Automatic cleaning device

Abstract

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

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to Chinese Patent Application No. 202220065971.4, filed on January 11, 2022, the entire disclosure of which is incorporated herein by reference as part of this application.

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

[0003] Cleaning robots include sweeping robots, mopping robots, and sweeping / mopping robots. Cleaning robots need to be able to detect the status of obstacles around them while moving, and plan their travel route accordingly and easily avoid obstacles.

[0004] In the prior art, the positioning devices of cleaning robots for detecting obstacles include laser distance measuring devices (LDS), cameras, line laser sensors, ultrasonic sensors, etc., and each of these positioning devices has its own advantages and disadvantages. Due to their complex structure and large size, the positioning devices require a large assembly space on the cleaning robot, which hinders the setup of other components of the cleaning robot. Furthermore, the assembly space cannot be adjusted according to different sizes of the positioning devices, which makes it difficult to flexibly apply the positioning devices. Summary of the Invention

[0005] An embodiment of the present disclosure provides an automatic cleaning device, the automatic cleaning device including: a mobile platform; a positioning device; and an assembly structure for assembling the positioning device to the mobile platform; the position determining device includes a position determining element and a cover; the position determination element includes a rotor and a motor, the rotor configured to transmit and / or receive detection signals while continuously rotating, and the motor configured to be connected to the rotor by a power transmission structure and to provide a driving force to the rotor; the cover is provided to cover the rotor top, and includes a circular top surface, a bottom ring, and a plurality of connecting members connecting the circular top surface and the bottom ring, and a first gap is formed between the bottom ring and the rotor outer peripheral surface; The assembly structure includes an annular shielding member abutting against the inside of the bottom ring, and a second gap is formed between the annular shielding member and the rotor outer peripheral surface, and the second gap is smaller than the first gap.

[0006] The accompanying drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and are used together with the specification to 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]

[0007] [Figure 1] FIG. 1 is a perspective view of an automatic cleaning device according to some embodiments of the present disclosure. [Figure 2] 1 is a schematic diagram of a bottom structure of an automatic cleaning device according to some embodiments of the present disclosure; [Figure 3] FIG. 1 is a general structural diagram of a position determination element according to some embodiments of the present disclosure. [Figure 4] 1 is an enlarged structural view of a locator element according to some embodiments of the present disclosure; [Figure 5] 1 is a structural diagram of a module bracket according to some embodiments of the present disclosure; [Figure 6] 1 is a structural diagram of a cover according to some embodiments of the present disclosure; [Figure 7] 1 is a partial cross-sectional structural view of a cover according to some embodiments of the present disclosure; [Figure 8] 1 is a structural diagram of an annular shielding member according to some embodiments of the present disclosure; [Figure 9] 1 is a partially enlarged structural view of an annular shielding member according to some embodiments of the present disclosure; [Explanation of symbols]

[0008] 100 Moving Platform 110 Rear part 111 Forward facing part 120 Sensing System 122 Buffer 123 Cliff Sensor 130 Control System 140 Drive System 141 Drive Wheel Assembly 142 Steering Assembly 150 Cleaning Module 151 Dry Cleaning Module 152 Side Brush 200 Assembly Department 300 Assembly Structure 310 Assembly Bracket 320 rotor 330 Motor 340 Cover 311 Rotor housing 312 Motor housing 3111 First circular arc side wall 3121 Second circular arc side wall 331 Motor Roller 332 Conveyor Belt 3122 First Opening 3124 Bottom of motor housing 3123 First support rib 3112 Second Opening 3113 Second support rib 3114 Bottom of rotor housing 341 Circular top surface 342 Bottom Ring 343 Connecting members 350 Annular shielding member 351 Insertion member 3431 1st slot 3432 Second Slot 3433 3rd slot 3511 Convex rib 3512 T-shaped projection 3434 Position limiting groove 3513 Position limiting protrusion DETAILED DESCRIPTION OF THE INVENTION

[0009] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be described in more detail below with reference to the accompanying drawings. 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] It should be noted that the terms "comprises," "has," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or device 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.

