Automatic cleaning device

Abstract

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

Description

Technical Field

[0001] This application claims the priority of Chinese Patent Application No. 202220066123.5 filed on January 11, 2022, and all the contents of the Chinese patent application are incorporated herein by reference.

[0002] The present disclosure relates to the technical field of cleaning robots, and specifically to automatic cleaning devices.

Background Art

[0003] Cleaning robots include sweeping robots, mopping robots, sweep-mopping robots, etc. During the running process, a cleaning robot needs to detect the situation of surrounding obstacles, plan a running route according to the situation of the obstacles, and avoid the obstacles.

[0004] In the prior art, the positioning devices for a cleaning robot to detect obstacles include a laser distance measuring device (LDS), a camera, a line laser sensor, an ultrasonic sensor, etc. Each positioning device has its advantages and disadvantages. Due to its complex structure and large size, the positioning device needs to occupy a large assembly space in the cleaning robot, which brings obstacles to the installation of other components of the cleaning robot. Furthermore, the assembly space cannot be adjusted according to the different sizes of the positioning device, which brings inconvenience to the flexible application of the positioning device.

Summary of the Invention

[0005] An object of the present disclosure is to provide a self-cleaning device, comprising a moving platform, a positioning device, and an assembly structure for assembling the positioning device on the moving platform, the assembly structure including an assembly bracket, the assembly bracket including a rotor accommodating portion including a first arcuate side wall and a motor accommodating portion including a second arcuate side wall, the first arcuate side wall of the rotor accommodating portion and the second arcuate side wall of the motor accommodating portion being smoothly connected, and an opening area formed by the first arcuate side wall being larger than an opening area formed by the second arcuate side wall, the positioning device including a positioning element, the positioning element including a rotor whose rotation axis is provided substantially at the geometric center of the rotor accommodating portion and which is configured to transmit and / or receive a detection signal while continuously rotating, and a motor whose output axis is provided substantially on a connection line between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion and which is connected to the rotor via a power transmission structure and configured to provide a driving force to the rotor.

[0006] In some embodiments, the motor accommodating portion includes a first opening located at the bottom surface of the motor accommodating portion and configured to accommodate the motor, and further includes a first support rib extending inward along the inner side of the side wall of the motor accommodating portion to the edge of the first opening. Here, the geometric center of the first opening is closer to the geometric center of the rotor accommodating portion than the geometric center of the motor accommodating portion.

[0007] In some embodiments, the rotor accommodating portion includes a second opening located at the bottom surface of the rotor accommodating portion and configured to accommodate the rotor, and further includes a second support rib extending inward along the inner side of the side wall of the rotor accommodating portion to the edge of the second opening. Here, the geometric center of the second opening corresponds to the geometric center of the rotor accommodating portion.

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

[0009] In some embodiments, the positioning device further includes a cover provided to cover the top of the rotor, the cover including a circular top surface, a bottom ring, and a plurality of connecting members connecting the circular top surface and the bottom ring, where the bottom ring is fixedly connected to the top surface of the automatic cleaning device, and a first gap is formed between the bottom ring and the outer peripheral surface of the rotor.

[0010] In some embodiments, the assembly structure further includes an annular shielding member provided in close contact with the inside of the bottom ring, a second gap is formed between the annular shielding member and the outer peripheral surface of the rotor, and the second gap is smaller than the first gap.

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

[0012] In some embodiments, the annular shielding member includes an insertion member (plug) adapted to the connecting member, and after the insertion member is inserted into the connecting member, the annular shielding member is provided in close contact with the inside of the bottom ring.

[0013] In some embodiments, the inner wall of the connecting member includes a first slot, the outer wall of the insertion member includes a protruding beam adapted to the first slot, and after the protruding beam is inserted into the first slot, the annular shielding member is provided in close contact with the inside of the bottom ring.

[0014] In some embodiments, the bottom ring includes a second slot extending along the circumferential direction of the bottom surface of the bottom ring and a third slot located on the inner surface of the bottom ring, and the second slot communicates with the third slot. The annular shielding member includes a T-shaped protrusion protruding outward along the outer wall of the annular shielding member. After the T-shaped protrusion is inserted into the third slot, the annular shielding member is provided in close contact with the inside of the bottom ring.

