Mounting structure and autonomous mobile robot

Abstract

Disclosed are a mounting structure and an autonomous mobile robot, the mounting structure being mounted on a base (4000) of the autonomous mobile robot. The mounting structure comprises a protective housing (100) and a cover plate (200), wherein the protective housing (100) has a protective cavity for accommodating a position determination module (1000), and the cover plate (200) covers 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).

Description

Installation structure and self-moving robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202322303757.5 filed on August 25, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure belongs to the technical field of sweeping robots, and in particular relates 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 households and are gradually becoming popular. Related smart cleaning robots are equipped with a voice receiving unit to enable voice interaction and voice wake-up functions. To ensure a good reception angle and unobstructed reception, the voice receiving unit is usually located in the most raised part of the entire machine, that is, where the laser ranging unit is located. However, during the actual assembly process, the connecting wires of the voice receiving unit are prone to wire crimping and difficult to manage.

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

[0006] Summary of the Invention

[0007] By utilizing one or more embodiments of the present disclosure, the technical problem that the connection lines of the voice receiving module are prone to wire compression and difficult to manage can be solved to a certain extent.

[0008] According to some embodiments of the present disclosure, a mounting structure is provided, which is mounted on a base of a self-propelled robot, and the mounting structure includes: a protective shell having a protective cavity for accommodating a position determination module; and a cover plate, which is 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.

[0009] According to some embodiments of the present disclosure, a self-moving robot is provided, which includes: a base; the above-mentioned mounting structure, which is mounted on the base; 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 cover 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 other embodiments of the present disclosure;

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

[0016] Reference numerals:

[0017] 100. Protective shell; 110. Second through hole; 120. Partition; 130. First through hole; 140. Fixing column; 200. Cover; 210. Sound pickup hole; 300. Bracket; 310. Wire 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. Fixing hole; 2400. Sound wave through hole; 3000. Control module; 4000. Base. DETAILED DESCRIPTION

[0018] 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.

[0019] 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.

[0020] The technical solution of the present disclosure will be described below with reference to the accompanying drawings and specific embodiments.

[0021] In related technologies, the laser ranging unit and voice receiving unit are typically located in the upper cover of the device. These units require cables to connect to a control unit, which is often located in the lower case. This connection requires completing the cables before snapping the upper cover onto the lower case, which can be inconvenient during assembly. During actual assembly, this placement can cause the voice receiving unit's cables to become compressed, making them difficult to manage.

[0022] In response to the above problems, according to the installation structure of some embodiments of the present disclosure, as shown in Figures 1 to 5, the installation structure includes a protective shell 100, which has a protective cavity for accommodating a position determination module 1000; and a cover plate 200, which is covered on the top of the protective shell 100 to form an accommodating space for accommodating the voice receiving module 2000 between the cover plate 200 and the protective shell 100.

[0023] In some embodiments, as shown in Figures 1 and 2, the voice receiving module 2000 can be installed. It can be directly installed on the base 4000 of the mobile robot through the installation structure, so that the connection wires of the voice receiving module 2000 can be connected and arranged with the control module 3000 in the base 4000 of the mobile robot in advance, and then the upper cover can be installed on the mobile robot. Blind installation or wire pressing can be avoided during the process of fastening the upper cover, so as to avoid affecting the performance of the voice receiving module 2000.

[0024] In some embodiments, as shown in Figures 1 and 2, before assembling the modules, the connection lines of the voice receiving module 2000 and the connection lines 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. At the same time, the voice receiving module 2000, the protective shell 100, and the cover plate 200 are also fixed on the base 4000 of the mobile robot to complete the installation of the mounting structure. Finally, when the upper cover of the mobile robot is fastened and installed, the wiring and connection operations of the voice receiving module 2000 and the position determination module 1000 in the mounting structure have been completed, and problems such as blind installation and wire pressing will not occur. This can ensure the reliability and stability of the connection between the connection lines of the voice receiving module 2000, the connection lines of the position determination module 1000, and the control module 3000 after the mobile robot is assembled.

