Robot and cleaning control method therefor

Abstract

A robot (1) and a cleaning control method therefor. The robot (1) comprises a sensor module (12). The sensor module (12) comprises at least two sensors (121), a light-transmitting member (122), and a cleaning assembly (123). The light-transmitting member (122) covers the at least two sensors (121). The cleaning assembly (123) comprises a driving member (1231) and a cleaning brush (1232). An output shaft (1233) of the driving member (1231) is connected to the cleaning brush (1232). When the driving member (1231) drives the cleaning brush (1232) to rotate, the cleaning brush (1232) is capable of covering the surface of the light-transmitting member (122) corresponding to the at least two sensors (121) to remove dirt. The cleaning control method comprises: determining an area to be cleaned on the light-transmitting member (122); determining a swing angle range of the cleaning brush (1232) on the basis of the area to be cleaned; and controlling the driving member (1231) to drive the cleaning brush (1232) to swing within the swing angle range to clean the area to be cleaned.

Description

Robot and cleaning control method thereof

[0001] The present application claims priority to the Chinese patent application No. 202410416791X filed on April 8, 2024, entitled "Robot and cleaning control method thereof", the Chinese patent application No. 2024207131775 filed on April 8, 2024, entitled "Robot", the Chinese patent application No. 2024207413767 filed on April 8, 2024, entitled "Self-cleaning robot", all of which are incorporated herein by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the field of robots, in particular to a robot and a cleaning control method thereof. BACKGROUND

[0003] Robots usually need to obtain vision through their sensors and mow grass according to a pre-defined mowing path. Since the mowing environment is an environment with a lot of dust, weeds and other impurities, the sensors of the robot are easy to be covered with dust, weeds or other impurities, thereby affecting the sensing accuracy of the sensors. Therefore, a cleaning device capable of efficiently cleaning the surface of the sensors is needed. SUMMARY

[0004] Therefore, the present application provides a robot and a cleaning control method thereof to solve the technical problem of cleaning the sensors of the robot.

[0005] The cleaning control method provided by the first aspect of the present application is applied to a robot, the robot comprising a sensor module, the sensor module comprising at least two sensors and a light-transmitting piece, the light-transmitting piece covering the at least two sensors, the sensor module further comprising a cleaning assembly, the cleaning assembly comprising a driving piece and a cleaning brush, an output shaft of the driving piece being connected to the cleaning brush, the cleaning brush being capable of covering the surface of the light-transmitting piece corresponding to the at least two sensors to clean the dirt on the surface of the light-transmitting piece when the driving piece drives the cleaning brush to rotate, the cleaning control method comprising:

[0006] determining a to-be-cleaned area on the light-transmitting piece;

[0007] determining a swing angle range of the cleaning brush based on the to-be-cleaned area;

[0008] controlling the driving piece to drive the cleaning brush to swing in the swing angle range to clean the to-be-cleaned area.

[0009] The robot provided in the second aspect of the present application is applied to mowing, and comprises a body and a sensor module, wherein the sensor module is mounted on the body, the sensor module comprises at least two sensors and a light-transmitting piece, the light-transmitting piece covers the at least two sensors, the sensor module further comprises a cleaning assembly, the cleaning assembly comprises a driving member and a cleaning brush, the output shaft of the driving member is connected to the cleaning brush, and when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting piece corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting piece, the robot further comprises a processor and a memory, the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0010] determining a to-be-cleaned area on the light-transmitting piece through detection signals generated by the at least two sensors respectively;

[0011] determining a swing angle range of the cleaning brush based on the to-be-cleaned area;

[0012] controlling the driving member to drive the cleaning brush to swing in the swing angle range to clean the to-be-cleaned area.

[0013] The robot provided in the third aspect of the present application is applied to mowing, and comprises a body and a sensor module, wherein the sensor module is mounted on the body, and the sensor module comprises:

[0014] a light-transmitting port comprising at least two light-transmitting holes;

[0015] at least two sensors, and an energy transmission-out surface and / or an energy transmission-in surface of each sensor corresponds to the position of one of the light-transmitting holes;

[0016] a light-transmitting piece covering the at least two light-transmitting holes;

[0017] a cleaning assembly comprising a driving member and a cleaning brush, wherein the cleaning brush is connected to the driving member, and the cleaning brush cleans the light-transmitting piece under the drive of the driving member.

[0018] Therefore, since the cleanliness of the light-transmitting piece affects the detection accuracy of the at least two sensors, and the cleaning speed of the cleaning brush also affects the working efficiency of the robot, in the present application, when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting piece corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting piece, so that the cleaning efficiency can be improved. The present application can also determine a to-be-cleaned area on the light-transmitting piece, determine a swing angle range of the cleaning brush based on the to-be-cleaned area, and control the driving member to drive the cleaning brush to swing in the swing angle range to clean the to-be-cleaned area, so that repeated cleaning in the clean area of the light-transmitting piece is not needed, and the cleaning efficiency can be further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] FIG1 is a schematic structural diagram of a robot in one embodiment of the present application;

[0021] FIG2 is a schematic diagram of the state of the robot in FIG1 ;

[0022] FIG3 is a schematic structural diagram of a sensor module in an embodiment of the present application;

[0023] FIG4 is an exploded schematic diagram of the sensor module in FIG3 ;

[0024] FIG5 is a schematic diagram of modules of a robot in one embodiment of the present application;

[0025] FIG6 is a schematic structural diagram of a sensor module in an embodiment of the present application;

[0026] FIG7 is an enlarged schematic diagram of point VIII in FIG4 ;

[0027] FIG8 is a schematic diagram of the exploded structure of a cleaning brush in one embodiment of the present application;

[0028] FIG9 is a schematic structural diagram of the cleaning brush in FIG4 ;

[0029] FIG10 is a schematic structural diagram of a cleaning assembly provided in some embodiments of the present application;

[0030] FIG11 is a top view of a sensor module in another embodiment of the present application;

[0031] FIG12 is a schematic structural diagram of a robot in another embodiment of the present application;

[0032] FIG13 is a schematic structural diagram of a sensor module in another embodiment of the present application;

[0033] FIG14 is an exploded schematic diagram of the sensor module in FIG13;

[0034] FIG15 is a schematic structural diagram of a robot in yet another embodiment of the present application;

[0035] FIG16 is a schematic structural diagram of a robot in yet another embodiment of the present application;

[0036] FIG17 is a schematic structural diagram of a sensor module in yet another embodiment of the present application;

[0037] Fig. 18 is an exploded schematic view of the sensor module in Fig. 17;

[0038] Fig. 19 is a further partially exploded schematic view of the components in Fig. 17;

[0039] Fig. 20 is a further partially exploded schematic view of the components in Fig. 18 from another perspective;

[0040] Fig. 21 is a structural schematic view of the cleaning brush in Fig. 18;

[0041] Fig. 22 is a flowchart of a cleaning control method in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0044] The terms "first", "second", and the like in the description of the specification and claims of the present application and the above drawings are used to distinguish different objects, and are not intended to describe a specific sequence. The terms "one", "an", or "the" and the like similar words used in the present application also do not represent a quantity limitation, but only mean that there is at least one. The terms "include" or "contain" and the like similar words mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects. The terms "connected" or connected and the like similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0045] In the description of the specification, the description of the terms "embodiment", "specific embodiment", "example", and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0046] Please refer to Fig. 1, which is a structural schematic diagram of a robot 1 in an embodiment of the present application. In some embodiments, the robot 1 is a robot capable of automatically mowing grass, which works by identifying the contour of the lawn and obstacles through a built-in sensor and mowing the grass using a preset route. In other embodiments, the robot 1 can also be a robot for other purposes, such as a sweeping robot, without limitation.

[0047] As shown in Fig. 1, the robot 1 includes a body 11 and a sensor module 12. The sensor module 12 is mounted on the body 11.

[0048] Please refer to Figs. 2, 3 and 4 together, Fig. 2 is a state schematic diagram of the robot in Fig. 1; Fig. 3 is a structural schematic diagram of the sensor module in an embodiment of the present application; and Fig. 4 is an exploded schematic diagram of the sensor module in Fig. 3. The sensor module 12 includes at least two sensors 121 and a light-transmitting piece 122. The light-transmitting piece 122 covers the at least two sensors 121 respectively. The light signals emitted or received by the at least two sensors 121 are transmitted through the light-transmitting piece 122 respectively. The light-transmitting piece 122 is arranged in a coplanar manner. The sensor module 12 further includes a cleaning assembly 123, which includes a driving member 1231 and a cleaning brush 1232, and an output shaft 1233 of the driving member 1231 is connected to the cleaning brush 1232. When the driving member 1231 drives the cleaning brush 1232 to rotate, the cleaning brush 1232 can cover the surfaces of the at least two sensors 121 corresponding to the light-transmitting piece 122 to clean the dirt on the surfaces of the light-transmitting piece 122.

[0049] Therefore, since whether the light-transmitting piece 122 is clean or not will affect the detection accuracy of the at least two sensors 121, and the cleaning speed of the cleaning brush 1232 also affects the working efficiency of the robot 1, in the present application, when the driving member 1231 drives the cleaning brush 1232 to rotate, the cleaning brush 1232 can cover the surfaces of the at least two sensors 121 corresponding to the light-transmitting piece 122, which can clean the dirt on the entire surface of the light-transmitting piece 122 at the same time, thereby improving the cleaning efficiency.

[0050] Please refer to Fig. 5, which is a module schematic diagram of the robot 1 in an embodiment of the present application. The robot 1 further includes a processor 13. The processor 13 is arranged on the body 11. The processor 13 is connected to the at least two sensors 121 and the driving member 1231 respectively. The processor 13 determines a to-be-cleaned area on the light-transmitting piece 122, determines a swing angle range of the cleaning brush 1232 based on the to-be-cleaned area, and controls the driving member 1231 to drive the cleaning brush 1232 to swing in the swing angle range to clean the to-be-cleaned area.

[0051] Therefore, the processor 13 can determine the to-be-cleaned area on the light-transmitting member 122, determine the swing angle range of the cleaning brush 1232 based on the to-be-cleaned area, and control the driving member 1231 to drive the cleaning brush 1232 to swing in the swing angle range to clean the to-be-cleaned area, without repeated cleaning in the clean area of the light-transmitting member 122, so as to further improve the cleaning efficiency.

[0052] In some embodiments, the at least two sensors 121 respectively generate detection signals and feed back to the processor 13, the processor 13 determines the to-be-cleaned area on the light-transmitting member 122 based on the detection signals of the at least two sensors 121, determines the swing angle range of the cleaning brush 1232 based on the to-be-cleaned area, and controls the driving member 1231 to drive the cleaning brush 1232 to swing in the swing angle range to clean the to-be-cleaned area. When the sensor 121 is a radar, the processor 13 can determine whether there is dirt on a light-transmitting area of the light-transmitting member 122 corresponding to the sensor 121 by judging the time interval of the reflection signal of the radar signal sent by the radar. If the time interval of the reflection signal of the radar signal sent is less than a preset time threshold, it is determined that there is dirt on the light-transmitting member 122 corresponding to the sensor 121. When the sensor 121 is a visual camera, the processor 13 can determine whether there is dirt on a light-transmitting area of the light-transmitting member 122 corresponding to the sensor 121 by taking a picture through the visual camera. It can be understood that the processor 13 can also determine whether there is dirt on the light-transmitting member 122 corresponding to the sensor 121 by other ways, which are not limited here.