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

[0016] In some embodiments, the bottom ring further includes a position regulating groove provided on the inner surface of the bottom ring. The position regulating groove is symmetrically provided on both sides of the third slot. The annular shielding member further includes position regulating protrusions provided on both sides of the T-shaped protrusion. When the annular shielding member is provided in close contact with the inside of the bottom ring, the position regulating protrusions are arranged in the position regulating groove.

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

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

[0019] In the automatic cleaning device provided by the embodiments of the present disclosure, in the assembly process of the positioning device, a positioning element smaller than the size of the conventional positioning device can be assembled into an assembly part corresponding to the conventional size by using an assembly bracket and / or an annular shielding member having a corresponding structure, which facilitates the application of changing the size of the positioning element according to the needs of the application.

[0020] The accompanying drawings here are incorporated into this specification and form a part of this specification, showing embodiments that conform to the present disclosure and are used to interpret the principles of the present disclosure together with the specification. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings based on these accompanying drawings without creative labor.

Brief Description of the Drawings

[0021]

Figure 1

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Description of the Reference Numerals

[0022] 100 Moving platform 110 Rearward portion 111 Forward portion 120 Sensing system 122 Buffer 123 Cliff sensor 130 Control system 140 Driving system 141 Driving wheel assembly 142 Steering assembly 150 Cleaning module 151 Dry cleaning module 152 Side brush 200 Assembly part 300 Assembly structure 310 Assembly bracket 320 Rotor 330 Motor 340 Cover 311 Rotor housing part 312 Motor housing part 3111 First arc-shaped side wall 3121 Second arc-shaped side wall 331 Motor roller 332 Conveyor belt 3122 First opening 3124 Bottom surface of the motor housing part 3123 First support rib 3112 Second opening 3113 Second support rib 3114 Bottom surface of the rotor housing part 341 Circular top surface 342 Bottom circular ring 343 Connecting member 350 Annular shielding member 351 Insertion member 3431 First slot 3432 Second slot 3433 Third slot 3511 Protruding beam 3512 T-shaped protrusion 3434 Position regulating groove 3513 Position regulating protrusion

Mode for Carrying Out the Invention

[0023] To make the object, technical solution 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, not all embodiments. Based on the embodiments of the present disclosure, other embodiments obtained by those skilled in the art without creative labor are all included in the protection scope of the present disclosure.

[0024] The terms used in the embodiments of the present disclosure are only used for the purpose of describing specific embodiments and are not intended to limit the present disclosure. In the embodiments of the present disclosure and the appended claims, the singular forms "a", "said", and "the" are also intended to include the plural forms, and generally include at least two, unless the context clearly indicates otherwise.

[0025] It should be noted that the term "and / or" used in this specification is only for explaining the relationship of the related objects, and there are three relationships. For example, A and / or B may mean that A exists alone, A and B exist simultaneously, and B exists alone. Also, " / " in this specification generally indicates that the related objects before and after are in an "or" relationship.

[0026] It should be understood that in the embodiments of the present disclosure, terms such as first, second, third, etc. may be used for the purpose of explanation, but should not be limited to these terms. These terms are only used for distinction. For example, unless departing from the scope of the embodiments of the present disclosure, the first may also be called the second, and similarly, the second may also be called the first.

[0027] It should be noted that the terms "including", "comprising" or any other variations are intended to cover non-exclusive inclusion. A product or device including a series of elements includes not only those elements but also other elements explicitly listed, or elements inherent to these products or devices. It should be noted that, unless further limited, an element defined by the expression "including" does not exclude the existence of other identical elements in the product or device including the said element.

[0028] Hereinafter, selectable embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0029] The embodiments of the present disclosure provide an automatic cleaning device. As an example, FIGS. 1 to 2 are schematic structural diagrams exemplarily showing the automatic cleaning device.

[0030] As shown in FIGS. 1 to 2, the automatic cleaning device may be a vacuum cleaning robot, a mopping / brush robot, a window climbing robot, or the like. The automatic cleaning device is composed of a moving platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a human-machine interaction system 170.

