Laser obstacle avoidance module, automatic cleaning device and system

Abstract

A laser obstacle avoidance module, an automatic cleaning device and a system. The laser obstacle avoidance module comprises a support and a laser generator; the support is provided with a positioning structure; the positioning structure abuts against the laser generator so as to position the laser generator on the support.

Description

Laser obstacle avoidance modules, automated cleaning equipment and systems

[0001] This application claims priority to Chinese Patent Application No. 202423059794.7, filed on December 11, 2024, entitled "Laser Obstacle Avoidance Module, Automatic Cleaning Equipment and System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of cleaning equipment technology, specifically relating to a laser obstacle avoidance module, automatic cleaning equipment and system. Background Technology

[0003] With the continuous development of science and technology and the increasing improvement of people's living standards, automatic cleaning equipment has gradually been integrated into people's daily lives.

[0004] Automated cleaning equipment typically features obstacle avoidance capabilities, and some systems utilize line laser modules for obstacle detection. These line laser obstacle avoidance modules are generally located at the front end of the automated cleaning equipment. The line laser module includes a line laser generator, which emits a detection laser. However, in related technologies, line laser modules in cleaning equipment are prone to errors when detecting obstacles. (Utility Model Content)

[0005] Therefore, the technical problem to be solved by this application is to provide a laser obstacle avoidance module, an automatic cleaning device and system that can reduce the error of the line laser module when detecting obstacles.

[0006] To address the aforementioned issues, a first aspect of this application provides a laser obstacle avoidance module, comprising a bracket and a laser generator. The bracket is provided with a positioning structure that abuts against the laser generator to position the laser generator on the bracket.

[0007] Optionally, the bracket is provided with a mounting groove, the laser generator is inserted into the mounting groove, and at least a portion of the groove wall of the mounting groove forms the positioning structure.

[0008] Optionally, the bracket includes an inner wall surface and an outer wall surface. The inner wall surface is used to abut against the mounting carrier, and the outer wall surface is located on the side away from the mounting carrier. The mounting groove penetrates the inner wall surface and the outer wall surface at a preset angle so that the angle between the emission direction of the laser generator and the horizontal direction is within a preset range.

[0009] Optionally, the shape of the mounting groove is adapted to the outer contour of the laser generator.

[0010] Optionally, the mounting groove is a square groove, and the outer peripheral wall of the laser generator is adapted to the mounting groove.

[0011] Optionally, the mounting slot is interference-fitted with the laser generator.

[0012] Optionally, the positioning structure includes at least one limiting protrusion formed on the wall of the mounting groove and extending toward the inner side of the mounting groove. The limiting protrusion abuts against the outer wall of the laser generator to press and fix the laser generator in the mounting groove.

[0013] Optionally, the mounting groove is a square groove, which includes a first groove wall and a second groove wall arranged opposite to each other, as well as a third groove wall and a fourth groove wall arranged opposite to each other. The first groove wall is provided with the limiting protrusion to press the laser generator onto the second groove wall, and the third groove wall is provided with the limiting protrusion to press the laser generator onto the fourth groove wall.

[0014] Optionally, a limiting stop is formed at the opening of the mounting groove away from the mounting carrier. The limiting stop extends inward to the inside of the opening to stop the laser generator in the direction in which the laser generator is inserted into the mounting groove.

[0015] Optionally, the bracket is a long strip structure, and the mounting groove is located in the middle of the bracket along its length or on one side of the bracket along its length.

[0016] Optionally, the laser obstacle avoidance module further includes a camera, and the bracket is provided with a mounting hole, with the camera disposed in the mounting hole.

[0017] Optionally, the bracket is a long strip structure, the mounting hole is located in the middle of the bracket along its length, and the camera and the laser generator are arranged opposite or staggered in the width direction of the bracket.

[0018] Optionally, a transparent cover is provided on the outer wall of the bracket away from the mounting carrier, and the transparent cover covers the camera end of the camera and the emission end of the laser generator.

[0019] Optionally, the bracket has a receiving groove on its outer wall away from the mounting carrier, and the transparent cover is disposed in the receiving groove, the thickness of the transparent cover being the same as the depth of the receiving groove.

[0020] Optionally, a wire fastener is provided on the inner wall surface.

[0021] A second aspect of this application provides an automatic cleaning device, including the laser obstacle avoidance module as described above.

