Mounting structure and autonomous mobile robot

Abstract

A mounting structure and an autonomous mobile robot. The mounting structure comprises: a protective housing (100), the protective housing (100) having a protective cavity for accommodating a position determination module (1000); and a cover plate (200), the cover plate (200) covering the top of the protective housing (100) so as to form an accommodating space between the cover plate (200) and the protective housing (100) for accommodating a voice-receiving module (2000), wherein the voice-receiving module (2000) is suspended within the accommodating space.

Description

Installation structure and self-moving robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202322299748.3 filed on August 25, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to the technical field of sweeping robots, and in particular to a mounting structure and a self-moving robot. Background Art

[0004] With the iterative updates and development of technology, smart cleaning robots have entered the lives of ordinary families and have gradually become popular. In related smart cleaning robots, a voice receiving unit is provided to enable voice interaction and voice wake-up functions. To ensure that the voice receiving unit has a good reception angle and is not obstructed, the voice receiving unit is usually located in the most raised part of the entire machine, that is, the voice receiving unit is located where the laser ranging unit is located. However, the voice receiving unit is easily affected by vibration, resulting in poor sound reception and affecting the voice interaction experience.

[0005] It should be noted that the information disclosed in this section is only used to enhance understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field.

[0006] Summary of the Invention

[0007] The present disclosure aims to at least partially address the technical problem that a voice receiving unit is susceptible to vibration, resulting in poor sound reception and a poor voice interaction experience. To this end, the present disclosure provides a mounting structure and a self-propelled robot.

[0008] According to one aspect of the present disclosure, a mounting structure is provided, which includes: a protective shell, the protective shell having a protective cavity for accommodating a position determination module; and a cover plate, the cover plate being arranged on the top of the protective shell to form an accommodating space for accommodating a voice receiving module between the cover plate and the protective shell; wherein the voice receiving module is suspended in the accommodating space.

[0009] According to another aspect of the present disclosure, a self-moving robot is proposed, which includes: a base; an upper shell; the above-mentioned mounting structure, which is mounted on the base or the upper shell; a control module, which is arranged on the base; a voice receiving module, which is mounted in the accommodating space of the mounting structure, and the connecting line of the voice receiving module is connected to the control module; and a position determination module, which is mounted on the base and is located in the protective cavity of the voice receiving module mounting structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] FIG1 shows a schematic structural diagram of a self-moving robot (with the upper shell removed) according to some embodiments of the present disclosure;

[0012] FIG2 shows an exploded view of the mounting structure of the self-moving robot in FIG1 ;

[0013] FIG3 shows an exploded view of a mounting structure according to other embodiments of the present disclosure;

[0014] FIG4 shows an exploded view of a mounting structure according to yet other embodiments of the present disclosure; and

[0015] FIG5 is a schematic diagram showing the relative positions of the cover plate, the adhesive connection layer, and the voice receiving module in the installation structure of FIG4 .

[0016] Figure numerals: 100, protective shell; 110, second through hole; 120, partition; 130, first through hole; 140, fixing column; 200, cover plate; 210, sound pickup hole; 300, bracket; 310, cable management groove; 400, adhesive connection layer; 500, waterproof and breathable membrane; 1000, position determination module; 2000, voice receiving module; 2100, circuit board; 2200, microphone; 2300, avoidance through hole; 2400, sound wave through hole; 3000, control module; 4000, base. DETAILED DESCRIPTION

[0017] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0018] In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples. This repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or arrangements discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0019] The technical solution of the present disclosure will be described below with reference to the accompanying drawings and specific embodiments.

[0020] In a self-propelled robot, the voice receiving module 2000 and the position determination module 1000 are mounted on top of the robot via a mounting structure. Mechanical vibration during use inevitably generates low-frequency noise. This vibration affects the voice receiving module 2000, making it susceptible to noise in the received sound. This affects the accuracy of the received voice information, resulting in poor audio reception and a negative impact on the voice interaction experience.

[0021] Furthermore, in related art, the laser ranging unit and voice receiving unit are typically located in the upper housing of the device. These units need to be connected to a control unit via cables to function. However, the control unit is often located in the lower housing of the device. Therefore, the cables need to be connected before the upper housing is snapped onto the lower housing, which makes assembly inconvenient. During actual assembly, the voice receiving unit's cables can easily become compressed, making them difficult to manage.