[0025] In some embodiments, 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 mounting structure. Finally, when the upper cover of the mobile robot is snapped on and installed, the wiring and connection operations of the mounting structure have been completed, and problems such as blind installation and wire pressing will not occur. This can ensure the reliability and stability of the connection between the mounting structure and the control module 3000 after the mobile robot is assembled.

[0026] 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.

[0027] In some embodiments, the voice receiving module 2000 may also include a voice sending device, which may be a speaker, for displaying the current status of the self-moving robot to the user, conducting human-computer interaction, selecting functions, actively playing prompt information, etc.

[0028] In some embodiments, the detection device in the position determination module 1000 may include, but is not limited to, an image acquisition device and a laser ranging device. The image acquisition device can determine the position of the autonomous robot and / or the distance to obstacles based on the acquired image information; the laser ranging device can determine the position of the autonomous robot and / or the distance to obstacles through laser scanning.

[0029] In some embodiments, the image acquisition device can also be used to collect the motion information of the target person, and 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.

[0030] 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.

[0031] In some embodiments, the image acquisition device and the laser ranging device may be stacked in the protective shell 100 .

[0032] In other embodiments, the image acquisition device and the laser ranging device can be integrated into a single structure. For example, the image acquisition module can include multiple cameras, and the laser ranging device can include multiple laser radars. The cameras and laser radars can be distributed in a ring shape in the position determination module 1000.

[0033] 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 measurement, a second through hole 110 is opened on the side wall of the protective shell 100 to expose the camera and / or laser radar through the second through hole 110.

[0034] As an optional embodiment, as shown in FIG. 1 to FIG. 4 , the protective shell 100 is provided with a bottom opening, and the bottom opening is used to avoid the position determination module 1000 .

[0035] In some embodiments, a bottom opening is provided on the protective shell 100 so that the position determination module 1000 can be avoided through the bottom opening. Thus, after the position determination module 1000 is installed on the bracket 300 or the base 4000 of the self-moving robot, the protective shell 100 can be installed so that the protective shell 100 is covered on the position determination module 1000 so that the position determination module 1000 is located in the protective cavity of the protective shell 100.

[0036] 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.

[0037] 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. For example, 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, with the protective shell 100 covering the position determination module 1000.

[0038] 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. For example, 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, which can then be installed as a whole on the base 4000 of the mobile robot.

[0039] In some embodiments, as shown in Figures 1 to 3, the protective shell 100 can be mounted and fixed on the bracket 300 by screws or other connectors, the protective shell 100 can be mounted and fixed on the bracket 300 by a snap-fit ​​device, or the protective shell 100 can be mounted 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 to the base 4000 of the self-propelled robot. The bracket 300 allows the protective shell 100 to be suspended relative to the base 4000 of the self-propelled robot so that the connection wires of the voice receiving module 2000 can pass through the bottom opening of the protective shell 100, thereby preventing the protective shell 100 from being pressed against the connection wires of the voice receiving module 2000 when it is directly fixed to the base 4000 of the self-propelled robot, thereby affecting the safety and stability of the connection wires of the voice receiving module 2000.

[0040] In some embodiments, 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.

[0041] As an optional embodiment, as shown in FIG. 1 to FIG. 3 , the bracket 300 and the protective shell 100 are an integrated structure.

[0042] 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.

[0043] 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 .

[0044] 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 process of each module of the installation structure, and at the same time avoid squeezing the connecting wires of the voice receiving module 2000 during the assembly process.

[0045] As an optional embodiment, as shown in Figures 1 to 3, a fixing column 140 is provided in the protective shell 100, and the voice receiving module 2000 is fixed on the fixing column 140 and / or the cover 200 passes through the voice receiving module 2000 and is fixed on the fixing column 140.

[0046] In some embodiments, the fixing column 140 can be set on the inner wall of the protective shell 100, and the voice receiving module 2000 can be fixed on the fixing column 140 by connecting parts such as screws, so that the voice receiving module 2000 is located in the accommodating space in the protective shell 100.

[0047] In some embodiments, as shown in Figures 1 to 3, the voice receiving module 2000 is fixedly connected to the fixing column 140, so that the voice receiving module 2000 can be suspended in the accommodation space of the protective shell 100, thereby reducing the impact of the vibration of the installation structure on the voice receiving module 2000 and improving the sound reception effect of the voice receiving module 2000.