[0031] The moving platform 100 may be configured to automatically move the operating surface in the target direction. The operating surface may be the surface to be cleaned by the automatic cleaning device. In some embodiments, when the automatic cleaning device is a mopping robot, the automatic cleaning device works on the floor surface, and the floor surface is the operating surface. When the automatic cleaning device is a window cleaning robot, the automatic cleaning device works on the outer surface of the glass of the building, and the glass is the operating surface. When the automatic cleaning device is a pipe cleaning robot, the automatic cleaning device works on the inner surface of the pipe, and the inner surface of the pipe is the operating surface. For purely illustrative purposes, in the present application, the mopping robot is taken as an example for description.

[0032] In some embodiments, the moving platform 100 may be an autonomous moving platform or a non-autonomous moving platform. The autonomous moving platform means that the moving platform 100 itself can automatically and adaptively make operation decisions according to unexpected environmental inputs. The non-autonomous moving platform itself cannot adaptively make operation decisions according to unexpected environmental inputs, but can operate according to a predetermined procedure or a certain logic. Correspondingly, when the moving platform 100 is an autonomous moving platform, the target direction may be autonomously determined by the automatic cleaning device. When the moving platform 100 is a non-autonomous moving platform, the target direction may be set by the system or manually. When the moving platform 100 is an autonomous moving platform, the moving platform 100 is composed of a front portion 111 and a rear portion 110.

[0033] The sensing system 120 includes a positioning device 121 located above the moving platform 100, a buffer 122 located at the front portion 111 of the moving platform 100, a cliff sensor 123 located at the bottom of the moving 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 state information of the devices to the control system 130.

[0034] To more clearly explain the behavior of the automatic cleaning device, the following directions are defined. The automatic cleaning device can move on the floor surface by various combinations of movements with respect to three mutually perpendicular axes: the horizontal axis Y, the front-rear axis X, and the central vertical axis Z defined by the moving platform 100. The forward driving direction along the front-rear axis X is denoted as "forward", and the rearward driving direction along the front-rear axis X is denoted as "rearward". The horizontal axis Y extends between the right wheel and the left wheel of the automatic cleaning device along the axis center substantially defined by the center point of the drive wheel assembly 141. Here, the automatic cleaning device can rotate around the Y axis. When the front portion of the automatic cleaning device is inclined upward and the rear portion is inclined downward, it is referred to as "pitch up", and when the front portion of the automatic cleaning device is inclined downward and the rear portion is inclined upward, it is referred to as "pitch down". Furthermore, the automatic cleaning device can rotate around the Z axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined toward the right side of the X axis, it is referred to as "right turn", and when the automatic cleaning device is inclined toward the left side of the X axis, it is referred to as "left turn".

[0035] As shown in FIG. 2, cliff sensors 123 are provided at the bottom of the moving platform 100, in front of and behind the drive wheel assembly 141. The cliff sensors can prevent the automatic cleaning device from falling when it moves backward and prevent damage to the automatic cleaning device. The above "front" refers to the same side as the moving direction of the automatic cleaning device, and the above "rear" refers to the side opposite to the moving direction of the automatic cleaning device.

[0036] Specific types of the position determination device 121 include, but are not limited to, cameras, laser distance sensors (LDS), etc.

[0037] Each assembly in the sensing system 120 may operate independently or may operate in cooperation to achieve more accurate purposes and functions. The cliff sensor 123 and the ultrasonic sensor can identify the surface to be cleaned, determine the physical characteristics of the surface to be cleaned including surface material, cleanliness, etc., and can make a more accurate determination in combination with a camera, a laser distance measurement device, etc.

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

[0039] A buffer 122 is provided at the front part 111 of the moving platform 100. When the drive wheel assembly 141 propels the automatic cleaning device to travel on 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 through a sensor system, for example, an infrared sensor. The automatic cleaning device may control the drive wheel assembly 141 to respond to the event (or object) detected by the buffer 122, for example, to move away from an obstacle.