[0022] To address the above issues, some embodiments of the present disclosure provide a mounting structure, as shown in Figures 1 to 5 . The mounting structure includes: a protective shell 100 having a protective cavity for accommodating a position determination module 1000; and a cover plate 200, which is disposed on top of the protective shell 100 to form a storage space for accommodating a voice receiving module 2000 between the cover plate 200 and the protective shell 100. The voice receiving module 2000 is suspended in the storage space.

[0023] In the installation structure described above, as shown in Figures 4 and 5, the voice receiving module 2000 is suspended on the cover 200, so that the voice receiving module 2000 is separated from the protective shell 100 and other structures of the self-moving robot to a certain extent, thereby reducing the internal vibration of the self-moving robot from being transmitted to the voice receiving module 2000, and reducing the impact of the vibration on the voice receiving module 2000 to a certain extent, thereby improving the sound reception effect of the voice receiving module 2000 and improving the voice interaction experience.

[0024] The mounting structure described above, as shown in Figures 1 and 2, can be used to install the voice receiving module 2000. The voice receiving module 2000 can be directly mounted on the base 4000 of the self-propelled robot via the mounting structure. This allows the voice receiving module 2000's cables to be pre-connected and routed to the control module 3000 within the robot base 4000 before the upper housing is installed on the self-propelled robot. This prevents blind installation or cable compression during the upper housing assembly process, which could affect the performance of the voice receiving module 2000.

[0025] According to the installation structure described above, as shown in Figures 1 and 2, before assembling each module, the connecting wires of the voice receiving module 2000 and the connecting wires of the position determination module 1000 can be connected to the control module 3000 fixed on the base 4000 of the mobile robot; then the position determination module 1000 can be directly fixed on the base 4000 of the mobile robot, and the voice receiving module 2000, the protective shell 100 and the cover plate 200 can also be fixed together on the base 4000 of the mobile robot to complete the installation of the installation structure; finally, when the upper shell of the mobile robot is snapped on and installed, the wiring and connection operations of the voice receiving module 2000 and the position determination module 1000 in the installation structure have been completed, and problems such as blind installation and wire pressing will not occur, which can ensure the reliability and stability of the connection between the connecting wires of the voice receiving module 2000, the connecting wires of the position determination module 1000 and the control module 3000 after the mobile robot is assembled.

[0026] According to the installation structure described above, as shown in Figures 1 and 2, the position determination module 1000 can be first directly fixed on the base 4000 of the mobile robot, and the voice receiving module 2000, the protective shell 100 and the cover 200 can also be fixed on the base 4000 of the mobile robot; then the connecting wires of the voice receiving module 2000 and the connecting wires of the position determination module 1000 can be connected to the control module 3000 fixed on the base 4000 of the mobile robot to complete the installation of the installation structure; finally, when the upper shell of the mobile robot is snapped on and installed, the wiring and connection operations of the installation structure have been completed, and problems such as blind installation and wire pressing will not occur, which can ensure the reliability and stability of the connection between the installation structure and the control module 3000 after the mobile robot is assembled.

[0027] In some embodiments, the voice receiving module 2000 is used to collect sound information and voice information of a target person to implement human-computer voice interaction. In some embodiments, the target person includes but is not limited to people who cannot normally use a smartphone for voice calls, such as children, or people who are inconvenient to use a smartphone for voice calls. In some embodiments, the target person can also be a pet cat, dog, or other animal.

[0028] In some embodiments, the voice receiving module 2000 may further include a voice transmitting device, which may be a speaker, and may be used to display the current state of the autonomous robot to the user, perform human-machine interaction, select functions, and actively play prompt information.

[0029] In the above-described embodiments of the present disclosure, the detection device in the position determination module 1000 may include, but is not limited to, an image acquisition device and / or a laser ranging device. The image acquisition device may determine the position of the autonomous robot and / or the distance to obstacles based on captured image information. The laser ranging device may determine the position of the autonomous robot and / or the distance to obstacles through laser scanning.

[0030] In some embodiments, the image acquisition device can also be used to collect the motion information of the target person, so as to perform corresponding operations based on the motion information of the target person, which can not only increase the human-computer interaction mode, but also realize the control of the self-moving robot without contacting the self-moving robot.