[0053] In some embodiments, please refer to FIG. 1 and FIG. 4 at the same time, the at least two sensors 121 are installed on the front side of the body 11, and the at least two sensors 121 include a first sensor 1211 and a second sensor 1212. The first sensor 1211 is a radar, which can be but is not limited to a laser radar, a millimeter wave radar, a solid-state radar, etc. The second sensor 1212 is a visual camera, which can be but is not limited to a binocular camera, etc., for focusing the light reflected by the detected object on the photosensitive element through the lens system to form a two-dimensional image. Therefore, the first sensor 1211 and the second sensor 1212 are equivalent to the eyes of the robot 1, for sensing the obstacle information in front of the robot 1, so as to supply the processor 13 to correct the travel route of the robot 1 based on the obstacle information. In other embodiments, the at least two sensors 121 can all be visual sensors or all be radars, which are not limited here.

[0054] In other embodiments, the at least two sensors 121 can include three or more sensors, which are not limited here.

[0055] In some embodiments, referring to FIG. 1, the first sensor 1211 and the second sensor 1212 can be, but are not limited to, stacked one above the other, for example, the first sensor 1211 is arranged above the second sensor 1212, or the second sensor 1212 is arranged above the first sensor 1211. In this embodiment, the first sensor 1211 is arranged above the second sensor 1212.

[0056] It can be understood that in other embodiments, the first sensor 1211 and the second sensor 1212 can also be other types of sensors, and are not limited to being arranged at the front of the body 11, but can also be arranged at the back, side, top or bottom of the body 11, which is not limited here.

[0057] In some embodiments, the front inclination angle of the first sensor 1211 is greater than the front inclination angle of the second sensor 1212. The front inclination angle of the first sensor 1211 refers to the angle between the central axis of the first sensor 1211 and the height direction of the robot 1. The front inclination angle of the second sensor 1212 refers to the angle between the central axis of the second sensor 1212 and the height direction of the robot 1. The height direction refers to the height direction of the robot 1 in a natural use state.

[0058] Therefore, the first sensor 1211 is relatively more inclined downward, and can better observe the situation of obstacles on the ground.

[0059] In some embodiments, referring to FIG. 3, the light-transmitting member 122 includes a first light-transmitting region 1221 and a second light-transmitting region 1222, wherein the first light-transmitting region 1221 is arranged corresponding to the first sensor 1211, and the second light-transmitting region 1222 is arranged corresponding to the second sensor 1212.

[0060] In some embodiments, the first light-transmitting region 1221 corresponding to the first sensor 1211 and the second light-transmitting region 1222 corresponding to the second sensor 1212 can be integrally arranged. In other embodiments, the first light-transmitting region 1221 corresponding to the first sensor 1211 and the second light-transmitting region 1222 corresponding to the second sensor 1212 can be separately arranged but coplanar.

[0061] Therefore, since the first light-transmitting region 1221 and the second light-transmitting region 1222 are coplanar, the same cleaning brush 1232 can be used to clean the surfaces of the first light-transmitting region 1221 and the second light-transmitting region 1222, which can improve the cleaning efficiency.

[0062] In some embodiments, referring to FIG. 1 and FIG. 4 again, the cleaning assembly 123 is installed on one side of the at least two sensors 121. In this embodiment, the cleaning assembly 123 is installed on one side of the second sensor 1212, and the first sensor 1211 is located on the side of the second sensor 1212 away from the cleaning assembly 123. The cleaning brush 1232 of the cleaning assembly 123 can extend from the side of the second sensor 1212 close to the cleaning assembly 123 to the side of the first sensor 1211 away from the cleaning assembly 123. Preferably, the cleaning assembly 123 is installed on the area near the center point of the side of the second sensor 1212 away from the first sensor 1211. The length of the cleaning brush 1232 is greater than or equal to the distance between the center axis of the output shaft 1233 of the driving member 1231 and the farthest point on the surface of the first light transmission area 1221 and the second light transmission area 1222. When the processor 13 determines the area to be cleaned on the light transmission member 122 of the first sensor 1211, the maximum swing angle range of the cleaning brush 1232 is determined as the first angle range a. When the processor 13 determines the area to be cleaned on the light transmission member 122 of the second sensor 1212, the maximum swing angle range of the cleaning brush 1232 is determined as the second angle range β. The second angle range β is different from the first angle range a. In this embodiment, the second angle range β is greater than the first angle range a.

[0063] Therefore, when the processor 13 determines that the first light transmission area 1221 corresponding to the first sensor 1211 and the second light transmission area 1222 corresponding to the second sensor 1212 have different areas with dirt, the processor 13 can control the cleaning brush 1232 to reciprocate in different swing angle ranges for cleaning work.

[0064] In some embodiments, the first angle range a is, for example, 100 degrees, and the second angle range β is 0-180°, so that the swing of the cleaning brush 1232 can cover all areas of the light transmission member 122 corresponding to the first sensor 1211.

[0065] Therefore, when the processor 13 determines that the first light transmission area 1221 corresponding to the first sensor 1211 has dirt, the processor 13 can control the driving member 1231 to rotate and drive the cleaning brush 1232 to swing in the first angle range a without swinging in the second angle range β, so as to reduce the activity range of the cleaning brush 1232 and improve the cleaning efficiency.

[0066] In some embodiments, when the processor 13 determines that a certain local area of the first light-transmitting area 1221 and the second light-transmitting area 1222 is contaminated, the processor 13 controls the driving member 1231 to drive the cleaning brush 1232 to clean only the local area. For example, when the processor 13 determines that the first light-transmitting area 1221 and the second light-transmitting area 1222 are contaminated within a range of 30 degrees to 60 degrees of the swing of the cleaning brush 1232, the processor 13 controls the driving member 1231 to drive the cleaning brush 1232 to swing within a range of 0 degrees to 60 degrees to clean the contamination.

[0067] In some embodiments, the cleaning brush 1232 can float towards or away from one side of the first light-transmitting area 1221 and the second light-transmitting area 1222 along the central axis of the output shaft 1233 of the driving member 1231, so that the cleaning brush 1232 can be lifted to avoid the area to be cleaned on the first light-transmitting area 1221 and / or the second light-transmitting area 1222, and then lowered to scrape the contamination in the area to be cleaned. For example, when the processor 13 determines that the first light-transmitting area 1221 and / or the second light-transmitting area 1222 are contaminated within a range of 30 degrees to 60 degrees of the swing of the cleaning brush 1232, the processor 13 controls the cleaning brush 1232 to first be lifted to a preset height, then moved from 0 degree to an area greater than 60 degrees, and then the cleaning brush 1232 is lowered so that the cleaning brush 1232 is moved from 60 degrees clockwise to 0 degree to directly scrape the contamination within the range of 30 degrees to 60 degrees from the first light-transmitting area 1221 and / or the second light-transmitting area 1222, so as to avoid that the cleaning of the contamination in a certain local area causes the contamination to be retained on other areas of the first light-transmitting area 1221 and / or the second light-transmitting area 1222.

[0068] In some embodiments, the implementation of the movement of the cleaning brush 1232 towards or away from one side of the first light-transmitting area 1221 and the second light-transmitting area 1222 along the central axis of the output shaft 1233 of the driving member 1231 can be, but is not limited to, increasing a pneumatic cylinder, a hydraulic driving or the like linear driving member, which is not limited herein.

[0069] In some embodiments, referring to FIG. 5, the sensor module 12 further comprises a pressure sensor 14 connected to the processor 13, the pressure sensor 14 is configured to sense the pressure received by the first light-transmitting area 1221 and the second light-transmitting area 1222, and the processor 13 is configured to determine whether the cleaning brush 1232 of the cleaning assembly 123 is installed in place according to the pressure received by the first light-transmitting area 1221 and the second light-transmitting area 1222. In some embodiments, the pressure sensor 14 is configured to sense the pressure value received by the surface of the light-transmitting piece 122, and the processor 13 is configured to determine whether the pressure value is within a preset pressure range, wherein the preset pressure range represents that the abutting pressure of the cleaning brush 1232 on the surface of the light-transmitting piece 122 is appropriate after the cleaning brush 1232 is installed, and the processor 13 is configured to determine that the cleaning brush 1232 is installed in place when the pressure value is within the preset pressure range.

[0070] Therefore, since the cleaning brush 1232 is installed on the output shaft 1233 of the driving piece 1231 by means of screws, if the cleaning brush 1232 is locked too tightly by the screws, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too small, which will cause the cleaning brush 1232 to excessively scratch the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, and thus cause the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 to be severely worn. On the contrary, if the cleaning brush 1232 is locked too loosely by the screws, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too large, which will cause the cleaning brush 1232 to be unable to effectively remove the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, and thus cause the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 to be incompletely cleaned.

[0071] In some embodiments, after the cleaning brush is installed in place, the pressure sensor 14 continues to sense the pressure value received by the surface of the light-transmitting piece 122, and the processor 13 is configured to determine whether the pressure value is lower than the preset pressure range, and the processor 13 is configured to determine that the cleaning brush 1232 is loosened or excessively worn when the pressure value is lower than the preset pressure range.

[0072] Therefore, after the cleaning brush 1232 is installed in place, it is still necessary to continue to monitor whether the installation of the cleaning brush 1232 is loosened or the cleaning brush 1232 is excessively worn and thus unable to complete the cleaning work, and thus the working state of the cleaning brush 1232 can be monitored at any time, and the reliability of the cleaning system of the robot 1 is increased.

[0073] In some embodiments, referring to FIG. 6, which is a structural schematic diagram of a sensor module in an embodiment of the present application, the pressure sensor 14 can be installed on opposite sides of the first sensor 1211. The light-transmitting member 122 abuts the pressure sensor 14, and when the light-transmitting member 122 is pressed, the pressure received by the light-transmitting member 122 is transmitted to the pressure sensor 14.

[0074] In other embodiments, referring to FIG. 7, which is an enlarged schematic diagram of VIII in FIG. 4, the pressure sensor 14 can be installed on the cleaning brush 1232.

[0075] Therefore, the pressure sensor 14 has various installation modes to facilitate installation and accurate measurement of the pressure of the cleaning brush 1232 on the light-transmitting member 122, which can be selected according to actual needs.

[0076] In some embodiments, the processor 13 further determines whether the current cleaning brush 1232 is in a lifted state or a lowered abutting state according to the pressure received by the first light-transmitting region 1221 and the second light-transmitting region 1222.