[0022] Optionally, the automatic cleaning device includes a housing, the bracket includes mounting ears, and the laser obstacle avoidance module is connected to the housing via the mounting ears.

[0023] A third aspect of this application provides an automatic cleaning system, including a base station and an automatic cleaning device as described above, the automatic cleaning device being configured to be docked on the base station.

[0024] The laser obstacle avoidance module, automatic cleaning equipment, and system provided in the embodiments of this application, by setting a positioning structure on the bracket and making the positioning structure abut against the laser generator, can accurately position the laser generator on the bracket, thereby better fixing the position of the laser generator, making the laser generator stable during operation, reducing deviations in the detection laser emission angle caused by positional offsets, effectively improving the accuracy of obstacle detection, reducing the probability of detection errors, and thus reducing the probability of the cleaning equipment colliding with obstacles during use.

[0025] By setting a positioning structure on the bracket, a stable mounting position is provided for the laser generator. When assembling the laser generator, it is only necessary to place the laser generator on the positioning structure and make it abut against the positioning structure, eliminating the cumbersome glue application process, shortening the assembly time of a single product, thereby improving production efficiency and enabling the production line to produce more products in the same amount of time. Attached Figure Description

[0026] Figure 1 is a schematic diagram of the laser obstacle avoidance module according to an embodiment of this application, excluding the transparent cover.

[0027] Figure 2 is a schematic diagram of the laser obstacle avoidance module according to an embodiment of this application from a first-view perspective.

[0028] Figure 3 is a structural schematic diagram of the laser obstacle avoidance module according to an embodiment of this application from a second perspective.

[0029] Figure 4 is a structural schematic diagram of the bracket according to an embodiment of this application from a first-view perspective;

[0030] Figure 5 is a structural schematic diagram of the bracket according to an embodiment of this application from a second perspective;

[0031] Figure 6 is an enlarged view of point A in Figure 5;

[0032] Figure 7 is a structural schematic diagram of the bracket according to an embodiment of this application from a third perspective;

[0033] Figure 8 is a structural schematic diagram of the bracket according to an embodiment of this application from a fourth perspective;

[0034] Figure 9 is a structural schematic diagram of a bracket according to another embodiment of this application;

[0035] Figure 10 is an enlarged view of point B in Figure 9.

[0036] The reference numerals in the attached figures are as follows:

[0037] 1. Bracket; 11. Mounting slot; 12. Limiting protrusion; 13. Limiting stop; 14. Mounting hole; 15. Receiving slot; 16. Wire fastener; 17. Mounting ear; 18. Inner wall surface; 19. Outer wall surface; 2. Laser generator; 3. Camera; 4. Transparent cover. Detailed Implementation

[0038] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0041] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0042] During the use of cleaning equipment, inaccurate or untimely obstacle avoidance may occur, leading to collisions between the equipment and obstacles, affecting its cleaning effectiveness and lifespan. Through in-depth investigation, the inventors discovered that the root cause lies in the deformation of the adhesive layer between the laser generator and the support. Specifically, because the adhesive layer is sensitive to environmental factors, it is prone to deformation in high-temperature and high-humidity environments, causing a change in the laser generator's emission direction, which in turn leads to deviations in obstacle detection and obstacle avoidance failures. Based on this key discovery, this application is proposed to effectively solve the problem of inaccurate obstacle avoidance caused by adhesive layer deformation in the laser obstacle avoidance module of cleaning equipment.

[0043] Referring to Figures 1 to 10, according to a first aspect of the embodiments of this application, a laser obstacle avoidance module is provided, including a bracket 1 and a laser generator 2. A positioning structure is provided on the bracket 1, and the positioning structure abuts against the laser generator 2 to position the laser generator 2 on the bracket 1.

[0044] By setting a positioning structure on the bracket 1 and making the positioning structure abut against the laser generator 2, the laser generator 2 can be accurately positioned on the bracket 1. This can better fix the position of the laser generator 2, making the laser generator 2 stable during operation and reducing the problem of deviation in the detection laser emission angle caused by positional offset and other factors. This effectively improves the accuracy of obstacle detection, reduces the probability of detection errors, and thus reduces the probability of the cleaning equipment colliding with obstacles during use.