[0031] In some embodiments, the position determination module 1000 may include both an image acquisition device and a laser ranging device. The combination of the two may enable the position determination module 1000 to perform more accurate position determination.

[0032] In some embodiments, the image acquisition device and the laser ranging device may be stacked in the protective shell 100 .

[0033] In some other embodiments, the image acquisition device and the laser ranging device can be integrated into an integrated structure. The image acquisition device can include multiple cameras, and the laser ranging device can include multiple laser radars. These cameras and laser radars can be distributed in a ring shape in the position determination module 1000.

[0034] In some embodiments, as shown in Figures 1 and 2, in order to enable the camera in the position determination module 1000 to smoothly perform image acquisition and the laser radar to smoothly perform laser ranging, a second through hole 110 can be opened on the side wall of the protective shell 100 to expose the camera and / or laser radar through the second through hole 110.

[0035] In the embodiments of the present disclosure, the mounting structure may be installed on the base of the self-propelled robot, or on the upper shell of the self-propelled robot. Those skilled in the art may select a suitable mounting location according to design requirements.

[0036] As an optional embodiment, as shown in Figures 4 and 5, the mounting structure also includes: an adhesive connecting layer 400, which is arranged on a side of the cover plate 200 adjacent to the accommodating space and the adhesive connecting layer 400 is used to adhesively connect with the voice receiving module 2000 so that the voice receiving module 2000 is suspended in the accommodating space.

[0037] In some embodiments, as shown in Figures 4 and 5, the voice receiving module 2000 can be disposed on a side of the cover plate 200 adjacent to the receiving space via an adhesive connection layer 400, thereby allowing the voice receiving module 2000 to be suspended within the receiving space. The method of suspending the voice receiving module 2000 via the adhesive connection layer 400 is simple in structure and has low material costs, thereby reducing production costs and simplifying the installation process of the voice receiving module 2000 in the mounting structure.

[0038] In other embodiments, the voice receiving module 2000 can also be set in the storage space by magnetic suspension. A superconductor can be set in the voice receiving module 2000, and a magnetic suspension module corresponding to the position of the superconductor is set in the protective shell 100. Therefore, the repulsive force generated between the magnetic suspension module and the superconductor can cause the voice receiving module 2000 to be suspended in the storage space in the protective shell 100, thereby reducing the impact of vibration of the mounting structure on the voice receiving module 2000, improving the sound reception effect of the voice receiving module 2000 and improving the accuracy of voice recognition.

[0039] As an optional embodiment, the adhesive connection layer 400 may include a shock-absorbing layer and a first adhesive layer and a second adhesive layer located on both sides of the shock-absorbing layer. The first adhesive layer is used for adhesive connection with the cover plate 200. The second adhesive layer is used for adhesive connection with the voice receiving module 2000.

[0040] In some embodiments, the adhesive connection layer 400 may be provided with a shock-absorbing layer. The adhesive connection layer 400 reduces the transmission of vibrations to the voice receiving module 2000 through the shock-absorbing layer, thereby reducing the transmission of vibrations to the voice receiving module 2000 through the cover plate 200 and protecting the voice receiving module 2000 from vibrations. This reduces the impact of vibration noise on the voice receiving module 2000, thereby improving the sound reception effect.

[0041] As an optional implementation, the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

[0042] In some embodiments, the first adhesive layer in the adhesive connection layer 400 is used for adhesive connection to the cover plate 200, and the second adhesive layer in the adhesive connection layer 400 is used for adhesive connection to the voice receiving module 2000. The adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer. This ensures that the adhesive connection layer 400 adheres more firmly to the cover plate 200, preventing it from falling off the cover plate 200. It also facilitates the removal of the voice receiving module 2000 from the cover plate 200, thereby facilitating the removal operation.

[0043] As an optional implementation, the shock-absorbing layer is foam.

[0044] In some embodiments, the shock-absorbing layer in the adhesive connection layer 400 can be made of foam. Foam has the characteristics of good elasticity, light weight, flexible bending, ultra-thin volume, and excellent shock absorption. The use of foam in the adhesive connection layer 400 of the present disclosure can better shield the transmission of vibrations to the voice receiving module 2000.