[0040] The control system 130 is provided on a circuit board within the mobile platform 100 and includes a central processing unit that communicates with non-volatile memories such as a hard disk, a flash memory, and a random access memory, and an arithmetic processor such as an application processor. The application processor receives environmental information sensed by the plurality of sensors from the sensing system 120, obstacle information fed back from the laser rangefinder, etc., draws an instant map in the environment where the automatic cleaning device is installed using a positioning algorithm, for example, SLAM, autonomously determines a travel route based on the environmental information and the environmental map, and then controls operations such as forward movement, backward movement, and / or steering of the drive system 140 according to the autonomously determined travel route. Further, the control system 130 can determine whether to operate the cleaning module 150 based on the environmental information and the environmental map to perform a cleaning operation.

[0041] Specifically, the control system 130 combines the buffer 122, the cliff sensor 123, and distance information and speed information fed back from sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and travel distance meters to comprehensively determine the current working state of the cleaner, for example, exceeding a threshold, riding on a carpet, located on a cliff, being hooked above or below, the dust box being full, being lifted, etc., gives specific next operation strategies according to different situations, enables the operation of the automatic cleaning device to better meet the requirements of the owner, and provides a better user experience. Further, since the control system can plan the most efficient and reasonable cleaning route and cleaning method according to the instant map information drawn by SLAM, the cleaning efficiency of the automatic cleaning device can be significantly improved.

[0042] The drive system 140 can execute drive commands to operate the automatic cleaning device to travel across the floor based on specific distance and angle information such as x, y, and θ components. As shown in FIG. 2, the drive system 140 includes a drive wheel assembly 141. The drive system 140 can control the left and right wheels simultaneously. In order to control the device operation more accurately, it is preferable that the drive system 140 is composed of a left drive wheel assembly and a right drive wheel assembly respectively. The left drive wheel assembly and the right drive wheel assembly are symmetrically arranged along the horizontal axis defined by the moving platform 100.

[0043] In order for the automatic cleaning device to move more stably on the floor or have higher moving ability, the automatic cleaning device may include one or more steering assemblies 142. The steering assembly 142 may be a driven wheel or a drive wheel, and its structural form includes a universal wheel, but is not limited thereto. The steering assembly 142 may be located in front of the drive wheel assembly 141.

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

[0045] The human-machine interactive system 170 includes keys on the host panel, and the keys are available for the user to select functions. The human-machine interactive system 170 may further include a display screen and / or display lights and / or speakers, and the display screen, display lights and speakers can display the current state of the device or function options to the user. The human-machine interactive system 170 may further include a mobile phone client program. In the case of a path navigation type automatic cleaning device, in the mobile phone client, a map of the environment where the device is installed and the position of the device can be displayed to the user, and more abundant and user-friendly function items can be provided to the user.

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

[0047] The dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush that interferes with the floor surface to a certain extent sweeps up the dust on the floor surface in front of the dust suction port between the roller brush and the dust box, and sucks it into the dust box through the gas having a suction force passing through the dust box generated by the fan. The dust removal ability of the vacuum cleaner is indicated by the dust cleaning efficiency DPU (Dust pickup efficiency). The cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the wind utilization rate of the duct composed of the dust suction port, the dust box, the fan, the air outlet, and the connecting members between them, and is affected by the type and power of the fan, which becomes a problem of complex system design. Compared with ordinary plug-in vacuum cleaners, the improvement of the dust removal ability has great significance for an automatic cleaning device with energy limitations. The improvement of the dust removal ability can directly and effectively reduce the requirement for energy, that is, it can evolve a machine that can clean a floor area of 80 square meters with one charge to be able to clean more than 180 square meters with one charge. Also, by reducing the number of charges, the battery life can be significantly extended, and the user can reduce the frequency of battery replacement. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly conclude whether the device cleans cleanly or wipes cleanly. The dry cleaning module may further include a side brush 152 having a rotating shaft, and the rotating shaft forms a certain angle with the floor surface to move the dust to the roller brush area of the cleaning module 150.