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

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

[0016] As shown in Figures 1 and 2, the automatic cleaning device may be a vacuum cleaning robot, a mopping / brushing robot, a window climbing robot, etc., and the automatic cleaning device is composed of a moving platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160 and a man-machine interactive system 170.

[0017] The mobile platform 100 is configured to automatically move in a target direction on an operating surface. The operating surface may be a surface to be cleaned by an automatic cleaning device. In some embodiments, the automatic cleaning device may be a mopping robot, where the automatic cleaning device works on a floor surface, and the floor surface is the operating surface; a window cleaning robot, where the automatic cleaning device works on a 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 an inner surface of a pipe, and the inner surface of the pipe is the operating surface. Purely for purposes of illustration, a mopping robot will be used in the present application.

[0018] In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The term "autonomous mobile platform" refers to the mobile platform 100 being capable of automatically and adaptively making 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 the mobile platform 100 is an autonomous mobile platform, the target direction may be determined autonomously by an automatic cleaning device. If the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by a system or manually. If the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 is comprised of a front section 111 and a rear section 110.

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

[0020] To more clearly describe the behavior of the automatic cleaning device, the following directions are defined. That is, the automatic cleaning device can move on a floor surface by various combinations of movement along three mutually perpendicular axes defined by the mobile platform 100: the lateral axis Y, the front-to-rear axis X, and the central vertical axis Z. The forward drive direction along the front-to-rear axis X is designated "forward," and the rear drive direction along the front-to-rear axis X is designated "rear." The lateral axis Y extends substantially from the axis center defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning device. Here, the automatic cleaning device can rotate around the Y axis. When the front portion of the automatic cleaning device tilts upward and the rear portion tilts downward, this is referred to as "pitch up." When the front portion of the automatic cleaning device tilts downward and the rear portion tilts upward, this is referred to as "pitch down." Furthermore, the automatic cleaning device can rotate around the Z axis. When the automatic cleaning device tilts to the right of the X axis at the front of the automatic cleaning device, this is referred to as "turn right," and when the automatic cleaning device tilts to the left of the X axis, this is referred to as "turn left."

[0021] 2, cliff sensors 123 are provided at the bottom of the moving platform 100, in front of the drive wheel assembly 141 and behind the drive wheel assembly 141, which can prevent the automatic cleaning device from falling when retreating and 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.

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

[0023] Each assembly in the sensing system 120 may operate independently or may work in concert to achieve more precise purpose and function. The cliff sensor 123 and ultrasonic sensor identify the surface to be cleaned and determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., which can be combined with cameras, laser ranging devices, etc. for more accurate determination.

[0024] For example, an ultrasonic sensor may be used to determine whether the surface to be cleaned is carpeted, and if the ultrasonic sensor determines that the surface to be cleaned is carpeted, the control system 130 may control the automatic cleaning device to perform carpet mode cleaning.

[0025] A buffer 122 is provided at the front portion 111 of the mobile platform 100, and when the drive wheel assembly 141 propels the automatic cleaning device to travel on the floor surface during the cleaning process, the 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 control the drive wheel assembly 141 to respond to the event (or object), for example, through an obstacle or wall, detected by the buffer 122, and move away from the obstacle.

[0026] 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 laser ranging 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 steering 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.

[0027] Specifically, the control system 130 combines distance and speed information fed back from the buffer 122, cliff sensor 123, and sensing devices such as ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current operating status of the vacuum cleaner, such as crossing a threshold, riding on a carpet, being on a cliff, being stuck above or below, the dustbin being full, or being lifted, and provides specific next operating strategies according to different situations, so that the operation of the automatic cleaning device can better meet the owner's needs 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.

[0028] 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, which 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.

[0029] In order for the automatic cleaning device to move more stably on the floor surface or have higher mobility, the automatic cleaning device may include one or more steering assemblies 142, and the steering assembly 142 may be a driven wheel or a driving wheel, and its structural form may be a universal wheel, and the steering assembly 142 may be located in front of the driving wheel assembly 141.