[0048] In some embodiments, in order to enable the voice receiving module 2000 to be fixed on the fixing column 140 through a connecting piece, as shown in Figures 1 to 3, a fixing hole 2300 corresponding to the fixing column 140 can be opened in the voice receiving module 2000, and the connecting piece can pass through the fixing hole 2300 to achieve connection and fixation with the fixing column 140.

[0049] In some embodiments, the fixing post 140 can be provided on the inner side wall of the protective case 100, and the cover plate 200 can be fixed to the fixing post 140 by screws or other fasteners, so that the cover plate 200 is fixed to the top of the protective case 100. A through hole can be provided in the voice receiving module 2000 to avoid screws or other fasteners used to fix the cover plate 200.

[0050] In some embodiments, the fixing column 140 can be set on the inner wall of the protective shell 100, and the cover plate 200 and the voice receiving module 2000 are fixed to the fixing column 140 by screws and other connecting parts, so that the cover plate 200 is fixed to the top of the protective shell 100 and the voice receiving module 2000 is located in the accommodating space in the protective shell 100.

[0051] In some other embodiments, the voice receiving module 2000 may also be disposed in the protective shell 100 by magnetic levitation. For example, a superconductor is disposed in the voice receiving module 2000, and a magnetic levitation module corresponding to the position of the superconductor is disposed in the protective shell 100. The repulsive force generated between the magnetic levitation module and the superconductor causes the voice receiving module 2000 to be suspended in the accommodation space in the protective shell 100. This can reduce the impact of vibration of the mounting structure on the voice receiving module 2000, improve the sound reception effect of the voice receiving module 2000, and adjust the accuracy of voice recognition.

[0052] As an optional embodiment, as shown in FIG. 1 to FIG. 5 , a partition 120 is provided in the protective shell 100 , the partition 120 is located between the voice receiving module 2000 and the position determination module 1000 , and the fixing column 140 is provided on the partition 120 .

[0053] In some embodiments, as shown in Figures 1 to 3, a partition 120 is provided in the protective shell 100, and the partition 120 is located between the voice receiving module 2000 and the position determination module 1000. The protective cavity and the accommodating space can be isolated by the partition 120. At the same time, the partition 120 can be used to set the voice receiving module 2000, so that the voice receiving module 2000 is fixed in the protective shell 100 through the fixing column 140 on the partition 120.

[0054] In some embodiments, as shown in Figures 1 to 3, a partition 120 is provided in the protective shell 100, and the partition 120 is located between the voice receiving module 2000 and the position determination module 1000. The protective cavity and the accommodating space can be isolated by the partition 120. At the same time, a fixing column 140 is provided on the partition 120. The fixing column 140 can be used to fix the cover plate 200, fix the voice receiving module 2000, or fix the cover plate 200 and the voice receiving module 2000 at the same time.

[0055] 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.

[0056] In some embodiments, a layer of sound insulation material may be further 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.

[0057] As an optional embodiment, as shown in FIG2 , the partition plate 120 is provided with a first through hole 130 , and the first through hole 130 is used for allowing the connection line of the voice receiving module 2000 to pass through.

[0058] In some embodiments, as shown in Figure 2, by opening a first through hole 130 on the partition 120, the connecting line of the voice receiving module 2000 can pass through the first through hole 130 into the protective shell 100, and further pass through the bottom opening of the protective shell 100 to connect with the control module 3000 on the self-propelled robot base 4000.

[0059] In some embodiments, since the voice receiving module 2000 and the position determination module 1000 are arranged on the top of the self-moving robot through an installation structure, the self-moving robot will inevitably generate low-frequency noise due to mechanical vibration during use. The voice receiving module 2000 is affected by the vibration, and the received sound is prone to noise, which affects the accuracy of the received voice information, resulting in poor sound reception effect of the voice receiving module 2000 and affecting the voice interaction experience.