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

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

[0050] As shown in FIG. 4, the assembly structure 300 includes an assembly bracket 310. The positioning device includes a rotor 320, a motor 330, a cover 340, etc. The assembly bracket 310 is fixed to the assembly part 200 through screw holes around the bracket. The rotor 320 and the motor 330 are provided inside the assembly bracket 310. The cover 340 is provided to cover the top of the rotor 320 and performs a shielding and protection function. The rotor 320 protrudes from the top surface of the automatic cleaning device, and the rotor 320 continuously rotates within a range of 360 degrees while scanning to detect obstacles in the process of the automatic cleaning device's progress without interruption. As shown in FIG. 5, the assembly bracket 310 includes a rotor accommodating part 311 and a motor accommodating part 312. The rotor accommodating part 311 includes a first arc-shaped side wall 3111. The first arc-shaped side wall 3111 includes an arc-shaped side wall or an arc-shaped side wall with other curvatures. Here, the arc-shaped side wall is at least a part of a circle. As shown in FIG. 5, the first arc-shaped side wall 3111 is most of a circular structure, for example, a part within a range of 180 to 270 degrees. The motor accommodating part 312 includes a second arc-shaped side wall 3121. The second arc-shaped side wall 3121 is a part of a circular structure, or a splicing of arc-shaped structures with different central angles, or a splicing of a circular structure or an arc structure and a linear structure, etc., and is not limited thereto. The first arc-shaped side wall 3111 of the rotor accommodating part and the second arc-shaped side wall 3121 of the motor accommodating part are smoothly connected and are divided into the rotor accommodating part 311 and the motor accommodating part 312 by substantially the line MN as shown in FIG. 5. Here, the opening area formed by the first arc-shaped side wall 3111 is larger than the opening area formed by the second arc-shaped side wall 3121. The positioning element 400 includes a rotor 320. The rotation axis of the rotor 320 is substantially arranged at the geometric center of the rotor accommodating part 311.When the first arcuate side wall 3111 is an arcuate side wall, the geometric center of the rotor accommodating portion 311 corresponds to the center of the circle where the first arcuate side wall 3111 is located. When the first arcuate side wall 3111 has a combined structure of arcs with multiple different curvatures, the geometric center of the rotor accommodating portion 311 corresponds to point A shown in FIG. 5, which is the center of the circle where the arc with the largest central angle is located. The rotor 320 is configured to transmit and / or receive detection signals, such as visible light and / or invisible light, while continuously rotating. At this time, the rotor 320 has a smaller diameter compared to the rotor in the conventional positioning element, that is, the distance to the first arcuate side wall 3111 of the rotor accommodating portion is larger, but it is still assembled at the geometric center of the rotor accommodating portion 311, ensuring the structural symmetry and stability after rotation. The positioning element 400 includes a motor 330. The output shaft of the motor 330 is provided substantially at the communication portion between the rotor accommodating portion 311 and the motor accommodating portion 312, that is, at point B shown in FIG. 5, which is substantially located on the connection line between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion. Specifically, it is located between the connection line between the geometric center C of the motor accommodating portion and the geometric center A of the rotor accommodating portion. Excluding points A and C, that is, closer to the geometric center A of the rotor accommodating portion than the geometric center C of the motor accommodating portion, the motor in the miniaturized positioning element is closer to the rotor, the accommodating structure inside the assembly bracket can be adapted to the motor and rotor of the positioning element, enhancing stability, reducing the size of transmission elements, such as belts, and reducing energy loss and material costs. In some embodiments, the communication portion is substantially located at the center of the smooth connection portion between the first arcuate side wall 3111 and the second arcuate side wall 3121, that is, on the MN connection line. When the second arcuate side wall 3121 is an arcuate side wall, the geometric center of the motor accommodating portion 312 corresponds to the center of the circle where the second arcuate side wall 3121 is located. When the second arcuate side wall 3121 has a combined structure of arcs with multiple different curvatures, the geometric center of the motor accommodating portion 312 corresponds to the center of the circle where the arc with the largest central angle is located, as shown at point C in FIG. 5. The motor 330 is configured to be connected to the rotor via a transfer structure 332, such as a belt, to provide driving force to the rotor.Here, the motor 330 drives the rotor 320 via the motor roller 331 and the transfer structure 332. The transfer structure 332 may be a belt, a metal belt, an organic material belt, or the like. The rotating shaft of the motor 330 is connected to the motor roller 331 by a hard wire, and the motor roller 331 rotates freely under the drive of the motor rotating shaft.