[0045] As an optional embodiment, as shown in FIG. 1 to FIG. 4 , the protective shell 100 is provided with a bottom opening for accommodating the position determination module 1000 .

[0046] In some embodiments, the protective shell 100 is provided with a bottom opening to allow for the positioning module 1000 to be positioned. This allows the protective shell 100 to be installed after the positioning module 1000 is mounted on the bracket 300 or the base 4000 of the autonomous robot. In this manner, the protective shell 100 covers the positioning module 1000, so that the positioning module 1000 is positioned within the protective cavity of the protective shell 100.

[0047] As an optional embodiment, as shown in FIG. 1 to FIG. 3 , the mounting structure further includes a bracket 300 , which is used to set the protective shell 100 and to be fixed on the base 4000 of the self-propelled robot.

[0048] In some embodiments, as shown in Figures 1 to 3, a bracket 300 can be provided at the bottom of the protective shell 100, so that the protective shell 100 can be fixed to the mobile robot via the bracket 300, thereby facilitating the installation and fixation of the protective shell 100 on the mobile robot. After the position determination module 1000 is fixed to the base 4000 of the mobile robot, the voice receiving module 2000, the protective shell 100, the cover 200, and the bracket 300 can be assembled and then installed as a whole on the base 4000 of the mobile robot, so that the protective shell 100 covers the position determination module 1000.

[0049] In some embodiments, as shown in Figures 1 to 3, the bracket 300 can also be used to mount the position determination module 1000, so that the position determination module 1000 can be fixed to the base 4000 of the mobile robot together with other modules of the mounting structure. In one embodiment, the position determination module 1000 can be fixed to the bracket 300, and the protective shell 100, voice receiving module 2000, and cover 200 can be assembled on the bracket 300 to form a complete mounting structure; the mounting structure can then be installed as a whole on the base 4000 of the mobile robot.

[0050] In some embodiments, as shown in Figures 1 to 3, the protective shell 100 can be installed and fixed on the bracket 300 by connecting parts such as screws. The protective shell 100 can be installed and fixed on the bracket 300 by a snap-fit ​​device. The protective shell 100 can also be installed and fixed on the bracket 300 by an interference fit or a threaded connection. In some embodiments, as shown in Figures 1 to 3, the bracket 300 is used to be fixed in the base 4000 of the self-moving robot. The bracket 300 allows the protective shell 100 to be suspended relative to the base 4000 of the self-moving robot, so that the connecting wire of the voice receiving module 2000 can pass through the bottom opening of the protective shell 100, thereby avoiding the protective shell 100 being pressed on the connecting wire of the voice receiving module 2000 when it is directly fixed on the base 4000 of the self-moving robot, affecting the safety and stability of the use of the connecting wire of the voice receiving module 2000.

[0051] In the above embodiment, the connecting wires of the position determination module 1000 and the connecting wires of the voice receiving module 2000 can extend from the bottom opening of the protective shell 100, so that the connecting wires of the position determination module 1000 and the connecting wires of the voice receiving module 2000 are respectively connected to the terminals of the control module 3000 set on the base 4000 of the self-propelled robot.

[0052] As an optional embodiment, as shown in FIG. 1 to FIG. 3 , the bracket 300 and the protective shell 100 are an integrated structure.

[0053] In some embodiments, as shown in FIG. 1 to FIG. 3 , the bracket 300 and the protective shell 100 are an integrated structure to reduce the assembly steps of the installation structure and improve the assembly efficiency of the installation structure.

[0054] As an optional embodiment, as shown in FIG. 1 to FIG. 3 , a wire management slot 310 is provided in the bracket 300 , and the wire management slot 310 is used to accommodate the connection wires of the voice receiving module 2000 .

[0055] In some embodiments, as shown in Figures 1 to 3, the wire management groove 310 in the bracket 300 is used to accommodate the connecting wires of the voice receiving module 2000, so that the position of the connecting wires of the voice receiving module 2000 is relatively fixed, so as to facilitate the connection of the connecting wires of the voice receiving module 2000 with the control module 3000, and also prevent the connecting wires of the voice receiving module 2000 from interfering with the assembly of the modules of the installation structure, and avoid squeezing the connecting wires of the voice receiving module 2000 during the assembly process.

[0056] As an optional embodiment, the cover plate 200 can be connected to the protective shell 100 by snapping.