[0030] The energy system 160 includes a rechargeable battery such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery is connected to a 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.

[0031] The man-machine interactive system 170 may include keys on a host panel that can be used by the user to select functions, 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 a mobile phone client program. In the case of a route navigation type automatic cleaning device, the mobile phone client can display a map of the environment in which the device is installed and the location of the device to the user, providing the user with a richer and more user-friendly range of functions.

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

[0033] The dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet. The roller brush, which is in contact with the floor surface to some extent, sweeps dust from the floor surface toward the dust suction port between the roller brush and the dust box, and then sucks it into the dust box via suction gas generated by the fan that passes through the dust box. The dust removal capacity of a vacuum cleaner is characterized by its dust pickup efficiency (DPU). DPU is affected by the structure and material of the roller brush, the wind power utilization rate of the duct consisting of the dust suction port, dust box, fan, air outlet, and their connecting components, and the type and power of the fan, which can lead to complex system design issues. Compared to ordinary plug-in vacuum cleaners, improved dust removal capacity is significant for energy-constrained automatic cleaning devices. Improved dust removal capacity directly and effectively reduces the energy required. This allows machines that can clean 80 square meters of floor space on a single charge to be evolved to clean more than 180 square meters on a single charge. In addition, by reducing the number of charging times, battery life is also significantly extended, allowing users to replace batteries less frequently. More intuitively and importantly, improved dust removal capability provides the most obvious and significant user experience, allowing users to directly conclude whether the machine cleans or wipes clean. The dry cleaning module may further include a rotating shaft side brush 152, the rotating shaft of which is angled relative to the floor surface to move dirt to the roller brush area of ​​the cleaning module 150.

[0034] The automatic cleaning device may further include a wet cleaning module as an optional 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 to the cleaning head along a water circuit, and the cleaning head cleans at least a portion of the operating surface under the drive of the drive unit. In related technology, the automatic cleaning device includes a positioning device, which includes a positioning element and a cover. Typically, the positioning element arranged in the automatic cleaning device has a fixed size, and the size of the positioning element is substantially matched to the assembly space. However, if the application device needs to reduce the volume of the positioning element, it needs to redevelop the mold or adjust the position of the equipment around the assembly space of the positioning element, which causes great inconvenience in flexible application of the positioning element.