[0077] Therefore, in the present application, the processor 13 can plan and control the to-be-cleaned region of the cleaning brush 1232 according to the determined to-be-cleaned region, and drive the cleaning brush 1232 to first lift and move to the to-be-cleaned region, and then lower to contact the first light-transmitting region 1221 and the second light-transmitting region 1222 with appropriate pressure to scrape off the dirt on the surface of the first light-transmitting region 1221 and the second light-transmitting region 1222.

[0078] In some embodiments, referring to FIG. 3 and FIG. 4, the sensor module 12 further includes a housing 125. The housing 125 is installed on the body 11. The housing 125 is generally in the shape of a square with a narrow upper side and a wide lower side, and an installation cavity is formed in the inside thereof. One end of the housing 125 facing the outside of the robot 1 forms a panel 1251. The panel 1251 is provided with a light-transmitting opening 1252 and a through hole 1253. The first sensor 1211 and the second sensor 1212 are respectively installed in the installation cavity and exposed from different light-transmitting holes of the light-transmitting opening 1252 of the panel 1251. The light-transmitting member 122 is installed on the side of the panel 1251 away from the installation cavity and covers the light-transmitting opening 1252. The driving member 1231 can be but is not limited to a motor. In the present embodiment, the driving member 1231 includes a motor and a speed reducer, which reduces the speed of the motor. The driving member 1231 is integrally installed in the installation cavity, the cleaning brush 1232 is located on the side of the light-transmitting member 122 away from the installation cavity, and the output shaft 1233 of the driving member 1231 passes through the through hole 1253 of the panel 1251 and is connected with the cleaning brush 1232.

[0079] Therefore, the mounting stability of the first sensor 1211, the second sensor 1212, the light-transmitting member 122, the driving member 1231 and the cleaning brush 1232 can be increased.

[0080] The shape of each light-transmitting hole of the light-transmitting port 1252 can be the same, or some of the light-transmitting holes can have the same shape, while others have different shapes, or the shape of each light-transmitting hole can be different. The shape of each light-transmitting hole of the light-transmitting port 1252 can be, but is not limited to, rectangular, square, polygonal, circular or elliptical, etc. In some embodiments, the shape and size of each light-transmitting hole of the light-transmitting port 1252 are the same, and each is rectangular, specifically a rectangular with rounded corners. In other embodiments, the size of each light-transmitting hole of the light-transmitting port 1252 can be different, or some can be the same and some can be different.

[0081] The light-transmitting holes of the light-transmitting port 1252 can be connected, and accordingly, the light-transmitting member 122 can be an integral piece without spacing between them; or the light-transmitting holes of the light-transmitting port 1252 can be spaced apart, and accordingly, the light-transmitting member 122 can be multiple components with spacing between them.

[0082] The material of the light-transmitting member 122 can be, but is not limited to, glass or transparent plastic, etc. The light-transmitting member 122 and the light-transmitting holes of the light-transmitting port 1252 correspond one-to-one, and the size of the light-transmitting member 122 and the corresponding light-transmitting hole of the light-transmitting port 1252 can be the same or different; the shape of the light-transmitting member 122 and at least two light-transmitting holes of the light-transmitting port 1252 can be the same or different.

[0083] In some embodiments, the sensor module 12 further comprises a heat dissipation member 1254 arranged on one side of the housing 125. The heat dissipation member 1254 is arranged on the side wall of the housing 125 adjacent to the panel 1251. The heat dissipation member 1254 is used to dissipate heat from the first sensor 1211, the second sensor 1212, the driving member 1231, etc. It can be understood that the heat dissipation member 1254 can also be arranged in the mounting cavity or other positions of the housing 125, which is not limited here.

[0084] In some embodiments, the housing 125 further comprises a receiving groove (not shown) arranged adjacent to the position of the output shaft 1233 of the driving member 1231. The cleaning brush 1232 can be retracted into the receiving groove or lifted above the receiving groove. The processor 13 is configured to drive the cleaning brush 1232 to extend out of the receiving groove to perform a cleaning task in response to a cleaning instruction when the cleaning instruction is received; and retract the cleaning brush 1232 into the receiving groove after the cleaning task is completed.

[0085] Thus, when the cleaning brush 1232 needs to be used, the processor 13 can drive the cleaning brush 1232 to move away from the light-transmitting member 122 by the linear drive member along the direction of the central axis of the output shaft 1233 of the drive member 1231, so that the cleaning brush 1232 extends out of the receiving groove. When the cleaning is completed, the processor 13 can drive the cleaning brush 1232 to move towards the light-transmitting member 122 by the linear drive member along the direction of the central axis of the output shaft 1233 of the drive member 1231 and be received in the receiving groove, facilitating the storage of the cleaning brush 1232.

[0086] In some embodiments, the housing 125 further comprises a stop block 1255 located on the side of the through hole 1253 away from the light-transmitting opening 1252. The stop block 1255 is used to limit the swing angle range of the cleaning brush 1232. In some embodiments, the stop block 1255 comprises an arc-shaped portion 1256 and first and second stop portions 1257 and 1258 located on opposite sides of the arc-shaped portion 1256. The arc-shaped portion 1256 is used to adapt to the shape of one end of the cleaning brush 1232, the first stop portion 1257 is used to limit the swing angle range of the cleaning brush 1232 on one side, and the second stop portion 1258 is used to limit the swing angle range of the cleaning brush 1232 on the other side. In this embodiment, the first and second stop portions 1257 and 1258 limit the swing angle range of the cleaning brush 1232 to a range of 0-180 degrees. It can be understood that in other embodiments, the swing angle range of the cleaning brush 1232 limited by the first and second stop portions 1257 and 1258 is not limited to 0-180 degrees, and can be limited according to actual needs.

[0087] In some embodiments, referring to FIG. 8 and FIG. 9, FIG. 8 is an exploded structural schematic view of the cleaning brush in an embodiment of the present application, and FIG. 9 is a structural schematic view of the cleaning brush in FIG. 4. The cleaning brush 1232 comprises a connecting end 1234 and a brush arm 1235. The connecting end 1234 is hollow and ring-shaped, used for the connecting member to pass therethrough to be connected with the output shaft 1233 of the drive member 1231. The brush arm 1235 comprises a brush body 1236 and a brush head 1237. The brush body 1236 is connected to the connecting end 1234, and the brush head 1237 is connected to the side of the brush body 1236 facing the drive member 1231. The connecting end 1234 of the cleaning brush 1232 rotates around the connecting end 1234 with the rotation of the output shaft 1233 of the drive member 1231, and the distance from the connecting end 1234 to the brush arm 1235 is greater than or equal to the distance from the connecting end 1234 to the target position in the light-transmitting opening 1252, wherein the target position is the position farthest from the connecting end 1234.

[0088] In some embodiments, the cross section of the brush head 1237 is triangular. The brush head 1237 is beveled with the surface of the brush body 1236. Therefore, the brush arm 1235 can well guide the dirt, and improve the cleaning effect.

[0089] In some embodiments, the brush body 1236 has a clamping groove 1236a, the brush head 1237 is arranged on the side of the brush body 1236 facing the light-transmitting piece 122, the brush arm 1235 has a protrusion 1237a, the protrusion 1237a is clamped in the clamping groove 1236a, so that the brush arm 1235 is connected with the brush body 1236. The brush body 1236 and the brush arm 1235 can be detachably connected. In other embodiments, the brush body 1236 and the brush arm 1235 can also be an integral structure.

[0090] In some embodiments, as shown in FIG. 9, the cleaning brush 1232 further includes a fixing piece 420 for fixing the connecting end 1234 of the cleaning brush 1232 and the output shaft 1233, wherein the fixing piece 420 can be, but is not limited to, a nut.

[0091] In other embodiments, the distance from the connecting end 1234 to the brush arm 1235 can also be other distances.

[0092] In some embodiments, as shown in FIG. 8, the pressure sensor 14 is arranged between the brush body 1236 and the brush head 1237, so that the pressure sensor 14 can well sense the pressure applied by the brush head 1237 to the light-transmitting piece 122.

[0093] Referring to FIG. 10, FIG. 10 is a structural schematic diagram of a cleaning assembly provided by some embodiments of the present application. In some embodiments, the driving piece 1231 includes a driving piece 1231 and a track 411, the output shaft 1233 of the driving piece 1231 is connected with the track 411, the connecting end 1234 of the cleaning brush 1232 is connected with the track 411, the track 411 makes a translational motion with the rotation of the output shaft 1233, and the cleaning brush 1232 makes a translational motion with the translational motion of the track 411. In other embodiments, the driving piece 1231 can also be other structures, and is not limited to the structures exemplified in the present application.

[0094] In some embodiments, as shown in FIG. 3, the light-transmitting piece 122 includes a first side 310, the connecting end 1234 of the cleaning brush 1232 is arranged adjacent to the first side 310, the projection of the connecting end 1234 on the first side 310 is located at the midpoint of the first side 310, and the rotation angle of the output shaft 1233 is 0°-180°.

[0095] In some embodiments, the light-transmitting piece 122 is a rectangular structure, and the first side 310 is a long side of the rectangle.

[0096] When the brush arm 1235 of the cleaning brush 1232 rotates around the connecting end 1234 with the rotation of the output shaft 1233, and the distance from the connecting end 1234 to the brush arm 1235 is greater than or equal to the distance from the connecting end 1234 to the target position in the at least two light transmission holes, the target position being the position farthest from the connecting end 1234, the cleaning brush 1232 can clean every position of the light transmission piece 122 from 0° to 180°.

[0097] In other embodiments, the projection of the connecting end 1234 on the first edge 310 can be located at any position on the first edge 310. In the case of ensuring that every position of the light transmission piece 122 can be cleaned, compared with the case where the projection of the connecting end 1234 on the first edge 310 is located at a non-midpoint position of the first edge 310, the case where the projection of the connecting end 1234 on the first edge 310 is located at a midpoint position of the first edge 310 can effectively shorten the length of the cleaning brush 1232, thereby reducing the production cost of the cleaning brush 1232.

[0098] In some embodiments, referring again to FIG. 1, the shell 125 is further provided with a cleaning strip 1259. The cleaning strip 1259 can be but is not limited to a brush or a scraper, etc. The cleaning strip 1259 is arranged adjacent to the stop block 1255. The cleaning strip 1259 is used to clean the dirt on the brush arm 1235 when the brush arm 1235 is rotated to be substantially parallel to the first stop portion 1257, which can improve the cleaning effect on the light transmission piece 122.

[0099] In some embodiments, the shell 125 is provided with a dirt discharge groove adjacent to the position of the cleaning strip 1259, and the dirt discharge groove is used to collect the dirt cleaned from the brush arm 1235 by the cleaning strip.

[0100] Thus, the pollution of the dirt to other components of the robot 1 is avoided.

[0101] In some embodiments, as shown in FIG. 6, the panel 1251 includes an inner layer plate structure 601 and an outer layer plate structure 602. The inner layer plate structure 601 is recessed towards the inside of the robot 1 relative to the outer layer plate structure 602. The at least two light transmission holes are arranged in the inner layer plate structure 601. The light transmission piece 122 is arranged on the inner layer plate structure 601 and is in the same plane as the outer layer plate structure 602.