[0057] As another optional embodiment, as shown in FIG. 1 to FIG. 3 , a fixing column 140 is provided in the protective shell 100 , and the cover plate 200 is fixed on the fixing column 140 to achieve the connection between the cover plate 200 and the protective shell 100 .

[0058] In some embodiments, as shown in Figures 1 to 3, the fixing column 140 can be set on the inner wall of the protective shell 100, and the cover plate 200 can be fixed to the fixing column 140 by connecting parts such as screws, so as to form an accommodating space for accommodating the voice receiving module 2000 between the cover plate 200 and the protective shell 100.

[0059] In some embodiments, in order to allow the cover plate 200 to be fixed to the fixing post 140 via a connector, as shown in FIG1 to FIG3 , a clearance hole 2300 corresponding to the fixing post 140 may be opened in the voice receiving module 2000 so that the voice receiving module 2000 can avoid the connector and the fixing post 140 used to fix the cover plate 200.

[0060] As an optional embodiment, as shown in Figures 1 to 5, a partition 120 may be provided in the protective housing 100. The partition 120 is located between the voice receiving module 2000 and the position determination module 1000. The partition 120 may have a first through hole 130 for allowing the connecting wire of the voice receiving module 2000 to pass through.

[0061] In some embodiments, as shown in Figures 1 to 3, a partition 120 may be provided in the protective shell 100. The partition 120 may be located between the voice receiving module 2000 and the position determination module 1000 to isolate the protective cavity from the accommodating space.

[0062] In some embodiments, a buffer structure may be provided on the partition 120 to prevent the voice receiving module 2000 from being affected by vibration.

[0063] In some embodiments, a layer of sound insulation material may be provided on the partition 120 to reduce the noise generated by the self-moving robot due to movement or cleaning, and to prevent the noise generated by the self-moving robot due to movement or cleaning from affecting the sound receiving effect of the voice receiving module 2000.

[0064] In some embodiments, as shown in FIG2 , a first through hole 130 is formed on the partition 120 . The connection line of the voice receiving module 2000 can pass through the first through hole 130 into the protective shell 100 and pass through the bottom opening of the protective shell 100 to connect with the control module 3000 on the base 4000 of the self-propelled robot.

[0065] As an optional embodiment, as shown in Figures 2 and 3, a sound pickup hole 210 is opened on the cover plate 200. The position of the sound pickup hole 210 corresponds to the position of the voice receiving element of the voice receiving module 2000.

[0066] In some embodiments, as shown in Figures 2 and 3, the voice receiving module 2000 receives sound through a voice receiving element. A sound pickup hole 210 may be provided on the cover plate 200, so that the position of the sound pickup hole 210 corresponds to the position of the voice receiving element of the voice receiving module 2000, thereby facilitating the transmission of sound waves to the voice receiving element and improving the sound receiving effect of the voice receiving element.

[0067] In some embodiments, since the sound information of the target person is generally located above or above the side of the self-propelled robot, by setting the sound pickup hole 210 and the microphone 2200 at the top position of the mounting structure, it is easier for the microphone 2200 to collect voice information and improve the voice information collection effect.

[0068] As an optional embodiment, as shown in FIG3 , the mounting structure further includes a waterproof breathable membrane 500 , which is located on a side of the cover plate 200 adjacent to the accommodating space and covers at least the sound pickup hole 210 .

[0069] In some embodiments, a waterproof breathable membrane 500 is provided on one side of the cover plate 200 adjacent to the accommodation space, and the waterproof breathable membrane 500 at least covers the sound pickup hole 210. This can prevent water vapor, dust, etc. from entering the accommodation space through the sound pickup hole 210 to a certain extent, thereby protecting structures such as the voice receiving module 2000 and ensuring the sound reception effect of the voice receiving module 2000.

[0070] As an optional implementation, as shown in FIG2 , the voice receiving module 2000 includes a circuit board 2100 and a plurality of voice receiving elements disposed on the circuit board 2100 .