[0051] In some embodiments, the positioning device is a laser distance measuring device. Here, the positioning element is a laser distance measuring element, and the laser distance measuring element detects the distance or position by transmitting and receiving laser signals while continuously rotating.

[0052] In some embodiments, as shown in FIG. 5, the motor housing portion 312 includes a first opening 3122 located at the bottom surface 3124 of the motor housing portion 312 and configured to house the motor 330, and a first support rib 3123 extending inward along the inner side of the side wall 3121 of the motor housing portion to the edge of the first opening 3122. Here, the geometric center B of the first opening 3122 is closer to the geometric center A of the rotor housing portion than the geometric center C of the motor housing portion. Here, the geometric center B of the first opening 3122 is substantially located at the center of the circle where the arc of the first opening 3122 is located, and the geometric center C of the motor housing portion is substantially located at the center of the circle where the side wall 3121 of the motor housing portion is located. Compared with a conventional-sized motor, its mounting position is usually at the geometric center C of the motor housing portion. However, when the entire structure of the positioning element is small and the rotor 320 is still at the geometric center A of the rotor housing portion, it can reduce transmission loss, improve transmission efficiency, enhance the stability during belt transmission, assemble the motor 330 near the rotor, and at this time, the rotational clearance (clearance) between the motor 330 and the rotor 320 is substantially constant, and a considerable transmission efficiency can be maintained. It is suitable for a more miniaturized positioning element, does not need to be molded separately, reduces costs, the motor is closer to the rotor, saves transfer devices such as belts, further reduces costs, and at the same time can reduce transfer resistance and improve transfer efficiency. At this time, in order to enhance the stability and rigidity of the assembly bracket 310, it is necessary to add the first support rib 3123. Especially, the greater the distance from the motor, the longer the first support rib 3123 becomes.

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

[0054] In some embodiments, as shown in FIG. 5, the second opening communicates with the first opening, and the area of the second opening is larger than the area of the first opening. By communicating the second opening with the first opening, the processing process of the bracket structure is reduced, and due to the communication structure, the motor drives the rotor to rotate through the transfer structure.

[0055] In some embodiments, as shown in FIG. 6, the positioning device further includes a cover 340 provided to cover the top of the rotor 320. The cover 340 shields stray light entering the positioning device, shields dust, impurities, etc. entering the positioning device, and further shields the internal components of the positioning device to play an aesthetic role. When a pivoting structure is added to the cover 340, suspended obstacles can be avoided. The cover 340 includes a circular top surface 341, a bottom ring 342, and a plurality of connecting members 343 connecting the circular top surface 341 and the bottom ring 342. In some embodiments, the bottom ring 342 includes a base plate extending horizontally from its bottom, and the bottom ring 342 is fixedly connected to or integrally formed with the base plate. The base plate is pivotally connected to the top surfaces of the cover 340 and the moving platform. A first gap is formed between the bottom ring 342 and the outer peripheral surface of the rotor 320, and gaps are formed between the plurality of connecting members 343, and detection signals, such as visible light and / or invisible light, etc., can be transmitted and / or received by the rotation of the rotor. Furthermore, the rotor structure described in this embodiment is a miniaturized rotor, and since the cover 340 corresponds to the size of the cover of a conventional positioning device, the first gap is larger than the conventional gap.

[0056] In some embodiments, in order to solve technical problems caused by an overly large first gap, such as the entry of stray light, dust, impurities, etc., and the exposure of internal components of the positioning device, the overall size of the cover may be reduced to decrease the distance of the first gap. For example, in some embodiments, the cover 340 includes a circular top surface 341, a bottom circular ring 342, and a plurality of connecting members 343 connecting the circular top surface 341 and the bottom circular ring 342. The bottom circular ring 342 includes a base plate extending horizontally from its bottom, and the bottom circular ring 342 is fixedly connected to or integrally formed with the base plate. The base plate is used for the pivotal connection between the cover 340 and the top surface of the moving platform, and a second gap is formed between the bottom circular ring 342 and the outer peripheral surface of the rotor 320. The second gap is smaller than the first gap, and due to the second gap, the bottom circular ring 342 can be brought as close as possible to the outer peripheral surface of the rotor 320 without affecting the rotation of the rotor, for example, the interval can be between 1 and 5 mm.