[0060] In response to the above-mentioned problems existing in the voice receiving module 2000, as an optional implementation, as shown in Figures 4 and 5, the installation structure may also include an adhesive connecting layer 400, which is arranged on the side of the cover plate 200 adjacent to the accommodating space, and the adhesive connecting layer 400 is used to be adhesively connected to the voice receiving module 2000.

[0061] In some embodiments, as shown in Figures 4 and 5, the voice receiving module 2000 can be suspended on the cover plate 200 through the adhesive connecting layer 400, 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, 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, so as to improve the sound reception effect of the voice receiving module 2000 and improve the voice interaction experience.

[0062] In some embodiments, as shown in Figures 1 to 3, when the cover plate 200 is fixed to the fixing column 140 through a connector, a through hole can be opened in the voice receiving module 2000 to avoid the connector and the fixing column 140 used to fix the cover plate 200, so that the voice receiving module 2000 is suspended in the accommodating space through the adhesive connecting layer 400.

[0063] As an optional embodiment, the adhesive connection layer 400 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 to be adhesively connected to the cover plate 200, and the second adhesive layer is used to be adhesively connected to the voice receiving module 2000.

[0064] In some embodiments, a shock-absorbing layer is provided in the adhesive connection layer 400. The adhesive connection layer 400 reduces the transmission of vibration to the voice receiving module 2000 through the shock-absorbing layer, thereby reducing the transmission of vibration to the voice receiving module 2000 through the cover plate 200, avoiding the voice receiving module 2000 from being affected by vibration, thereby reducing the impact of vibration noise on the voice receiving module 2000 and improving the sound reception effect.

[0065] As an optional implementation, the adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

[0066] In some embodiments, the first adhesive layer in the adhesive connecting layer 400 is used to be adhesively connected to the cover plate 200, and the second adhesive layer in the adhesive connecting layer 400 is used to be adhesively connected to the voice receiving module 2000. By making the adhesive strength of the first adhesive layer greater than the adhesive strength of the second adhesive layer, on the one hand, the adhesive connecting layer 400 can be firmly adhered to the cover plate 200 to avoid falling off from the cover plate 200; on the other hand, the voice receiving module 2000 can be easily removed from the cover plate 200, thereby facilitating production line operations.

[0067] As an optional implementation, the shock-absorbing layer is foam.

[0068] In some embodiments, the shock-absorbing layer in the adhesive connecting layer 400 can be made of foam. Foam has the characteristics of good elasticity, light weight, easy bending, ultra-thin volume, and good shock-absorbing effect. When used in the adhesive connecting layer 400 disclosed in the present invention, it can better shield the vibration from being transmitted to the voice receiving module 2000.

[0069] As an optional embodiment, as shown in FIG. 2 and FIG. 3 , a sound pickup hole 210 is provided on the cover plate 200 , and the position of the sound pickup hole 210 corresponds to the position of the voice receiving element of the voice receiving module 2000 .

[0070] In some embodiments, as shown in Figures 2 and 3, the voice receiving module 2000 receives sound through a voice receiving element. By opening a sound pickup hole 210 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, thereby facilitating the transmission of sound waves to the voice receiving element and improving the sound receiving effect of the voice receiving element.

[0071] 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, thereby improving the voice information collection effect.

[0072] 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 .

[0073] 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, thereby preventing water vapor, dust, etc. from entering the accommodation space through the sound pickup hole 210 to a certain extent, and protecting structures such as the voice receiving module 2000 to ensure the sound reception effect of the voice receiving module 2000.

[0074] 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 .

[0075] In some embodiments, as shown in FIG2 , the voice receiving module 2000 may include a circuit board 2100 , on which a voice receiving element is provided. The voice receiving element may be a microphone 2200 , which is used to collect voice information. For example, in the embodiment shown in FIG2 , the circuit board 2100 has a circular structure, and three microphones 2200 are provided on the circuit board 2100 . The three microphones 2200 are distributed in a circular manner on the circuit board 2100 , so that the voice receiving module 2000 can 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 one to five microphones 2200 .

[0076] Based on the same inventive concept, according to some embodiments of the present disclosure, a self-propelled robot includes a base 4000, the aforementioned mounting structure, a voice receiving module 2000, and a position determination module 1000. The mounting structure is mounted on the base 4000; 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 the 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.