[0071] In some embodiments, as shown in Figure 2, the voice receiving module 2000 may include a circuit board 2100. The circuit board 2100 is provided with a voice receiving element. The voice receiving element may be a microphone 2200 for collecting voice information. In the embodiment shown in Figure 2, the circuit board 2100 has a circular structure. Three microphones 2200 are provided on the circuit board 2100. The three microphones 2200 are distributed in a ring shape on the circuit board 2100, allowing the voice receiving module 2000 to collect voice information from all directions. In other embodiments, the voice receiving module 2000 may also be provided with a greater or lesser number of microphones 2200 according to design requirements. The voice receiving module 2000 may include 1 to 5 microphones 2200.

[0072] According to some embodiments of the present disclosure, a self-propelled robot is also provided, comprising a base 4000, an upper shell, the aforementioned mounting structure, a voice receiving module 2000, and a position determination module 1000. The mounting structure is mounted on the base 4000 or on the upper shell; the control module 3000 is disposed on the base 4000; the voice receiving module 2000 is mounted in the accommodating space of the mounting structure, and a connection cable of the voice receiving module 2000 is connected to the control module 3000; and the position determination module 1000 is mounted on the base 4000 and located in the protective cavity of the mounting structure of the voice receiving module 2000.

[0073] Since the self-moving robot provided by the present disclosure includes the installation structure of the above technical solution, the self-moving robot provided by the present disclosure has all the beneficial effects of the above installation structure, which will not be described in detail here.

[0074] In some embodiments of the present disclosure, the self-propelled robot may be a cleaning robot having sweeping and / or mopping functions. In other embodiments, the self-propelled robot may be a food delivery robot, a cruising robot, or other self-propelled robots with different usage scenarios.

[0075] In some embodiments, a mainboard is provided on the base 4000 , the control module 3000 can be provided on the mainboard, and a connection line of the voice receiving module 2000 can be connected to the control module 3000 through the mainboard.

[0076] As an optional embodiment, the upper shell is provided with an escape hole for evading the protective shell 100 of the installation structure or the connection line of the voice receiving module 3000.

[0077] In some embodiments, after the upper shell is snapped onto the base 4000, it can cover the structure inside the base 4000 to protect the structure inside the base 4000 and prevent dust from entering the interior of the base 4000; and, the upper shell can avoid the protective shell 100 of the mounting structure through the avoidance hole, so that the mounting structure is installed on the base, so that the position determination module 1000 and the voice receiving module 2000 in the mounting structure are located on the top of the self-propelled robot, thereby facilitating position determination and voice collection.

[0078] In some embodiments, after the upper shell is snapped onto the base 4000, it can cover the structure inside the base 4000 to protect the structure inside the base 4000 and prevent dust from entering the interior of the base 4000; and, the mounting structure is installed on the upper shell, and the connecting wires and other cables of the voice receiving module 2000 are avoided through the avoidance holes in the upper shell, so that the position determination module 1000 and the voice receiving module 2000 in the mounting structure are located on the top of the self-propelled robot, so that position determination and voice collection can be conveniently performed.

[0079] In some embodiments, a display module may be provided on the upper shell, and the display module is connected to the control module 3000 via a wire. The display module may be used to display the working status and setting parameters of the self-propelled robot.

[0080] In some embodiments, function buttons may also be provided on the upper shell for selecting functions of the self-moving robot.

[0081] As an optional embodiment, as shown in Figure 3, the voice receiving module 2000 includes a circuit board 2100 and a voice receiving element disposed on a side of the circuit board 2100 away from the cover plate 200. The circuit board 2100 is provided with a sound wave through hole 2400 corresponding to the position of the voice receiving element. The cover plate 200 is provided with a sound pickup hole 210, the position of which corresponds to the position of the sound wave through hole 2400.

[0082] In some embodiments, as shown in FIG3 , the voice receiving element is disposed on a side of the circuit board 2100 away from the cover plate 200. This can, to a certain extent, prevent the voice receiving element from contacting and colliding with the cover plate 200. This protects the voice receiving element while also protecting it from vibrations, collisions, and other noises. In this case, to ensure that the voice receiving element can properly receive sound, a sound wave through hole 2400 is provided on the circuit board 2100 at a position corresponding to the voice receiving element, allowing sound waves to pass through the sound wave through hole 2400 to the voice receiving element.

[0083] In some embodiments, as shown in Figure 3, in order to enable the sound outside the mounting structure to be smoothly transmitted to the voice receiving module 2000, the positions of the sound pickup hole 210, the sound wave through hole 2400 and the voice receiving element can be made corresponding, so that the sound waves can pass through the sound pickup hole 210 and the sound wave through hole 2400 in turn and be collected by the voice receiving element, thereby ensuring the sound receiving ability of the voice receiving element.