[0045] Compared to the method of connecting the laser generator 2 and the bracket 1 by bonding with an adhesive layer, the laser obstacle avoidance module provided in this embodiment will not have problems such as laser generator 2 position displacement or loose connection due to adhesive layer aging or deformation. This ensures that the laser obstacle avoidance module works continuously and stably, reduces the risk of downtime and damage caused by obstacle avoidance failure, and thus ensures that the cleaning equipment has a good service life and improves the reliability of the cleaning equipment in high temperature and high humidity environments.

[0046] Furthermore, by setting up bracket 1 and a positioning structure on bracket 1, a stable setting position is provided for laser generator 2. When assembling laser generator 2, it is only necessary to place laser generator 2 on the positioning structure and make it abut against the positioning structure, eliminating the cumbersome glue application operation, shortening the assembly time of a single product, thereby improving production efficiency and enabling the production line to produce more products in the same amount of time.

[0047] Among them, the laser obstacle avoidance module can be applied to automatic cleaning equipment. The laser generator 2 is fixed to the housing of the automatic cleaning equipment by the bracket 1. The bracket 1 can be detachably connected to the housing and can be removed when the laser generator 2 malfunctions, so as to realize maintenance and replacement.

[0048] During assembly, the laser generator 2 is first installed on the positioning structure of the bracket 1, and then the bracket 1 is installed on the housing, making the installation process simpler and more convenient.

[0049] Specifically, bracket 1 is installed on the outer wall of the front side of the housing. The front side of the housing refers to the outer wall on the side of the automatic cleaning equipment in the forward direction. The laser generator 2 emits light in the forward direction, so that when the automatic cleaning equipment moves forward, it can detect obstacles through the laser obstacle avoidance module.

[0050] Specifically, laser generator 2 is a line laser generator.

[0051] The bracket is provided with a mounting groove 11, and the laser generator is inserted into the mounting groove 11. At least a part of the groove wall of the mounting groove 11 forms a positioning structure.

[0052] By setting up the mounting groove 11 and placing the laser generator 2 inside the mounting groove 11, at least a portion of the groove wall of the mounting groove 11 forms a positioning structure. This allows the groove wall of the mounting groove 11 to support and constrain the laser generator 2 in the circumferential direction, creating a relatively closed installation environment. This enables the laser generator 2 to be accurately positioned on the bracket 1 and enhances the stability of the laser generator 2 on the bracket 1. As a result, the laser generator 2 can better resist external impacts and vibrations during the operation of the automatic cleaning equipment, reducing positional changes caused by shaking, and further improving the reliability and service life of the product.

[0053] The mounting slot 11 provides an assembly position, allowing the laser generator 2 to be simply inserted into the slot during installation, greatly reducing assembly difficulty and improving efficiency. Simultaneously, the slot's structure restricts the movement of the laser generator 2 in other directions, making the installation process more stable and reliable, and reducing installation errors caused by improper operation.

[0054] The mounting groove can be a square groove, a circular groove, or other groove types, and the shape of the mounting groove 11 is adapted to the outer contour of the laser generator 2. When the mounting groove is a square groove, at least one wall of the mounting groove forms a positioning structure. When the mounting groove is a circular groove or other groove types, at least one portion of the inner peripheral wall of the mounting groove forms a positioning structure and abuts against the laser generator 2.

[0055] The wall of the mounting groove can be flat or uneven. That is, the wall of the mounting groove can extend linearly along the insertion direction of the laser generator 2, or part of the groove wall can deviate from this direction, for example, by having protrusions or recesses. These protrusions or recesses can form a convex-concave fit with the outer wall of the laser generator 2, thereby creating a stop and limit in the insertion direction of the laser generator 2.

[0056] In one embodiment, the mounting slot can be a through slot, that is, a through-hole structure. In other words, the laser generator 2 can be installed from one side opening of the mounting slot 11, and the laser emitted by the laser generator 2 can be emitted from the other side opening.

[0057] In one embodiment, the mounting groove 11 is a circumferentially closed straight groove formed on the bracket 1 and extending through both ends. The laser generator 2 is inserted into the mounting groove 11, and the groove wall of the mounting groove 11 provides support for the laser generator 2 along the outer periphery of the laser generator 2. The laser generator 2 can be easily assembled, and it is ensured that the laser emitted by the laser generator 2 can be emitted from the mounting groove 11 without obstruction.

[0058] It should be noted that the wall of the mounting groove 11 can provide support for the laser generator 2 in the entire circumference, or it can provide support for the laser generator 2 in a certain part of the circumference.

