with the free end 18222. This buffering action prevents damage to the trigger button 1821, extends the service life of the anti-snap element, and improves the safety of the cleaning device. At the same time, after the automatic cleaning device leaves the obstacle above, the elastic plate member 1822 generates a reaction force that moves it away from the bottom of the receiving groove, causing it to bend. Under the blocking action of the anti-snap fastener 1823, the elastic plate member will finally become parallel to the plane of the bottom of the receiving groove, ready to trigger the next possible anti-snap control signal. The installation of the elastic plate member 1822 ensures the operational safety of the trigger button 1821, while at the same time avoiding the use of other additional elements such as springs, simplifying the device structure, facilitating maintenance and element replacement, and reducing interference with the positioning unit 1210 caused by surrounding metal parts.

[0081] Finally, it should be noted that the embodiments in this specification will be described step by step, each embodiment will focus on the differences from other embodiments, and the same or similar parts between the embodiments may be referred to. The systems or devices disclosed in the embodiments will be briefly described since they correspond to the methods disclosed in the embodiments, and the relevant parts may be referred to the description of the method part.

[0082] The above examples 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 examples. However, those skilled in the art can still modify the technical solutions described in each of the above examples or equivalently replace some of the technical features thereof, and it should be understood that these modifications and replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of each of the embodiments of the present disclosure.

Claims

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

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

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

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

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

6. 4. The automatic cleaning device according to claim 3, wherein at least a portion of the bottom plate overlaps the bottom wall of the waterstop bracket, and a liquid guide groove is formed between the edge of the bottom plate closest to the waterstop bracket and the side wall of the waterstop bracket, and is configured to guide liquid that falls onto the bottom plate into the storage cavity.

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

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

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

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

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

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

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

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

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