[0084] In the technical solutions according to some embodiments of the present disclosure, the above-mentioned mounting structure and voice receiving module are suspended in the accommodating space, so that the voice receiving module is separated from other structures of the self-moving robot to a certain extent, reducing the internal vibration of the self-moving robot from being transmitted to the voice receiving module, and reducing the impact of the vibration on the voice receiving module to a certain extent, so as to improve the sound reception effect of the voice receiving module and improve the voice interaction experience.

[0085] In the present disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0086] In this disclosure, unless otherwise expressly specified or limited, the terms "connect," "fix," etc. should be understood in a broad sense. For example, "fix" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two elements or an interaction between two elements, unless otherwise expressly specified. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0087] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0088] Although the embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A mounting structure, comprising: A protective shell having a protective cavity for accommodating a position determination module; and, A cover plate, the cover plate is arranged on the top of the protective shell to form an accommodation space for accommodating the voice receiving module between the cover plate and the protective shell; Wherein, the voice receiving module is suspended in the accommodating space.

2. The mounting structure according to claim 1, further comprising: An adhesive connection layer is arranged on a side of the cover plate adjacent to the accommodating space, and the adhesive connection layer is used to be adhesively connected to the voice receiving module so that the voice receiving module is suspended in the accommodating space.

3. The mounting structure according to claim 2, wherein: The adhesive connection layer includes a shock-absorbing layer and a first adhesive layer and a second adhesive layer located on both sides of the shock-absorbing layer, the first adhesive layer is used for adhesively connecting with the cover plate, and the second adhesive layer is used for adhesively connecting with the voice receiving module.

4. The mounting structure according to claim 3, wherein: The adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

5. The mounting structure according to claim 3, wherein: The shock-absorbing layer is foam.

6. The mounting structure according to claim 1, wherein: The protective shell is provided with a bottom opening, and the bottom opening is used to avoid the position determination module.

7. The mounting structure according to claim 1, further comprising: A bracket is used to set the protective shell and to fix it on the self-propelled robot.

8. The mounting structure according to claim 7, wherein: The bracket and the protective shell are an integrated structure.

9. The mounting structure according to claim 7, wherein: The bracket is provided with a wire management groove, and the wire management groove is used to accommodate the connection wires of the voice receiving module.

10. The mounting structure according to claim 1, wherein: A partition is provided in the protective shell, and the partition is located between the voice receiving module and the position determining module; the partition is provided with a first through hole, and the first through hole is used for the connection line of the voice receiving module to pass through.

11. The mounting structure according to claim 1, wherein: A sound pickup hole is provided on the cover plate, and the position of the sound pickup hole corresponds to the position of the voice receiving module of the voice receiving module.

12. The mounting structure according to claim 11, further comprising a waterproof breathable membrane, wherein the waterproof breathable membrane is located on a side of the cover plate adjacent to the accommodating space, and the waterproof breathable membrane at least covers the sound pickup hole.

13. The mounting structure according to any one of claims 1 to 12, wherein: The mounting structure is used for mounting on a base or an upper shell of a self-propelled robot.

14. A self-moving robot comprising: Base; Upper shell; The mounting structure according to any one of claims 1 to 13, wherein the mounting structure is mounted on the base or the upper shell; A control module, wherein the control module is arranged on the base; A voice receiving module, the voice receiving module is installed in the accommodation space of the installation structure, and a connecting line of the voice receiving module is connected to the control module; as well as, A position determination module is installed on the base and is located in the protection cavity of the voice receiving module installation structure.

15. The self-moving robot according to claim 14, wherein: The upper shell is provided with an avoidance hole, and the avoidance hole is used to avoid the protective shell of the mounting structure or avoid the connecting line of the voice receiving module.

16. The self-moving robot according to claim 14, wherein: The voice receiving module includes a circuit board and a voice receiving module arranged on a side of the circuit board away from the cover plate; wherein the circuit board is provided with a sound wave through hole corresponding to the position of the voice receiving module; and the cover plate is provided with a sound pickup hole, and the position of the sound pickup hole corresponds to the position of the sound wave through hole.

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