[0057] As shown in FIGS. 7 to 9, in some embodiments, in order to solve the technical problems caused by an overly large first gap, the assembly structure 300 further includes an annular shielding member 350, which is provided in close contact with the inside of the bottom circular ring 342. A second gap is formed between the annular shielding member 350 and the outer peripheral surface of the rotor 320, and the second gap is smaller than the first gap. Due to the second gap, the rotor can rotate flexibly, and due to the second gap, the annular shielding member 350 can be brought as close as possible to the outer peripheral surface of the rotor 320 without affecting the rotor rotation, for example, the interval can be between 1 and 5 mm.

[0058] In some embodiments, as shown in FIG. 8, the annular shielding member 350 has a width extending along the radial direction and a height extending along the axial direction, and the width of the annular shielding member is larger than the height. The annular shielding member 350 has a width extending along the radial direction sufficient to shield the entry of stray light caused by the overly large size of the first gap. The annular shielding member 350 has a height extending along the axial direction sufficient to facilitate the assembly of the annular shielding member 350 inside the bottom circular ring 342.

[0059] In some embodiments, as shown in FIG. 8, the annular shielding member 350 includes an insertion member 351 adapted to the connection member 343. After the insertion member 351 is inserted into the connection member 343, the annular shielding member 350 is provided in close contact with the inside of the bottom ring 342. The insertion members 351 are provided in a one-to-one correspondence with the connection members 343. The third slot 3433 is provided below the connection member 343. The T-shaped protrusion 3512 is provided below the insertion member 351. When the insertion member 351 is inserted into the inner wall of the connection member 343, the thickness of the connection member 343 increases, and the distance of the first gap becomes smaller, so that the stray light entering the rotor 320 is further reduced.

[0060] In some embodiments, as shown in FIG. 7, the inner wall of the connection member 343 includes a first slot 3431. The outer wall of the insertion member 351 includes a protruding beam 3511 adapted to the first slot 3431. When the protruding beam 3511 is inserted into the first slot 3431, the annular shielding member 350 is provided in close contact with the inside of the bottom ring 342, and when the protruding beam 3511 is inserted into the first slot 3431, the circumferential stability of the annular shielding member 350 is improved. In some embodiments, as shown in FIG. 7, the bottom ring includes a second slot 3432 extending along the circumferential direction of the bottom surface of the bottom ring and a third slot 3433 on the inner surface of the bottom ring 342, and the second slot 3432 communicates with the third slot 3433. As shown in FIG. 9, the annular shielding member 350 includes a T-shaped protrusion 3512 protruding outward along the outer wall of the annular shielding member 350. When the T-shaped protrusion 3512 is inserted into the third slot 3433, the annular shielding member 350 is provided in close contact with the inside of the bottom ring 342. When assembling the annular shielding member 350, when the T-shaped protrusion 3512 is first inserted along the bottom of the second slot 3432 and then pushed upward so that the T-shaped protrusion 3512 is inserted into the third slot 3433, the stability of the annular shielding member 350 along the circumferential and radial directions is further improved.

[0061] In some embodiments, as shown in FIG. 7, the bottom ring 343 further includes a position regulating groove 3434 provided on the inner surface of the bottom ring 343. The position regulating groove 3434 is symmetrically provided on both sides of the third slot 3433. The annular shielding member 350 further includes position regulating protrusions 3513 provided on both sides of the T-shaped protrusion 3512. The annular shielding member 350 is provided in close contact with the inside of the bottom ring 342, and the position regulating protrusions 3513 are disposed in the position regulating grooves 3434. The position of the annular shielding member 350 is further limited by the fitting of the position regulating protrusions 3513 and the position regulating grooves 3434.

[0062] Embodiments of the present disclosure provide an automatic cleaning device. In a positioning device, an assembling bracket having a corresponding structure can assemble a positioning element smaller than a conventional positioning element into an assembling portion corresponding to the conventional size, which is convenient for changing the size of the positioning element as needed.

[0063] Finally, it should be noted that each embodiment in this specification is described progressively, and each embodiment focuses on the differences from other embodiments. The same or similar parts between each embodiment can be referred to each other.