[0102] Since the at least two light transmission holes are arranged in the inner layer plate structure 601, when the light transmission piece 122 is arranged on the inner layer plate structure 601, that is, the light transmission piece 122 of the shell 125 is arranged on the at least two light transmission holes.

[0103] In other embodiments, the light transmission piece 122 can also be arranged only on the at least two light transmission holes.

[0104] In some embodiments, the sensor module 12 further comprises a liquid spraying assembly located at one side of the at least two sensors 121. The processor 13 controls the liquid spraying assembly to spray cleaning liquid to the area to be cleaned based on the area to be cleaned before controlling the driving member 1231 to drive the cleaning brush 1232 to swing within a swing angle range to clean the area to be cleaned; and / or,

[0105] After the driving member 1231 drives the cleaning brush 1232 to complete the cleaning of the area to be cleaned, it is determined whether the area to be cleaned is cleaned completely.

[0106] When it is determined that the area to be cleaned is not cleaned completely, the liquid spraying assembly is controlled to spray cleaning liquid to the area to be cleaned.

[0107] The driving member 1231 is controlled to drive the cleaning brush 1232 to swing within a swing angle range to clean the area to be cleaned.

[0108] Therefore, the liquid spraying assembly sprays cleaning liquid, which can improve the cleaning effect.

[0109] In some embodiments, the sensor module 12 further comprises a rain sensor. The rain sensor is used to sense whether it is raining. If it is raining, the processor 13 controls the driving member 1231 to drive the cleaning brush 1232 to clean the surface of the light-transmitting member 122.

[0110] Therefore, when it is raining, the raindrops on the light-transmitting member 122 of the sensor module 12 can be cleaned in time, and the sensing ability of the sensor module 12 is prevented from being affected by the rain.

[0111] In some embodiments, referring to FIG. 11, which is a top view of a sensor module in another embodiment of the present application. A magnetic part 43 is arranged on the cleaning brush 1232. The sensor module 12 further comprises a Hall sensor 19 connected to the processor 13. The Hall sensor 19 is arranged within the swing angle range of the cleaning brush 1232 and is used to sense the swing action of the cleaning brush 1232 to obtain the rotation angle of the cleaning brush 1232. The at least two sensors 121 are respectively used to obtain the stain condition of the corresponding light-transmitting member 122. The processor 13 controls the cleaning brush 1232 to rotate based on the stain condition of the light-transmitting member 122 and limits the rotation of the cleaning brush 1232 based on the rotation angle of the cleaning brush 1232 obtained by the Hall sensor 19.

[0112] In some embodiments, the Hall sensor 19 comprises a first group of Hall sensors 191 and a second group of Hall sensors 192. Two Hall sensors in each group of Hall sensors are symmetrical about the connecting end 1234 of the cleaning brush 1232. The included angle between the first group of Hall sensors 191 and the first connecting end 1234 is a first included angle. The included angle between the second group of Hall sensors 192 and the first connecting end 1234 is a second included angle. The first included angle is smaller than the second included angle.

[0113] Thus, when the cleaning brush 1232 rotates to a corresponding angle, the corresponding Hall sensor can sense the magnetic part 43 on the cleaning brush 1232, so that the processor 13 can limit the rotation of the output shaft 1233 based on the data detected by the Hall sensor 19.

[0114] For example, when only the second light-transmitting region 32 has stains, the processor 13 controls the cleaning brush 1232 to rotate in the first direction, and when the first group of Hall sensors 191 all detect the magnetic part 43, the processor 13 limits the cleaning brush 1232 to continue rotating in the first direction; when the first light-transmitting region 31 has stains, the processor 13 controls the cleaning brush 1232 to rotate in the first direction, and when the second group of Hall sensors 192 all detect the magnetic part 43, the processor 13 limits the cleaning brush 1232 to continue rotating in the first direction.

[0115] In other embodiments, a stepper motor or a servo motor or the like can also be selected, and the output shaft 1233 is directly controlled to rotate a preset angle by the control instruction issued by the processor 13.

[0116] Please refer to FIG. 12, which is a structural schematic diagram of the robot 1 in another embodiment of the present application. In the present embodiment, the first sensor 1211 and the second sensor 1212 are stacked one above the other, and the cleaning assembly 123 is installed between the first sensor 1211 and the second sensor 1212. When the processor 13 determines that there is a region to be cleaned on the first light-transmitting region 1221 of the first sensor 1211, the first angle range of the cleaning brush 1232 is determined to be 0-180°, and when the processor 13 determines that there is a region to be cleaned on the second light-transmitting region 1222 of the second sensor 1212, the second angle range of the cleaning brush 1232 is determined to be 180-360°.

[0117] Thus, when the cleaning assembly 123 is located between the first sensor 1211 and the second sensor 1212, the maximum swing range of the cleaning brush 1232 is 0-180° in the first angle range, which is used to clean the first light-transmitting region 1221 corresponding to the first sensor 1211, and the maximum swing range of the cleaning brush 1232 is 180-360° in the second angle range, which is used to clean the second light-transmitting region 1222 corresponding to the second sensor 1212. There is no need to clean the second light-transmitting region 1222 by chance when cleaning the first light-transmitting region 1221, and there is no need to clean the first light-transmitting region 1221 by chance when cleaning the second light-transmitting region 1222. Compared with fixing the cleaning brush 1232 to one side of the first sensor 1211 and the second sensor 1212, placing the cleaning brush 1232 between the first sensor 1211 and the second sensor 1212 can shorten the length of the cleaning brush 1232, and facilitate the layout of other components around.

[0118] It can be understood that, in other embodiments, when it is determined that the partial region of the first light-transmissive region 1221 corresponding to the first sensor 1211 is the region to be cleaned, only the partial region can be cleaned without the need to control the oscillation of the cleaning brush 1232 to clean the entire region of the first light-transmissive region 1221. Similarly, when it is determined that the partial region of the second light-transmissive region 1222 corresponding to the second sensor 1212 is the region to be cleaned, only the partial region can be cleaned without the need to control the oscillation of the cleaning brush 1232 to clean the entire region of the second light-transmissive region 1222.

[0119] Please refer to FIG. 13 and FIG. 14, FIG. 13 is a structural schematic diagram of a sensor module in another embodiment of the present application, and FIG. 14 is an exploded schematic diagram of the sensor module in FIG. 13. The sensor module 12 further comprises a housing 125, the housing 125 comprises a connecting portion 1603, the light-transmissive piece 122 comprises a first light-transmissive region 1221 and a second light-transmissive region 1222, and the first light-transmissive region 1221 and the second light-transmissive region 1222 are located in the same plane and are independently arranged, and the at least two light-transmissive holes comprise a first light-transmissive hole 1252a and a second light-transmissive hole 1252b, and the first light-transmissive hole 1252a and the second light-transmissive hole 1252b are at least partially spaced apart by the connecting portion 1603.

[0120] Specifically, in some embodiments, the housing 125 further comprises a first shell 1601 and a second shell 1602. The connecting portion 1603 is connected between the first shell 1601 and the second shell 1602. Therefore, in the present embodiment, the housing 125 is approximately in the shape of an H. The connecting portion 1603 is provided with a via hole 1253, and the output shaft 1233 of the driving member 1231 is connected with the connecting end 1234 of the cleaning brush 1232 after passing through the via hole 1253. The first shell 1601 and the second shell 1602 are respectively provided with mounting cavities for mounting the first sensor 1211 and the second sensor 1212 respectively. The light-transmissive port 1252 comprises the first light-transmissive hole 1252a and the second light-transmissive hole 1252b, the first light-transmissive hole 1252a and the second light-transmissive hole 1252b are at least partially spaced apart by the connecting portion 1603, the first light-transmissive hole 1252a is arranged on the first shell 1601, and the first sensor 1211 is exposed from the first light-transmissive hole 1252a, the second light-transmissive hole 1252b is arranged on the second shell 1602, and the second sensor 1212 is exposed from the second light-transmissive hole 1252b. The first light-transmissive region 1221 is correspondingly mounted on the first shell 1601 and covers the first sensor 1211, and the second light-transmissive region 1222 is correspondingly mounted on the second shell 1602 and covers the second sensor 1212. It can be seen that, in the present embodiment, the first light-transmissive region 1221 and the second light-transmissive region 1222 are two independent light-transmissive pieces arranged in the same plane but separately.

[0121] It can be understood that in the embodiment, the connecting portion 1603 can be provided with a cleaning strip, a stop block, a sewage groove and the like, and specific reference can be made to the above embodiments, which are not limited herein.

[0122] In the embodiment, the connecting end 1234 of the cleaning brush 1232 is located at the center position of the connecting portion 1603 between the first light transmission hole 1252a and the second light transmission hole 1252b, which can make the length of the cleaning brush 1232 the shortest in the case of being able to clean the first light transmission area 1221 and the second light transmission area 1222.

[0123] In the embodiment, the connecting end 1234 of the cleaning brush 1232 is located at the center position of the connecting portion 1603 between the first light transmission hole 1252a and the second light transmission hole 1252b, which can make the length of the cleaning brush 1232 the shortest in the case of being able to clean the first light transmission area 1221 and the second light transmission area 1222.

[0124] In some embodiments, the rotation angle of the output shaft 1233 is 0°-360°. Thus, at the connecting portion 1603 between the first light transmission hole 1252a and the second light transmission hole 1252b, the brush arm 1235 of the cleaning brush 1232 rotates around the connecting end 1234 with the rotation of the output shaft 1233, and the distance from the connecting end 1234 to the brush arm 1235 is greater than or equal to the distance from the connecting end 1234 to the target position in the at least two light transmission holes. In the case of the target position being the position farthest from the connecting end 1234, the cleaning brush 1232 can clean the at least two light transmission holes.

[0125] In some embodiments, the at least two sensors 121 can respectively acquire the dirt conditions of the first light transmission area 1221 and the second light transmission area 1222. In the case of only the second light transmission area 1222 having dirt, the processor 13 can control the output shaft 1233 of the driving member 1231 to rotate clockwise by a first angle. In the case of only the first light transmission area 1221 having dirt, the processor 13 can control the output shaft 1233 of the driving member 1231 to rotate counterclockwise by a second angle. The first angle can be equal to the second angle, such as both the first angle and the second angle being equal to 180°, which can accurately clean the light transmission member having dirt.

[0126] In some embodiments, as shown in FIG. 1 and FIG. 3, the cleaning assembly 123 comprises a collecting piece 44 arranged on the light-transmitting piece 122 at a side close to the direction of gravity G to collect garbage generated when the cleaning assembly 123 cleans the light-transmitting piece 122.

[0127] Thus, it can be avoided that the garbage cleaned from the light-transmitting piece 122 falls on other parts of the self-cleaning robot 1.

[0128] In some embodiments, as shown in FIG. 4, the at least two light-transmitting holes are arranged along the direction of gravity G, and the included angle between the side of the at least two light-transmitting holes close to the at least two sensors 121 and the direction of gravity G gradually increases from the distal end to the proximal end of the direction of gravity G.