[0035] For this reason, the embodiments of the present disclosure provide an automatic cleaning device that assembles a miniaturized positioning element in the original assembly space. The positioning device described in the embodiments includes, but is not limited to, a camera and a laser distance measuring device (LDS). For ease of understanding, the positioning device described in the embodiments is described as a laser distance measuring device. However, the embodiments allow for more flexible application of the positioning device by rationally designing the structure and positional relationship of the assembly bracket, rotor, motor, cover, etc. The same structure has similar technical effects, and partial technical effects will not be repeated here. Specifically, as shown in FIG. 3 , the automatic cleaning device includes an assembly part 200 mounted on a rack, 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 typically part of a rack and has one or more screw holes. The assembly structure 300 has one or more corresponding screw holes, and the positioning element 400 is assembled to the assembly part 200 via bolts. The assembly part 200 is the location for assembling the assembly structure 300 and the positioning element 400 within the automatic cleaning device. Typically, once the design of each component of the automatic cleaning device is complete, its position and size are fixed, and the spatial position of the spare assembly part 200 is also fixed accordingly. As a result, if a smaller-sized positioning element of the automatic cleaning device needs to be replaced, it cannot be accommodated in the spare assembly part 200. Therefore, the assembly structure and the structure of the positioning element of the automatic cleaning device according to the embodiment of the present disclosure are improved as follows. 4, the assembly structure 300 includes an assembly bracket 310, and the positioning device includes a rotor 320, a motor 330, and a cover 340. The assembly bracket 310 is fixed to the assembly part 200 through screw holes around the bracket. The rotor 320 and the motor 330 are installed inside the assembly bracket 310. The cover 340 is installed to cover the top of the rotor 320 for shielding and protection. The rotor 320 protrudes from the top surface of the automatic cleaning device, and the rotor 320 continuously rotates and scans within a 360-degree range to continuously detect obstacles during the movement of the automatic cleaning device. As shown in FIG. 5, the assembly bracket 310 includes a rotor receiving part 311 and a motor receiving part 312. The rotor receiving part 311 includes a first arc-shaped sidewall 3111. The first arc-shaped sidewall 3111 includes an arc-shaped sidewall or an arc-shaped sidewall of another curvature. Here, the arc-shaped sidewall is at least a portion of a circle. As shown in FIG. 5, the first arc-shaped sidewall 3111 is the majority of the circular structure, e.g., a portion within a range of 180 to 270 degrees. The motor accommodating portion 312 includes a second arc-shaped sidewall 3121. The second arc-shaped sidewall 3121 may be a portion of a circular structure, a combination of arc-shaped structures with different arc degrees, or a combination of a circular structure, a structure with different arc degrees, and a linear structure, but is not limited thereto. The first arc-shaped sidewall 3111 of the rotor accommodating portion and the second arc-shaped sidewall 3121 of the motor accommodating portion are smoothly connected. As shown in FIG. 5, the assembly bracket 310 is divided into the rotor accommodating portion 311 and the motor accommodating portion 312 at approximately the location indicated by line MN. Here, the opening area formed by the first arc-shaped sidewall 3111 is larger than the opening area formed by the second arc-shaped sidewall 3121. The positioning element 400 includes a rotor 320, and the rotation axis of the rotor 320 is disposed substantially at the geometric center of the rotor accommodating portion 311. When the first arc-shaped sidewall 3111 is an arc-shaped sidewall, the geometric center of the rotor accommodating portion 311 corresponds to the center of a circle on which the first arc-shaped sidewall 3111 is located, and when the first arc-shaped sidewall 3111 is a combined structure of arcs with multiple different curvatures, the geometric center of the rotor accommodating portion 311 corresponds to the center of a circle on which the arc with the maximum arc degree is located.As shown in FIG. 5A, rotor 320 is configured to transmit and / or receive detection signals, such as visible and / or invisible light, while continuously rotating. Compared to the rotor of a conventional positioning element, rotor 320 has a smaller diameter, i.e., a greater distance to first arc-shaped sidewall 3111 of the rotor housing. However, rotor 320 is still assembled at the geometric center of rotor housing 311, ensuring structural symmetry and stability after rotation. Positioning element 400 includes motor 330, and the output shaft of motor 330 is substantially disposed at the connecting portion between rotor housing 311 and motor housing 312, i.e., substantially located on the connecting line between the geometric center of the motor housing and the geometric center of the rotor housing, as shown in FIG. 5B. Specifically, it is located substantially between the connecting line between geometric center C of the motor housing and geometric center A of the rotor housing, not at point A or point C. Because the motor housing 312 is closer to the geometric center A of the rotor housing than to the geometric center C of the motor housing, the motor of the miniaturized positioning element is closer to the rotor, and the internal housing structure of the assembly bracket can better accommodate the motor and rotor of the positioning element, improving stability, reducing the size of the transmission element, such as the belt, and reducing energy loss and material costs. In some embodiments, the communication portion is located substantially at the center of the smooth connection between the first arc-shaped sidewall 3111 and the second arc-shaped sidewall 3121, i.e., the MN connection line. If the second arc-shaped sidewall 3121 is an arc-shaped sidewall, the geometric center of the motor housing 312 corresponds to the center of the circle on which the second arc-shaped sidewall 3121 is located. If the second arc-shaped sidewall 3121 is a combined structure of multiple arcs with different curvatures, the geometric center of the motor housing 312 corresponds to the center of the circle on which the arc with the largest arc degree is located, which is located at C as shown in FIG. 5. The motor 330 is connected to the rotor 320 via a transfer structure 332, such as a belt, to provide a driving force to the rotor. Here, the motor 330 drives the rotor 320 via a motor roller 331 and the transfer structure 332. The transfer structure 332 may be a belt, a metal belt, an organic material belt, etc., and the rotation shaft of the motor 330 is hard-connected to the motor roller 331, so that the motor roller 331 rotates freely under the driving force of the motor rotation shaft.