[0064] The above embodiments are used to illustrate the technical solutions of the present disclosure and are not intended to limit them. Although the present disclosure has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in each of the above embodiments, or equivalently replace some of the technical features thereof. It should be understood that these modifications and replacements do not deviate from the spirit and scope of the technical solutions of each embodiment of the present disclosure.

Claims

1. A mobile platform, a positioning device, and an assembly structure for assembling the positioning device onto the mobile platform, wherein the assembly structure includes an assembly bracket, the assembly bracket includes a rotor accommodating portion including a first arcuate side wall, and a motor accommodating portion including a second arcuate side wall, the first arcuate side wall of the rotor accommodating portion and the second arcuate side wall of the motor accommodating portion are smoothly connected, and the opening area formed by the first arcuate side wall is larger than the opening area formed by the second arcuate side wall, the positioning device includes a positioning element, the positioning element includes a rotor configured such that a rotation axis is provided substantially at a geometric center of the rotor accommodating portion and is configured to transmit and / or receive detection signals while continuously rotating, and a motor configured such that an output axis is provided substantially on a connection line between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion and is located between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion, and is connected to the rotor via a power transmission structure and is configured to provide a driving force to the rotor, characterized in that it is an automatic cleaning device.

2. The motor accommodating portion further includes a first opening located at a bottom surface of the motor accommodating portion and configured to accommodate the motor, and a first support rib extending inward along an inner side of a side wall of the motor accommodating portion to an edge of the first opening, wherein a geometric center of the first opening is closer to the geometric center of the rotor accommodating portion than the geometric center of the motor accommodating portion, characterized in that it is the automatic cleaning device according to Claim 1.

3. The rotor accommodating portion further includes a second opening located at a bottom surface of the rotor accommodating portion and configured to accommodate the rotor, and a second support rib extending inward along an inner side of a side wall of the rotor accommodating portion to an edge of the second opening, wherein a geometric center of the second opening corresponds to the geometric center of the rotor accommodating portion, characterized in that it is the automatic cleaning device according to Claim 2.

4. The second opening communicates with the first opening, and an area of the second opening is larger than an area of the first opening, characterized in that it is the automatic cleaning device according to Claim 3.

5. The positioning device further includes a cover provided to cover a top of the rotor and including a circular top surface, a bottom ring, and a plurality of connecting members connecting the circular top surface and the bottom ring. The bottom ring is fixedly connected to the top surface of the automatic cleaning device, and a first gap is formed between the bottom ring and the outer peripheral surface of the rotor. The automatic cleaning device according to claim 1, characterized in that.

6. The assembly structure is further includes an annular shielding member closely provided inside the bottom ring. A second gap is formed between the annular shielding member and the outer peripheral surface of the rotor, and the second gap is smaller than the first gap. The automatic cleaning device according to claim 5, characterized in that.

7. The annular shielding member has a width extending along the radial direction and a height extending along the axial direction. The width of the annular shielding member is larger than the height. The automatic cleaning device according to claim 6, characterized in that.

8. The annular shielding member includes an insertion member adapted to the connecting member. After the insertion member is inserted into the connecting member, the annular shielding member is closely provided inside the bottom ring. The automatic cleaning device according to claim 6, characterized in that.

9. The inner wall of the connecting member includes a first slot. The outer wall of the insertion member includes a protruding beam adapted to the first slot. After the protruding beam is inserted into the first slot, the annular shielding member is closely provided inside the bottom ring. The automatic cleaning device according to claim 8, characterized in that.

10. The bottom ring includes a second slot extending along the circumferential direction of the bottom surface of the bottom ring and a third slot located on the inner surface of the bottom ring. The second slot communicates with the third slot. The annular shielding member includes a T-shaped protrusion protruding outward along the outer wall of the annular shielding member. After the T-shaped protrusion is inserted into the third slot, the annular shielding member is closely provided inside the bottom ring. [[ID= ​ ​ ​ ​ ​ ​ ​ ​ The automatic cleaning device according to claim 11, characterized in that...

13. The positioning device is a laser distance measuring device, the positioning element is a laser distance measuring element, and the detection signal is a laser signal. The automatic cleaning device according to any one of claims 1 to 12, characterized in that...

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