[0129] Thus, it can be ensured that the at least two sensors 121 can all observe the ground conditions.

[0130] Please refer to FIG. 15, which is a structural schematic diagram of a robot in another embodiment of the present application.

[0131] In some embodiments, as shown in FIG. 15, the robot 1 comprises a shell 125, the shell 125 further comprises a fourth shell 62 and a fifth shell 63, the fourth shell 62 and the fifth shell 63 are arranged non-coplanarly, the light-transmitting piece 122 comprises a first light-transmitting region 31 and a second light-transmitting region 32, the light-transmitting hole comprises a first light-transmitting hole 1252a arranged on the fourth shell 62 and a second light-transmitting hole 1252b arranged on the fifth shell 63, the first light-transmitting region 31 is arranged at the first light-transmitting hole 1252a, and the second light-transmitting region 32 is arranged at the second light-transmitting hole 1252b; the cleaning brush 1232 comprises a first cleaning brush 12323 and a second cleaning brush 12324, the first cleaning brush 12323 comprises a first connecting part 4231 and a first cleaning part 4232, the first connecting part 4231 is connected with the output shaft 1233, and the extension direction of the first cleaning part 4232 is parallel to the plane where the first light-transmitting region 31 is located; the second cleaning brush 12324 comprises a second connecting part 4241 and a second cleaning part 4242, the second connecting part 4241 is connected with the output shaft 1233, and the second cleaning part 4242 is parallel to the plane where the second light-transmitting region 32 is located; under the driving of the driving part 1231, the first cleaning part 4232 is used for cleaning at least the first light-transmitting region 31, and the second cleaning part 4242 is used for cleaning at least the second light-transmitting region 32.

[0132] Therefore, when the light transmission ports corresponding to the at least two sensors 121 are arranged on different planes of the shell 125, the first cleaning part 4232 is used to clean at least the first light transmission area 31 and the second cleaning part 4242 is used to clean at least the second light transmission area 32 under the driving of the same driving member 1231, without the need to arrange a cleaning brush 1232 and a driving member 1231 for each light transmission part to clean, thereby saving cost.

[0133] As shown in FIG. 3, in some embodiments, the robot 1 further comprises a processor 13 and a pressure sensor 14, the cleaning brush 1232 comprises a connecting end 1234 and a brush arm 1235, the pressure sensor 14 is arranged between the connecting end 1234 and the brush arm 1235, the connecting end 1234 is connected with the driving member 1231, and the brush arm 1235 is arranged on the side of the connecting end 1234 facing the light transmission part 122. The processor 13 judges the installation condition and the use wear condition of the cleaning brush 1232 based on the pressure value applied by the cleaning brush 1232 to the light transmission part 122. Therefore, when the cleaning brush 1232 is not installed in place, the user is prompted to reinstall, and when the cleaning brush 1232 is worn to a certain extent, the user is prompted to replace the cleaning brush 1232.

[0134] Please refer to FIG. 16, FIG. 17, FIG. 18, FIG. 19 and FIG. 20, FIG. 16 is a structural schematic diagram of a robot 1 in another embodiment of the present application, FIG. 17 is a structural schematic diagram of a sensor module in another embodiment of the present application, FIG. 18 is an exploded schematic diagram of the sensor module in FIG. 17, FIG. 19 is a further exploded schematic diagram of part of the components in FIG. 17, and FIG. 20 is a further exploded schematic diagram of part of the components in FIG. 18 from another perspective.

[0135] In some embodiments, the first sensor 1211 is a radar and the second sensor 1212 is a visual camera, and the first sensor 1211 and the second sensor 1212 are arranged side by side. In the present embodiment, the visual camera is a binocular camera, and the radar is located between the two lenses of the binocular camera. In other embodiments, the first sensor 1211 and the second sensor 1212 can be arranged side by side. The rotation axis of the cleaning brush 1232 is located on one side of the direction perpendicular to the arrangement direction of the first sensor 1211 and the second sensor 1212. The cleaning brush 1232 comprises at least two cleaning brushes 1232 arranged side by side, and the output shaft 1233 of the driving member 1231 is connected with the at least two cleaning brushes 1232. The driving member 1231 drives the at least two cleaning brushes 1232 to swing at an angle range covering the entire surface of the light transmission part 122, so as to clean the dirt on any area of the entire surface of the light transmission part 122.

[0136] Therefore, the at least two cleaning brushes 1232 can also be used to clean the dirt on the light transmission parts 122 arranged side by side at the same time, and the length of the cleaning brush 1232 can be shortened.

[0137] In some embodiments, the light-transmitting member 122 comprises a first light-transmitting region 1221 and a second light-transmitting region 1222 arranged side by side and in the same plane, wherein the first light-transmitting region 1221 is arranged corresponding to the first sensor 1211, and the second light-transmitting region 1222 is arranged corresponding to the second sensor 1212.

[0138] Thus, the cleaning brush 1232 can also be used to clean the dirt on the first light-transmitting region 1221 and the second light-transmitting region 1222 arranged side by side, and the length of the cleaning brush 1232 can be shortened.

[0139] In some embodiments, the at least two cleaning brushes 1232 comprise a first cleaning brush 12323, a second cleaning brush 12324, and a connecting rod 1230 connecting the first cleaning brush 12323 and the second cleaning brush 12324, and the connecting rod 1230 realizes linkage swinging of the first cleaning brush 12323 and the second cleaning brush 12324. In other embodiments, linkage swinging of the first cleaning brush 12323 and the second cleaning brush 12324 can also be realized by gear linkage, etc., which is not limited herein.

[0140] Thus, the driving member 1231 can drive the first cleaning brush 12323 to move, and the movement of the first cleaning brush 12323 can drive the second cleaning brush 12324 to move simultaneously through the connecting rod 1230, so that the first cleaning brush 12323 and the second cleaning brush 12324 can rotate to cover the entire surface of the first light-transmitting region 1221 and the second light-transmitting region 1222, thereby being able to clean the dirt on the entire surface of the first light-transmitting region 1221 and the second light-transmitting region 1222, and improving the cleaning efficiency.

[0141] In some embodiments, the first sensor 1211 is a radar, the second sensor 1212 is a binocular camera, the radar is arranged between the two lenses of the binocular camera, the light-transmitting member 122 is a one-piece light-transmitting member, the first light-transmitting region 1221 is a region in the one-piece light-transmitting member corresponding to the radar, and the second light-transmitting region 1222 is a region in the one-piece light-transmitting member corresponding to the space between the two lenses of the binocular camera. In other embodiments, the first light-transmitting region 1221 corresponding to the first sensor 1211 and the second light-transmitting region 1222 corresponding to the second sensor 1212 can be arranged separately but in the same plane.

[0142] Thus, the one-piece light-transmitting member can have better structural stability, and can also avoid dead angles for hiding dirt.

[0143] When the processor 13 determines that the local area of the first light-transmitting region 1221 and the second light-transmitting region 1222 has dirt, the processor 13 controls the driving member 1231 to drive the first cleaning brush 12323 and the second cleaning brush 12324 to clean only the local area. For example, when the processor 13 determines that the first light-transmitting region 1221 and the second light-transmitting region 1222 have dirt in the range of 30 degrees to 60 degrees of the swing of the first cleaning brush 12323 and the second cleaning brush 12324, the processor 13 controls the driving member 1231 to drive the first cleaning brush 12323 and the second cleaning brush 12324 to swing only in the range of 0 degrees to 60 degrees to clean the dirt. For another example, when the processor 13 determines that the first light-transmitting region 1221 and the second light-transmitting region 1222 have dirt in the range of 120 degrees to 150 degrees of the swing of the first cleaning brush 12323 and the second cleaning brush 12324, the processor 13 controls the driving member 1231 to drive the first cleaning brush 12323 and the second cleaning brush 12324 to swing only in the range of 120 degrees to 180 degrees to clean the dirt.

[0144] In some embodiments, the first cleaning brush 12323 and the second cleaning brush 12324 can float away from or close to one side of the first light-transmitting region 1221 and the second light-transmitting region 1222 along the direction of the central axis of the output shaft 1233 of the driving member 1231, so that the first cleaning brush 12323 and the second cleaning brush 12324 can be lifted relative to the surface of the first light-transmitting region 1221 and the second light-transmitting region 1222 to avoid the area to be cleaned on the first light-transmitting region 1221 and the second light-transmitting region 1222, and then be lowered to scrape the dirt in the area to be cleaned. For example, when the processor 13 determines that the first light-transmitting region 1221 and / or the second light-transmitting region 1222 have dirt in the range of 30 degrees to 60 degrees of the swing of the first cleaning brush 12323 and the second cleaning brush 12324, the processor 13 controls the first cleaning brush 12323 and the second cleaning brush 12324 to be lifted by a preset height first, and then be moved from 0 degree to an area greater than 60 degrees, and then be lowered so that the first cleaning brush 12323 and the second cleaning brush 12324 move from 60 degrees clockwise to 0 degree, so as to directly scrape the dirt in the range of 30 degrees to 60 degrees from the first light-transmitting region 1221 and / or the second light-transmitting region 1222, avoiding that the dirt in the local area is retained on other areas of the first light-transmitting region 1221 and / or the second light-transmitting region 1222.

[0145] In some embodiments, the implementation of the movement of the first cleaning brush 12323 and the second cleaning brush 12324 away from or close to one side of the first light-transmitting region 1221 and the second light-transmitting region 1222 along the direction of the central axis of the output shaft 1233 of the driving member 1231 can be but is not limited to increasing a pneumatic cylinder, a hydraulic drive, and the like linear driving member, which is not limited herein.

[0146] In some embodiments, referring to FIG. 4, the sensor module 12 further comprises a pressure sensor 14 connected to the processor 13, the pressure sensor 14 is configured to sense the pressure received by the first light-transmitting area 1221 and the second light-transmitting area 1222, and the processor 13 is configured to determine whether the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are installed in place according to the pressure received by the first light-transmitting area 1221 and the second light-transmitting area 1222. In some embodiments, the processor 13 is configured to determine whether the pressure measured by the pressure sensor 14 is greater than or equal to a first preset threshold value, if the pressure measured by the pressure sensor 14 is greater than or equal to the first preset threshold value, it is determined that the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are installed in place. If the pressure measured by the pressure sensor 14 is greater than or equal to a second preset threshold value, the second preset threshold value is greater than the first preset threshold value, it is determined that the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are installed too tightly, which will affect the cleaning effect. If the pressure measured by the pressure sensor 14 is less than the first preset threshold value, it is determined that the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are installed too loosely, which will also affect the cleaning effect.