[0036] In some embodiments, the position determining device is a laser ranging device, wherein the position determining element is a laser ranging element that detects distance or position by transmitting and receiving laser signals while continuously rotating.

[0037] 5, the motor housing 312 further includes a first opening 3122 located on a bottom surface 3124 of the motor housing 312 and configured to accommodate the motor 330, and a first support rib 3123 extending inward along the inner side of the motor housing sidewall 3121 to the edge of the first opening 3122, wherein the geometric center B of the first opening 3122 is closer to the geometric center A of the rotor housing than the geometric center C of the motor housing, and wherein the geometric center B of the first opening 3122 is located substantially at the center of a circle on which the arc of the first opening 3122 is located, and the geometric center C of the motor housing is located substantially at the center of a circle on which the motor housing sidewall 3121 is located. For a conventional size motor, its mounting position is typically at the geometric center C of the motor housing. However, if the overall structure of the positioning element is made smaller and the rotor 320 is still located at the geometric center A of the rotor housing, assembling the motor 330 closer to the rotor can reduce transmission loss, increase transmission efficiency, and improve stability during belt transmission. In this case, the rotational gap between the motor 330 and the rotor 320 is approximately constant, maintaining significant transmission efficiency. This is suitable for a smaller positioning element, reduces costs without developing a separate mold, and locating the motor closer to the rotor eliminates the need for transmission devices such as belts, further reducing costs while simultaneously reducing transmission resistance and improving transmission efficiency. In this case, a first support rib 3123 must be added to increase the stability and rigidity of the assembly bracket 310. The longer the first support rib 3123, the greater the distance from the motor.

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

[0039] In some embodiments, as shown in Figure 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. The second opening communicates with the first opening to reduce the manufacturing process of the bracket structure, and the communication structure allows the motor to drive the rotor to rotate the rotor through the transfer structure.

[0040] 6, the positioning device further includes a cover 340 arranged to cover the top of the rotor 320. The cover 340 shields stray light from entering the positioning device, shields dust, impurities, etc. from entering the positioning device, and also shields the internal components of the positioning device for aesthetic purposes. After adding a pivoting structure to the cover 340, it can avoid hanging obstacles. The cover 340 includes a circular top surface 341, a bottom annular ring 342, and a plurality of connecting members 343 connecting the circular top surface 341 and the bottom annular ring 342. In some embodiments, the bottom annular ring 342 includes a bottom plate extending horizontally from the bottom of the cover 340, which is fixedly connected to or integrally formed with the bottom plate, and the bottom plate is pivotally connected to the cover 340 and the top surface of the moving platform. A first gap is formed between the bottom annular ring 342 and the outer circumferential surface of the rotor 320. Gaps are formed between the connecting members 343, and detection signals, such as visible light and / or invisible light, can be transmitted and / or received by the rotation of the rotor. Furthermore, since the rotor structure described in the present embodiment is a miniaturized rotor and the cover 340 is equivalent in size to the cover of a conventional positioning device, the first gap is larger than a conventional gap.

[0041] In some embodiments, to solve technical problems caused by a large first gap, such as the intrusion of stray light, dust, impurities, and the like, and exposure of internal components of the positioning device, the size of the cover as a whole may be reduced to reduce the distance of the first gap. For example, in some embodiments, 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. The bottom ring 342 includes a bottom plate extending horizontally from its bottom, which is fixedly connected to or integrally formed with the bottom plate. The bottom plate is used to pivotally connect cover 340 to the top surface of the moving platform. A second gap is formed between bottom ring 342 and the outer periphery of rotor 320, the second gap being smaller than the first gap. The second gap allows bottom ring 342 to be as close as possible to the outer periphery of rotor 320 without affecting rotor rotation. The second gap may be, for example, 1 mm to 5 mm.