[0077] Since the self-moving robot disclosed in the present invention includes the installation structure of the above technical solution, the self-moving robot disclosed in the present invention has all the beneficial effects of the above installation structure, which will not be described in detail here.

[0078] 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.

[0079] In some embodiments, a mainboard is provided on the base 4000 , and the control module 3000 can be provided on the mainboard. Meanwhile, a connecting line of the voice receiving module 2000 can be connected to the control module 3000 through the mainboard.

[0080] As an optional embodiment, the self-propelled robot further includes an upper cover, which is arranged on the base 4000 and has an avoidance hole to avoid the protective shell 100 of the installation structure.

[0081] In some embodiments, after the upper cover is buckled 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; at the same time, the upper cover can avoid the protective shell 100 of the mounting structure through the avoidance hole, 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-moving robot, thereby facilitating position determination and voice collection.

[0082] In some embodiments, a display module may be provided on the upper cover, 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.

[0083] In some embodiments, function buttons may also be provided on the upper cover, and the function buttons are used to select functions of the self-moving robot.

[0084] As an optional embodiment, as shown in Figure 3, the voice receiving module 2000 includes a circuit board 2100 and a voice receiving element arranged on the side of the circuit board 2100 away from the cover plate 200; wherein, the circuit board 2100 is provided with a sound wave through hole 2400 corresponding to the position of the voice receiving element.

[0085] 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.

[0086] As an optional implementation, as shown in FIG3 , a sound pickup hole 210 is opened on the cover plate 200 , and the position of the sound pickup hole 210 corresponds to the position of the sound wave through hole 2400 .

[0087] 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.

[0088] The embodiments of the present disclosure have at least the following beneficial effects:

[0089] According to some embodiments of the present disclosure, the installation structure can be used to install a voice receiving module. Through the installation structure, it can be directly installed on the base of a self-propelled robot, so that the connection wires of the voice receiving module can be connected and arranged with the control module in the base of the mobile robot in advance, and then the installation structure can be installed as a whole on the mobile robot. This can avoid blind installation or wire pressing during the process of fastening the upper cover, which affects the performance of the voice receiving module.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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, mounted on a base of a self-propelled robot, 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; The self-moving robot further comprises an upper cover, which is arranged on the base and is provided with an avoidance hole to avoid the protective shell of the mounting structure.

2. 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.

3. The mounting structure according to claim 1, further comprising: A bracket is used to set the protective shell and to be fixed on the base of the self-moving robot.

4. The mounting structure according to claim 3, wherein: The bracket and the protective shell are an integrated structure.

5. The mounting structure according to claim 3, 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.

6. The mounting structure according to claim 5, wherein: A fixing column is arranged in the protective shell, and the voice receiving module is fixed on the fixing column and / or the cover plate is fixed on the fixing column.

7. The mounting structure according to claim 6, wherein: A partition is provided in the protective shell, the partition is located between the voice receiving module and the position determining module, and the fixing column is arranged on the partition.

8. The mounting structure according to claim 7, wherein: The partition plate 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.

9. The mounting structure according to any one of claims 1 to 8, 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 for adhesive connection with the voice receiving module.

10. The mounting structure according to claim 9, 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.

11. The mounting structure according to claim 10, wherein: The adhesive strength of the first adhesive layer is greater than the adhesive strength of the second adhesive layer.

12. The mounting structure according to claim 10, wherein: The shock-absorbing layer is foam.

13. The mounting structure according to any one of claims 1 to 5, wherein: The cover plate is provided with a sound pickup hole, and the position of the sound pickup hole corresponds to the position of the voice receiving element of the voice receiving module.

14. The mounting structure according to claim 13, 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.

15. A self-moving robot comprising: Base; The mounting structure according to any one of claims 1 to 14, wherein the mounting structure is mounted on the base; 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.

16. The self-moving robot according to claim 15, wherein: The voice receiving module includes a circuit board and a voice receiving element 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 element.

17. The self-moving robot according to claim 16, wherein: 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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