[0147] Therefore, since the first cleaning brush 12323 and the second cleaning brush 12324 are installed on the output shaft 1233 of the driving member 1231 by means of screws, if the first cleaning brush 12323 and the second cleaning brush 12324 are locked too tightly by the screws, the distance between the first cleaning brush 12323 and the second cleaning brush 12324 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too small, which will cause the first cleaning brush 12323 and the second cleaning brush 12324 to excessively scratch the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in serious wear of the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222. Conversely, if the first cleaning brush 12323 and the second cleaning brush 12324 are locked too loosely by the screws, the distance between the first cleaning brush 12323 and the second cleaning brush 12324 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too large, which will cause the first cleaning brush 12323 and the second cleaning brush 12324 to be unable to effectively remove the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in incomplete cleaning of the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222.

[0148] In some embodiments, the processor 13, after determining that the first cleaning brush 12323 and the second cleaning brush 12324 are installed in place, continues to determine whether the first cleaning brush 12323 and the second cleaning brush 12324 are loose during use or excessively worn to affect the cleaning effect according to the real-time pressure measured by the pressure sensor 14.

[0149] Thus, based on the real-time pressure measured by the pressure sensor 14, the working condition of the first cleaning brush 12323 and the second cleaning brush 12324 can be determined in real time, and real-time feedback can be provided to facilitate the user to adjust in a timely manner according to the actual situation.

[0150] In some embodiments, the processor 13 further determines whether the first cleaning brush 12323 and the second cleaning brush 12324 are in a lifted state or a lowered abutting state according to the pressure received by the light-transmitting piece 122.

[0151] Thus, in the present application, the processor 13 can plan and control the cleaning area of the first cleaning brush 12323 and the second cleaning brush 12324 according to the determined cleaning area, and drive the first cleaning brush 12323 and the second cleaning brush 12324 to first lift and move to the cleaning area, and then lower to contact the light-transmitting piece 122 with appropriate pressure to scrape off the dirt on the surface of the light-transmitting piece 122.

[0152] In some embodiments, referring to FIG. 17, the sensor module 12 further includes a housing 125. The housing 125 is installed in the body 11. The housing 125 includes a panel 1251 and a side wall 1252c, and the panel 1251 and the side wall 1252c jointly form a receiving cavity. The first sensor 1211 and the second sensor 1212 are installed side by side in the receiving cavity. The side wall 1252c has a first lug 1253a and a second lug 1254a protruding away from the receiving cavity, and a support protruding wall 1255a connected with the first lug 1253a and the second lug 1254a. The first lug 1253a and the second lug 1254a are respectively provided with a first through hole 1256a and a second through hole 1257a. The rotating shaft of the first cleaning brush 12323 is installed in the first through hole 1256a. The rotating shaft of the second cleaning brush 12324 is installed in the second through hole 1257a. The driving member 1231 is installed in the support protruding wall 1255a. The output shaft 1233 of the driving member 1231 passes through the first through hole 1256a and is connected with the rotating shaft of the first cleaning brush 12323.

[0153] Thus, through the first through hole 1256a and the second through hole 1257a, the first cleaning brush 12323 and the second cleaning brush 12324 can be well limited and installed more stably and reliably.

[0154] In some embodiments, the first lug 1253a, the second lug 1254a and the supporting protruding wall 1255a are located on the same side wall of the side wall 1252c, and the extending directions of the first lug 1253a and the supporting protruding wall 1255a are parallel to the central axis of the output shaft 1233 of the driving member 1231.

[0155] Therefore, the structural strength of the side wall 1252c of the shell 125 can be enhanced by the supporting protruding wall 1255a.

[0156] In some embodiments, the first lug 1253a, the second lug 1254a and the supporting protruding wall 1255a are located on the same side wall of the side wall 1252c, and the extending directions of the first lug 1253a and the supporting protruding wall 1255a are parallel to the central axis of the output shaft 1233 of the driving member 1231.

[0157] Therefore, the structural strength of the side wall 1252c of the shell 125 can be enhanced by the supporting protruding wall 1255a.

[0158] In some embodiments, the swing angle range of the first cleaning brush 12323 and the second cleaning brush 12324 is close to 0-180°, and compared with a single cleaning brush, the first cleaning brush 12323 and the second cleaning brush 12324 can shorten the arm length of the cleaning brush 1232.

[0159] In some embodiments, the liquid spraying assembly 126 is arranged below the shell 125 and between the first lug 1253a and the second lug 1254a. The liquid spraying assembly 126 comprises a liquid storage cavity 1261, a spraying port 1262 and a pump. The pump sprays the cleaning liquid in the liquid storage cavity 1261 to the surface of the light-transmitting member 122 above the spraying port 1262. At the same time, the driving member 1231 drives the first cleaning brush 12323 and the second cleaning brush 12324 to swing back and forth, so as to drive the cleaning liquid to the entire surface of the light-transmitting member 122, achieving the effect of overall cleaning.

[0160] In some embodiments, the spraying port 1262 can rotate within a certain angle range relative to the liquid storage cavity 1261, so that the spraying port 1262 can be aligned with different positions of the light-transmitting member 122, and the spraying effect can be more uniform, further increasing the overall cleaning effect.

[0161] In some embodiments, the liquid spraying assembly 126 can be omitted, and the panel 1251 is further provided with a storage groove (not shown in the figure). The extending direction of the storage groove is parallel to the length direction of the connecting rod 1230 and is located adjacent to the output shaft 1233 of the driving member 1231. The first cleaning brush 12323 and the second cleaning brush 12324 can be retracted to the storage groove on the side close to the storage cavity 1250 or lifted to the outside of the storage groove on the side away from the storage cavity 1250.

[0162] Thus, when the cleaning brush 1232 needs to be used, the processor 13 can control the cleaning brush 1232 to move to the side away from the receiving cavity 1250 along the direction of the central axis of the output shaft 1233 of the driving member 1231, so that the cleaning brush 1232 extends out of the receiving groove. When the cleaning is completed, the processor 13 can control the cleaning brush 1232 to move to the side close to the receiving cavity 1250 along the direction of the central axis of the output shaft 1233 of the driving member 1231 and be received in the receiving groove, facilitating the storage of the cleaning brush 1232.

[0163] It can be understood that in the embodiment, the shell 125 can be provided with a cleaning strip, a stop block, a sewage groove and the like, which will not be limited here for specific reference to the above embodiments.

[0164] In some embodiments, referring to FIG. 21, which is a structural schematic view of the cleaning brush in FIG. 18. The first cleaning brush 12323 and the second cleaning brush 12324 are the same in structure, and each includes a connecting end 1234 and a brush arm 1235. The connecting end 1234 is annular and used to connect the output shaft 1233 of the driving member 1231. The brush arm 1235 includes a brush body 1236 and a brush head 1237. The brush body 1236 is connected to the connecting end 1234, and the brush head 1237 is connected to the side of the brush body 1236 facing the driving member 1231.

[0165] In some embodiments, the cross section of the brush head 1237 is triangular. The brush head 1237 and the surface of the brush body 1236 are transitioned in a bevel shape. Thus, the brush arm 1235 can well guide the sewage, and the cleaning effect is improved.

[0166] In some embodiments, the panel 1251 is further provided with a first stop block and a second stop block. The first stop block is adjacent to the first lug 1253a, and the second stop block is adjacent to the second lug 1254a. The first stop block limits the swing angle range of the first cleaning brush 12323, and the second stop block is used to limit the swing angle range of the second cleaning brush 12324.

[0167] Thus, since the first cleaning brush 12323 and the second cleaning brush 12324 are connected by the connecting rod 1230, when the first stop block limits the swing angle range of the first cleaning brush 12323 on one side, it will also limit the swing angle range of the first cleaning brush 12323 on the side. Similarly, when the second stop block limits the swing angle range of the second cleaning brush 12324 on the other side, it will also limit the swing angle range of the first cleaning brush 12323 on the side. Thus, the limiting structure can be simplified.

[0168] In some embodiments, the panel 1251 further comprises a first cleaning strip and a second cleaning strip, the first cleaning strip is arranged adjacent to the first stopper, and the second cleaning strip is arranged adjacent to the second stopper, the first cleaning strip is used to clean the dirt on the first cleaning brush 12323 when the first cleaning brush 12323 rotates to be adjacent to the first stopper, and the second cleaning strip is used to clean the dirt on the second cleaning brush 12324 when the second cleaning brush 12324 rotates to be adjacent to the second stopper.

[0169] In some embodiments, the first cleaning strip and the second cleaning strip can be a scraper or a brush, which is not limited herein.

[0170] In some embodiments, the panel 1251 further comprises a first cleaning strip and a second cleaning strip, the first cleaning strip is arranged adjacent to the first stopper, and the second cleaning strip is arranged adjacent to the second stopper, the first cleaning strip is used to clean the dirt on the first cleaning brush 12323 when the first cleaning brush 12323 rotates to be adjacent to the first stopper, and the second cleaning strip is used to clean the dirt on the second cleaning brush 12324 when the second cleaning brush 12324 rotates to be adjacent to the second stopper.

[0171] Therefore, the first cleaning strip and the second cleaning strip can be used to scrape the dirt on the first cleaning brush 12323 and the second cleaning brush 12324 respectively, so as to avoid the dirt on the first cleaning brush 12323 and the second cleaning brush 12324 from polluting other components of the robot 1.

[0172] Please refer to FIG. 22, which is a flowchart of a cleaning control method according to an embodiment of the present application. The cleaning control method is applied to the robot 1 described above. It can be understood that the steps of the cleaning control method are not limited to the following order, and can be adjusted, added or reduced according to actual needs, which are not limited herein.

[0173] The cleaning control method comprises:

[0174] Step 221: determining a to-be-cleaned area on the light-transmitting member 122;

[0175] Step 222: determining a swing angle range of the cleaning brush 1232 based on the determined to-be-cleaned area;

[0176] Step 223: controlling the driving member 1231 to drive the cleaning brush 1232 to swing in the swing angle range to clean the to-be-cleaned area.

[0177] Therefore, in the present application, the to-be-cleaned area on the light-transmitting member 122 can be determined, the swing angle range of the cleaning brush 1232 can be determined based on the to-be-cleaned area, and the driving member 1231 can be controlled to drive the cleaning brush 1232 to swing in the swing angle range to clean the to-be-cleaned area, so that repeated cleaning in the clean area of the light-transmitting member 122 is not needed, and the cleaning efficiency can be further improved.

[0178] In some embodiments, step 222 comprises:

[0179] When it is determined that the area to be cleaned is located on a light-transmitting region of the light-transmitting piece 122, the swing angle range of the cleaning brush 1232 is determined based on the relative position relationship between the light-transmitting region and the rotation axis of the cleaning brush 1232.

[0180] Therefore, the swing angle range of the cleaning brush 1232 is determined based on the relative position relationship between the light-transmitting region and the rotation axis of the cleaning brush 1232, which can improve the cleaning efficiency of the cleaning brush 1232 on the light-transmitting piece 122.

[0181] In some embodiments, the at least two sensors 121 include a first sensor 1211 and a second sensor 1212, the light-transmitting piece 122 includes a first light-transmitting region 1221 and a second light-transmitting region 1222, the first light-transmitting region 1221 covers the first sensor 1211, the second light-transmitting region 1222 covers the second sensor 1212, and the swing angle range of the cleaning brush 1232 is determined based on the relative position relationship between the light-transmitting region and the rotation axis of the cleaning brush 1232, including:

[0182] When it is determined that the area to be cleaned is located on the first light-transmitting region 1221 of the light-transmitting piece 122, the maximum swing angle range of the cleaning brush 1232 is determined as a first angle range.