[0042] As shown in FIGS. 7 to 9, in some embodiments, to solve the technical problem caused by the first gap being too large, the assembly structure 300 further includes an annular shielding member 350, which abuts the inside of the bottom ring 342. A second gap is formed between the annular shielding member 350 and the outer circumferential surface of the rotor 320. The second gap is smaller than the first gap. The second gap allows the rotor to rotate freely. The second gap allows the annular shielding member 350 to be as close as possible to the outer circumferential surface of the rotor 320 without affecting the rotor rotation. The second gap may be, for example, 1 mm to 5 mm.

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

[0044] 8 , the annular shielding member 350 includes an insert member 351 adapted to the connecting member 343, and after the insert member 351 is inserted into the connecting member 343, the annular shielding member 350 abuts against the inside of the bottom ring 342, the insert member 351 is provided in one-to-one correspondence with the connecting member 343, the third slot 3433 is provided below the connecting member 343, and the T-shaped protrusion 3512 is provided below the insert member 351. When the insert member 351 is inserted into the inner wall of the connecting member 343, the thickness of the connecting member 343 increases and the distance of the first gap decreases, thereby further reducing stray light entering the rotor 320.

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

[0046] 7 , the bottom ring 343 further includes a position limiting groove 3434 on the inner surface of the bottom ring 343, the position limiting groove 3434 being symmetrically arranged on both sides of the third slot 3433, and the annular shielding member 350 includes position limiting protrusions 3513 on both sides of the T-shaped protrusion 3512, and when the annular shielding member 350 abuts against the inner surface of the bottom ring 342, the position limiting protrusions 3513 fit into the position limiting groove 3434. The engagement of the position limiting protrusions 3513 with the position limiting groove 3434 further limits the position of the annular shielding member 350.

[0047] An embodiment of the present disclosure provides an automatic cleaning device, and in a positioning device, by using an assembly bracket with a corresponding structure, a positioning element smaller than a conventional positioning element can be assembled into an assembly part corresponding to the conventional size, which makes it convenient to change the size of the positioning element as needed.

[0048] In some embodiments, the annular shielding member has a width extending along a radial direction and a height extending along an axial direction, the width of the annular shielding member being greater than the height.

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

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

[0051] In some embodiments, the bottom ring includes a second slot extending circumferentially along a bottom surface of the bottom ring and a third slot located on an inner surface of the bottom ring, the second slot communicating with the third slot; The annular shielding member includes a T-shaped protrusion protruding outward along the outer wall of the annular shielding member, and when the T-shaped protrusion is inserted into the third slot, the annular shielding member abuts against the inner side of the bottom ring.

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

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

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

[0055] In some embodiments, the motor housing comprises: a first opening located on a bottom surface of the motor housing portion and configured to house the motor; a first support rib extending inward along an inner side wall of the motor accommodating portion to an edge of the first opening, Here, the geometric center of the first opening is closer to the geometric center of the rotor accommodating portion than the geometric center of the motor accommodating portion.

[0056] In some embodiments, the rotor housing comprises: a second opening located on a bottom surface of the rotor receiving portion and configured to receive the rotor; a second support rib extending inward along the inner side of the rotor accommodating portion side wall to an edge of the second opening, Here, the geometric center of the second opening corresponds to the geometric center of the rotor accommodating portion.

[0057] In some embodiments, the second opening communicates with the first opening, and the second opening has an area greater than the area of ​​the first opening.

[0058] In some embodiments, the bottom ring includes a bottom plate extending horizontally from the bottom thereof, the bottom plate being used to pivotally connect the cover and the top surface of the moving platform.

[0059] In some embodiments, the position determining device is a laser ranging device, the position determining element is a laser ranging element, and the detection signal is a laser signal.

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

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

[0062] Finally, please note that each embodiment in this specification will be described progressively, with each embodiment focusing on differences from other embodiments, and that identical or similar parts between each embodiment may be referenced to each other.