[0183] When it is determined that the area to be cleaned is located on the second light-transmitting region 1222 of the light-transmitting piece 122, the maximum swing angle range of the cleaning brush 1232 is determined as a second angle range, and the first angle range is different from the second angle range.

[0184] Therefore, when the area to be cleaned is located on different regions of the light-transmitting piece 122, the swing angle range of the cleaning brush 1232 determined is different, so that the dirt at different positions of the light-transmitting piece 122 can be cleaned in a targeted manner, the cleaning efficiency can be improved, and the energy consumption can be reduced.

[0185] In some embodiments, the second sensor 1212 is close to the rotation axis of the cleaning brush 1232, the first sensor 1211 is away from the rotation axis of the cleaning brush 1232 and located on the side of the second sensor 1212 away from the rotation axis, and the first angle range is smaller than the second angle range, thereby improving the cleaning efficiency.

[0186] In some embodiments, the rotation axis of the cleaning brush 1232 is located between the first sensor 1211 and the second sensor 1212, the first angle range is 0-180°, and the second angle range is 180-360°.

[0187] In some embodiments, the at least two sensors include a first sensor 1211 and a second sensor 1212, the first sensor 1211 and the second sensor 1212 are arranged side by side, the light-transmitting piece 122 includes a first light-transmitting region 1221 and a second light-transmitting region 1222, the first light-transmitting region 1221 covers the first sensor 1211, the second light-transmitting region 1222 covers the second sensor 1212, the rotating shaft of the cleaning brush is located on one side of a direction perpendicular to the arrangement direction of the first sensor 1211 and the second sensor 1212, the cleaning brush 1232 includes a first cleaning brush and a second cleaning brush that swing in linkage, based on the relative position relationship between the light-transmitting region and the rotating shaft of the cleaning brush, the swing angle range of the cleaning brush 1232 is determined, including:

[0188] When it is determined that the to-be-cleaned region is located in the first light-transmitting region 1221 of the light-transmitting piece 122, the maximum swing angle range of the cleaning brush 1232 is determined as a first angle range;

[0189] When it is determined that the to-be-cleaned region is located in the second light-transmitting region 1222 of the light-transmitting piece 122, the maximum swing angle range of the cleaning brush 1232 is determined as a second angle range, and the first angle range is smaller than the second angle range.

[0190] Therefore, the cleaning brush 1232 can also be used to clean the dirt on the surface of the light-transmitting piece 122 corresponding to the first sensor 1211 and the second sensor 1212 arranged side by side, and the length of the cleaning brush 1232 can be shortened.

[0191] In some embodiments, the sensor module 12 further includes a pressure sensor 14, and the cleaning control method includes:

[0192] Sensing a pressure value received by the surface of the light-transmitting piece 122;

[0193] Judging whether the pressure value is located in a preset pressure interval range, the preset pressure interval range representing that the abutting pressure of the cleaning brush 1232 on the light-transmitting piece 122 after installation is appropriate;

[0194] When the pressure value is located in the preset pressure interval range, it is determined that the cleaning brush 1232 is installed in place.

[0195] Therefore, since the cleaning brush 1232 is mounted on the output shaft 1233 of the driving member 1231 by screws or the like, if the cleaning brush 1232 is locked too tightly by the screws, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too small, causing the cleaning brush 1232 to excessively scratch the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in serious wear of the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222. Conversely, if the cleaning brush 1232 is locked too loosely by the screws, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too large, causing the cleaning brush 1232 to fail to effectively remove the dirt on the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in incomplete cleaning of the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222.

[0196] In some embodiments, the cleaning control method further includes:

[0197] After the cleaning brush 1232 is installed in place, the pressure value borne by the surface of the light-transmitting member 122 is continuously sensed;

[0198] It is determined whether the pressure value is lower than a preset pressure range;

[0199] When the pressure value is lower than the preset pressure range, it is determined that the cleaning brush 1232 is loosened or the cleaning brush 1232 is excessively worn.

[0200] Therefore, after the cleaning brush 1232 is installed in place, it is still necessary to continuously monitor whether the cleaning brush 1232 is loosened or the cleaning brush 1232 is excessively worn and thus unable to complete the cleaning work, and the working state of the cleaning brush 1232 can be monitored at any time, thereby increasing the reliability of the cleaning system of the robot 1.

[0201] In some embodiments, the sensor module 12 further includes a liquid spraying assembly 126, and the cleaning control method further includes:

[0202] Before the driving member 1231 is controlled to drive the cleaning brush 1232 to swing within a swing angle range to clean the to-be-cleaned area, the liquid spraying assembly 126 is controlled to spray cleaning liquid to the to-be-cleaned area based on the to-be-cleaned area; and / or,

[0203] After the driving member 1231 drives the cleaning brush 1232 to complete the cleaning of the to-be-cleaned area, it is determined whether the to-be-cleaned area is cleaned completely;

[0204] When it is determined that the to-be-cleaned area is not cleaned completely, the liquid spraying assembly 126 is controlled to spray cleaning liquid to the to-be-cleaned area;

[0205] The driving member 1231 is controlled to drive the cleaning brush 1232 to swing within a swing angle range to clean the to-be-cleaned area.

[0206] Therefore, the liquid spraying assembly 126 sprays the cleaning liquid, and the cleaning effect can be improved.

[0207] In some embodiments, the cleaning control method further comprises:

[0208] Sensing whether it is raining through the rain sensor;

[0209] If yes, controlling the driving member 1231 to drive the cleaning brush 1232 to clean the surface of the light-transmitting member 122.

[0210] Therefore, when it is raining, the raindrops on the light-transmitting member 122 of the sensor module 12 can be cleaned in time, and the sensing ability of the sensor module 12 is prevented from being affected by the rain.

[0211] It should be noted that those skilled in the art should also know that the embodiments described in the specification all belong to optional embodiments, and the actions and modules involved are not necessarily required by the present application. The processor can be a general processor, a digital signal processor, an application specific integrated circuit, a ready programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The robot 1 further comprises a memory, which is a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register and other mature storage media in the art.

[0212] The above only describes the preferred embodiments of the present application, and it should be noted that for those skilled in the art, without departing from the creative concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application.

Claims

1. A cleaning control method, characterized in that: A robot is applied to the present invention. The robot includes a sensor module, the sensor module includes at least two sensors and a light-transmitting member, the light-transmitting member covers the at least two sensors, the sensor module also includes a cleaning assembly, the cleaning assembly includes a driving member and a cleaning brush, the output shaft of the driving member is connected to the cleaning brush, and when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting member corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting member. The cleaning control method includes: determining an area to be cleaned on the light-transmitting member; determining a swing angle range of the cleaning brush based on the area to be cleaned; The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned.

2. The cleaning control method according to claim 1, characterized in that: The determining of the swing angle range of the cleaning brush based on the area to be cleaned includes: When it is determined that the area to be cleaned is located on a certain light-transmitting area of ​​the light-transmitting member, the swing angle range of the cleaning brush is determined based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush.

3. The cleaning control method according to claim 2, characterized in that: The at least two sensors include a first sensor and a second sensor, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area is covered on the first sensor, and the second light-transmitting area is covered on the second sensor, and the determining of the swing angle range of the cleaning brush based on the relative positional relationship between the light-transmitting areas and the rotation axis of the cleaning brush includes: When it is determined that the area to be cleaned is located in the first light-transmitting area of ​​the light-transmitting member, determining the maximum swing angle range of the cleaning brush to be the first angle range; When it is determined that the area to be cleaned is located in the second light-transmitting area of ​​the light-transmitting member, the maximum swing angle range of the cleaning brush is determined to be the second angle range, and the first angle range is different from the second angle range.

4. The cleaning control method according to claim 3, characterized in that: The second sensor is close to the rotation axis of the cleaning brush, the first sensor is far from the rotation axis of the cleaning brush and is located on a side of the second sensor far from the rotation axis, and the first angle range is smaller than the second angle range.

5. The cleaning control method according to claim 3, characterized in that: The rotation axis of the cleaning brush is located between the first sensor and the second sensor, the first angle range is 0 to 180 degrees, and the second angle range is 180 to 360 degrees.

6. The cleaning control method according to claim 2, characterized in that: The at least two sensors include a first sensor and a second sensor, the first sensor and the second sensor are arranged side by side, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area is covered on the first sensor, and the second light-transmitting area is covered on the second sensor, the rotation axis of the cleaning brush is located on a side perpendicular to the arrangement direction of the first sensor and the second sensor, the cleaning brush includes a first cleaning brush and a second cleaning brush that swing in a linked manner, and determining the swing angle range of the cleaning brush based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush includes: When it is determined that the area to be cleaned is located in the first light-transmitting area of ​​the light-transmitting member, determining the maximum swing angle range of the cleaning brush to be the first angle range; When it is determined that the area to be cleaned is located in the second light-transmitting area of ​​the light-transmitting member, the maximum swing angle range of the cleaning brush is determined to be the second angle range, and the first angle range is smaller than the second angle range.

7. The cleaning control method according to claim 1, characterized in that: The cleaning control method further comprises: sensing a pressure value applied to the surface of the light-transmitting element; determining whether the pressure value is within a preset pressure range, wherein the preset pressure range indicates that the abutting pressure of the cleaning brush on the light-transmitting member after installation is appropriate; When the pressure value is within the preset pressure range, it is determined that the cleaning brush is installed in place.

8. The cleaning control method according to claim 7, characterized in that: The cleaning control method further comprises: After the cleaning brush is installed in place, continue to sense the pressure value exerted on the surface of the light-transmitting element; Determining whether the pressure value is lower than the preset pressure range; When the pressure value is lower than the preset pressure range, it is determined that the cleaning brush is loose or the cleaning brush is excessively worn.

9. The cleaning control method according to claim 1, characterized in that: The sensor module further includes a liquid spray component, and the cleaning control method further includes: Before controlling the driving member to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned, controlling the liquid spraying assembly to spray cleaning liquid onto the area to be cleaned based on the area to be cleaned; and / or, After the driving member drives the cleaning brush to complete cleaning the area to be cleaned, determining whether the area to be cleaned is clean; When it is determined that the cleaning area is not cleaned completely, controlling the liquid spraying assembly to spray cleaning liquid onto the area to be cleaned; The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned.

10. The cleaning control method according to claim 1, characterized in that: The cleaning control method further comprises: Detect whether it is raining through sensors; If yes, the driving member is controlled to drive the cleaning brush to clean the surface of the light-transmitting member.

11. A robot for mowing grass, characterized in that: The robot comprises a body and a sensor module, wherein the sensor module is mounted on the body, the sensor module comprises at least two sensors and a light-transmitting member, the light-transmitting member covers the at least two sensors, the sensor module further comprises a cleaning assembly, the cleaning assembly comprises a driving member and a cleaning brush, the output shaft of the driving member is connected to the cleaning brush, and when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting member corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting member, the robot further comprises a processor and a memory, the memory storing a computer program, and the processor running the computer program to execute: determining the area to be cleaned on the light-transmitting member by using the detection signals respectively generated by the at least two sensors; determining a swing angle range of the cleaning brush based on the area to be cleaned; The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned.

12. The robot according to claim 11, characterized in that The processor determines the swing angle range of the cleaning brush based on the relative position relationship between the light-transmitting area and the rotation axis of the cleaning brush, wherein the cleaning brush has different swing angle ranges when the light-transmitting area and the rotation axis of the cleaning brush have different relative position relationships.

13. The robot according to claim 12, characterized in that The at least two sensors include a first sensor and a second sensor, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area is covered on the first sensor, and the second light-transmitting area is covered on the second sensor, and when the processor determines that the area to be cleaned is located in the first light-transmitting area of ​​the light-transmitting member, it determines that the maximum swing angle range of the cleaning brush is a first angle range; When determining that the area to be cleaned is located in the second light-transmitting area of ​​the light-transmitting member, the processor determines that the maximum swing angle range of the cleaning brush is a second angle range, and the first angle range is different from the second angle range.

14. The robot according to claim 13, characterized in that The second sensor is close to the rotation axis of the cleaning brush, the first sensor is far from the rotation axis of the cleaning brush and is located on a side of the second sensor far from the rotation axis, and the first angle range is smaller than the second angle range.

15. The robot according to claim 13, characterized in that The rotation axis of the cleaning brush is located between the first sensor and the second sensor, the first angle range is 0 to 180 degrees, and the second angle range is 180 to 360 degrees.

16. The robot according to claim 14 or 15, characterized in that The length of the cleaning brush is greater than or equal to the distance between the central axis of the output shaft of the driving member and the farthest position points on the surfaces of the first light-transmitting area and the second light-transmitting area.

17. The robot according to claim 14 or 15, characterized in that The forward tilt angle of the first sensor is greater than the forward tilt angle of the second sensor.

18. The robot according to claim 12, wherein: The at least two sensors include a first sensor and a second sensor, the first sensor and the second sensor are arranged side by side, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area is covered on the first sensor, and the second light-transmitting area is covered on the second sensor, the rotation axis of the cleaning brush is located on one side in a direction perpendicular to the arrangement direction of the first sensor and the second sensor, the cleaning brush includes a first cleaning brush and a second cleaning brush that swing in a linked manner, and when the processor determines that the area to be cleaned is located in the first light-transmitting area of ​​the light-transmitting member, determines that the maximum swing angle range of the cleaning brush is a first angle range; When determining that the area to be cleaned is located in the second light-transmitting area of ​​the light-transmitting member, the processor determines that the maximum swing angle range of the cleaning brush is a second angle range, and the first angle range is smaller than the second angle range.

19. The robot according to claim 14, 15 or 18, characterized in that The sensor module also includes a pressure sensor, which is connected to the processor. The pressure sensor is used to sense the pressure values ​​applied to the first light-transmitting area and the second light-transmitting area. The processor is used to determine whether the pressure values ​​are within a preset pressure range. The preset pressure range indicates that the contact pressure of the cleaning brush on the light-transmitting component is appropriate after installation; when the pressure value is within the preset pressure range, the processor determines that the cleaning brush is installed in place.

20. The robot according to claim 19, characterized in that The processor is also used to continue sensing the pressure value applied to the surface of the light-transmitting element after the cleaning brush is installed in place; determine whether the pressure value is lower than the preset pressure range; and when the pressure value is lower than the preset pressure range, determine that the cleaning brush is loose or too worn.

21. The robot according to claim 19, wherein: The sensor module further includes a liquid spraying assembly, the liquid spraying assembly being located on one side of the first sensor and the second sensor, and the processor being configured to control the liquid spraying assembly to spray cleaning liquid onto the area to be cleaned based on the area to be cleaned before controlling the driving member to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned; and / or, after the driving member drives the cleaning brush to complete cleaning the area to be cleaned, determining whether the area to be cleaned is clean; When it is determined that the cleaning area is not cleaned completely, controlling the liquid spraying assembly to spray cleaning liquid onto the area to be cleaned; The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned.

22. The robot according to claim 11, wherein: The processor is configured to sense whether it is raining through a sensor; if so, control the driving member to drive the cleaning brush to clean the surface of the light-transmitting member.

23. The robot according to claim 11, wherein: The sensor module includes a shell, and the at least two sensors are installed in the shell. The shell is provided with a light-transmitting port, and the at least two sensors are exposed to the shell through the light-transmitting port. The light-transmitting member cover is provided on the light-transmitting port. The shell is also provided with a storage slot, and the storage slot is arranged adjacent to the output shaft of the driving member. The processor is used to drive the cleaning brush to extend outward from the storage slot in response to the cleaning instruction when receiving a cleaning instruction to perform a cleaning task; after the cleaning task is completed, the cleaning brush is driven to retract inward and be stored in the storage slot.

24. The robot according to claim 11, wherein: The robot also includes a Hall sensor, which is connected to the processor. The Hall sensor is arranged within the swing angle range of the cleaning brush and is used to sense the swinging movement of the cleaning brush and generate a corresponding sensing signal. The processor determines the swing angle range of the cleaning brush based on the sensing signal.

25. A robot, characterized in that: The invention is applied to mowing grass, and is characterized in that it comprises a body and a sensor module, wherein the sensor module is mounted on the body, and the sensor module comprises: A light transmission port, comprising at least two light transmission holes; at least two sensors, wherein the energy output surface and / or the energy input surface of each sensor corresponds to the position of one of the light-transmitting holes; a light-transmitting member, covering the at least two light-transmitting holes; The cleaning component comprises a driving member and a cleaning brush, wherein the cleaning brush is connected to the driving member and cleans the light-transmitting member under the drive of the driving member.

26. The robot according to claim 25, characterized in that The driving member includes an output shaft, and the cleaning brush includes a connecting end and a brush arm, the connecting end is connected to the output shaft, and the brush arm of the cleaning brush rotates around the connecting end as the output shaft rotates, and the distance from the connecting end to the brush arm is greater than or equal to the distance from the connecting end to the target position in the at least two light-transmitting holes, wherein the target position is the position with the largest distance from the connecting end.

27. The robot according to claim 26, characterized in that The at least two light-transmitting holes are connected light-transmitting holes or light-transmitting holes arranged at intervals. There is at least one light-transmitting member, and the light-transmitting members are located in the same plane. The connecting end is located on one side of the at least two light-transmitting holes.

28. The robot according to claim 27, characterized in that The light-transmitting member includes a first side, the connecting end is arranged adjacent to the first side, the projection of the connecting end on the first side is located at the midpoint of the first side, and the rotation angle of the output shaft is 0° to 180°.

29. The robot according to claim 26, characterized in that The sensor module also includes a shell, the shell includes a connecting portion, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, and the first light-transmitting area and the second light-transmitting area are located in the same plane and are independently arranged, the at least two light-transmitting holes include a first light-transmitting hole and a second light-transmitting hole, and the first light-transmitting hole and the second light-transmitting hole are at least partially spaced apart by the connecting portion.

30. The robot according to claim 29, wherein: The rotation angle of the output shaft is 0° to 360°.

31. The robot according to claim 25, characterized in that The cleaning assembly includes a collecting piece, which is arranged on a side of the light-transmitting piece close to the gravity direction to collect garbage generated when the cleaning brush cleans the light-transmitting piece.

32. The robot according to claim 25, wherein: The at least two light-transmitting holes are arranged along the gravity direction, and the angle between the gravity direction and the side of the at least two sensors close to the at least two light-transmitting holes gradually increases from the far end to the near end of the gravity direction.

33. The robot according to claim 25, characterized in that The at least two sensors are arranged side by side, the rotation axis of the cleaning brush is located on one side in a direction perpendicular to the arrangement direction of the at least two sensors, and the driving member drives the cleaning brush to swing to clean dirt on the light-transmitting member.

34. The robot according to claim 33, wherein: The cleaning brush includes at least two cleaning brushes arranged side by side, and the output shaft of the driving member is connected to the at least two cleaning brushes. When the driving member drives the at least two cleaning brushes to swing in conjunction, they can cover all areas of the light-transmitting member to clean dirt on any area on the entire surface of the light-transmitting member.

35. The robot according to claim 34, characterized in that The at least two sensors include a first sensor and a second sensor arranged side by side, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area arranged side by side and on the same plane, the first light-transmitting area cover is arranged on the first sensor, and the second light-transmitting area cover is arranged on the second sensor, the at least two cleaning brushes include a first cleaning brush and a second cleaning brush and a connecting rod connecting the first cleaning brush and the second cleaning brush, the first cleaning brush and the second cleaning brush are driven by the driving member to swing in conjunction to clean dirt on the first light-transmitting area and the second light-transmitting area.

36. The robot according to claim 35, characterized in that The first sensor is a radar, the second sensor is a binocular camera, the radar is arranged between the two lenses of the binocular camera, the light-transmitting component is an integrated light-transmitting component, the first light-transmitting area is the area of ​​the integrated light-transmitting component corresponding to the radar, and the second light-transmitting area is the area of ​​the integrated light-transmitting component corresponding to the two lenses in the binocular camera.

37. The robot according to claim 35, characterized in that The sensor module also includes a shell, which includes a panel and a side wall, and the panel and the side wall together form a storage cavity. The first sensor and the second sensor are installed side by side in the storage cavity. The first sensor and the second sensor are installed side by side in the storage cavity. The side wall protrudes toward the side away from the storage cavity to form a first lug and a second lug, and a supporting lug connected to the first lug, and the first lug and the second lug are respectively provided with a first through hole and a second through hole, the first cleaning brush is installed in the first through hole, and the second cleaning brush is installed in the second through hole, the driving member is installed on the supporting lug, and the output shaft of the driving member passes through the first through hole and is connected to the first cleaning brush.

38. The robot according to claim 37, characterized in that The first lug, the second lug and the supporting protrusion are located on the same side wall of the side wall, and the extending directions of the first lug and the supporting protrusion are parallel to the central axis of the output shaft of the driving member.

39. The robot according to claim 38, characterized in that The sensor module further includes a liquid spraying assembly, which is mounted on the side wall and located between the first lug and the second lug, and is used for spraying cleaning liquid onto the light-transmitting member.

40. The robot according to claim 39, characterized in that The liquid spraying assembly includes a liquid storage chamber, a spraying port, and a pump. The pump is used to spray the cleaning liquid in the liquid storage chamber onto the surface of the light-transmitting member through the spraying port.

41. The robot according to claim 37, wherein: The panel is further provided with a receiving groove, which is arranged adjacent to the output shaft of the driving member. The first cleaning brush and the second cleaning brush can be retracted inwardly and stored in the receiving groove, or lifted outwardly and located outside the receiving groove.

Images