[0063] 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, a positioning device, and an assembly structure for assembling the positioning device to the mobile platform; the position-determining device includes a position-determining element and a cover; the position determination element includes a rotor and a motor, the rotor configured to transmit and / or receive detection signals while continuously rotating, and the motor configured to be connected to the rotor by a power transmission structure to provide a driving force to the rotor; the cover is provided to cover a top portion of the rotor, and includes a circular top surface, a bottom ring, and a plurality of connecting members connecting the circular top surface and the bottom ring, and a first gap is formed between the bottom ring and an outer peripheral surface of the rotor; the assembly structure includes an annular shielding member abutting against the inside of the bottom ring, a second gap is formed between the annular shielding member and an outer peripheral surface of the rotor, and the second gap is smaller than the first gap; The annular shielding member includes an insert member that fits into the connecting member, and when inserted into the connecting member, the insert member causes the annular shielding member to fit tightly against the inside of the bottom annulus.

2. The automatic cleaning device of claim 1 , wherein the annular shielding member has a width extending along a radial direction and a height extending along an axial direction, the width of the annular shielding member being greater than the height.

3. 2. The automatic cleaning device of claim 1, wherein the inner wall of the connecting member includes a first slot, and the outer wall of the insert member includes a convex rib that fits into the first slot, and the convex rib presses the annular shielding member tightly against the inside of the bottom ring when inserted into the first slot.

4. the bottom ring includes a second slot extending circumferentially along a bottom surface of the bottom ring and a third slot located on an inner surface of the bottom ring, the second slot communicating with the third slot; 4. The automatic cleaning device of claim 3, wherein the annular shielding member includes a T-shaped protrusion protruding outward along an outer wall of the annular shielding member, the T-shaped protrusion causing the annular shielding member to fit closely to the inside of the bottom ring when inserted into the third slot.

5. The automatic cleaning device of claim 4 , wherein the third slot is provided below the connecting member and the T-shaped protrusion is provided below the insert member.

6. The bottom ring further includes a position limiting groove provided on an inner surface of the bottom ring, the position limiting grooves being symmetrically provided on both sides of the third slot; 6. The automatic cleaning device of claim 5, wherein the annular shielding member further includes position limiting protrusions provided on both sides of the T-shaped protrusion, and when the annular shielding member is in close contact with the inside of the bottom ring, the position limiting protrusions are positioned in the position limiting grooves.

7. The assembly structure further includes an assembly bracket, the assembly bracket comprising: a rotor housing portion including an arcuate sidewall; a motor accommodating portion including an arc-shaped side wall, wherein the arc-shaped side wall of the rotor accommodating portion is smoothly connected to the arc-shaped side wall of the motor accommodating portion, and an opening area formed by the arc-shaped side wall is larger than an opening area formed by the arc-shaped side wall, The automatic cleaning device according to any one of claims 1 to 6, wherein the rotation axis of the rotor is disposed substantially at the geometric center of the rotor accommodating portion, and the output shaft of the motor is provided substantially on a connecting line between the geometric center of the motor accommodating portion and the geometric center of the rotor accommodating portion.

8. The motor accommodating portion is a first opening located on a bottom surface of the motor housing portion and configured to house the motor; a first support rib extending inward along the inner side of the side wall of the motor accommodating portion to an edge of the first opening, The automatic cleaning device of claim 7 , wherein the geometric center of the first opening is closer to the geometric center of the rotor housing than to the geometric center of the motor housing.

9. The rotor accommodating portion is a second opening located on a bottom surface of the rotor receiving portion and configured to receive the rotor; a second support rib extending inward along the inner side of the side wall of the rotor accommodating portion to an edge of the second opening, The automatic cleaning device of claim 8 , wherein the geometric center of the second opening corresponds to the geometric center of the rotor receiving portion.

10. The automatic cleaning device of claim 9 , wherein the second opening communicates with the first opening, and the area of ​​the second opening is greater than the area of ​​the first opening.

11. The automatic cleaning device of any one of claims 1 to 6, wherein the bottom ring includes a bottom plate extending horizontally from the bottom thereof, the bottom plate for pivotally connecting the cover to the top surface of a moving platform.

12. The automatic cleaning device according to any one of claims 1 to 6, wherein the position determining device is a laser ranging device, the position determining element is a laser ranging element, and the detection signal is a laser signal.

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