[0059] In one embodiment, the mounting slot can be a non-through slot structure, that is, one end of the mounting slot has an opening and the other end is closed. The mounting slot is opened on the front side of the bracket 1, that is, the opening of the mounting slot faces the laser emission direction. The tail end of the laser generator 2 is inserted into the mounting slot 11, and the end of the laser generator 2 that emits laser light is located at the opening of the mounting slot, thereby avoiding blocking the laser.

[0060] As shown in Figure 8, the bracket 1 includes an inner wall surface 18 and an outer wall surface 19. The inner wall surface 18 is used to abut against the mounting carrier, and the outer wall surface 19 is located on the side away from the mounting carrier. The mounting groove 11 penetrates the inner wall surface 18 and the outer wall surface 19 at a preset angle so that the angle between the emission direction of the laser generator 2 and the horizontal direction is within a preset range.

[0061] By having the mounting slot 11 penetrate the inner wall 18 and the outer wall 19 at a preset angle, it is ensured that after the laser generator 2 is installed in the slot, the angle between the laser emission direction and the horizontal direction can be precisely within the preset range. This provides accurate obstacle avoidance information for the automatic cleaning equipment, ensuring that the automatic cleaning equipment can achieve obstacle avoidance function, avoiding collisions during operation, and improving the safety and reliability of the equipment.

[0062] The mounting carrier can be the housing of the aforementioned automatic cleaning equipment, or other objects used to install and support the laser obstacle avoidance module.

[0063] The bracket 1 can be a flat plate-like structure. The bracket 1 is attached to the outer wall of the housing of the automatic cleaning equipment. The wall surface of the bracket 1 that is opposite to and attached to the housing is the inner wall surface 18, and the wall surface that is away from the housing and opposite to the inner wall surface 18 is the outer wall surface 19.

[0064] Specifically, the inner wall surface 18 and the outer wall surface 19 are the two relatively large wall surfaces in the support 1.

[0065] The preset angle refers to the angle formed by the mounting groove 11 with the inner wall surface 18 and the outer wall surface 19.

[0066] Specifically, the inner wall surface 18 and the outer wall surface 19 are approximately parallel planes. The mounting groove 11 penetrates the inner wall surface 18 and the outer wall surface 19 at a preset angle. The angle formed in the vertical direction by the center line of the mounting groove 11 and the inner wall surface 18 and the outer wall surface 19 is the preset angle. After the bracket 1 is installed on the automatic cleaning equipment, the bracket 1 is vertically positioned, and the angle formed between the laser emitted by the laser generator 2 on the bracket 1 and the horizontal plane is within a preset range.

[0067] The laser emitted by laser generator 2 can be emitted diagonally upward, horizontally, or diagonally downward, and the appropriate emission direction can be selected according to the actual situation.

[0068] In one embodiment, the laser emitted by the laser generator 2 is emitted diagonally downwards within a preset range of 10° to 20°. That is, the angle formed between the laser emitted diagonally downwards by the laser generator 2 and the horizontal plane is within the range of 10° to 20°, which can achieve accurate detection of obstacles. Of course, if the angle exceeds the range of 10° to 20°, obstacle detection can still be achieved to a certain extent.

[0069] It should be noted that the setting of the preset angle range is related to the height of the automatic cleaning equipment and the setting height of bracket 1. The preset angle range can be adjusted according to actual needs. How to calculate the laser emission direction and angle and how to set the preset angle range are conventional techniques and will not be elaborated here.

[0070] The shape of the mounting slot 11 is adapted to the outer contour of the laser generator 2.

[0071] By adapting the shape of the mounting groove 11 to the outer contour of the laser generator 2, the laser generator 2 is ensured to be accurately positioned and effectively supported within the mounting groove 11. This prevents the laser generator 2 from shaking or shifting after installation, ensuring its stability and reliability during operation. Consequently, it provides a stable and accurate obstacle avoidance function for the automatic cleaning equipment.

[0072] The groove shape of the mounting slot 11 is adapted to the outer contour of the laser generator 2. During the installation process, no extra time is required for adjustment and alignment. The installation can be completed simply by inserting the laser generator 2 into the through slot in the correct direction. This shortens the assembly time of a single product, significantly improves the assembly efficiency of the production line, and reduces production costs.

[0073] The shape of the mounting groove 11 is adapted to the outer contour of the laser generator 2, that is, the cross-section of the mounting groove 11 is adapted to the shape of the outer peripheral wall of the laser generator 2. For example, if the mounting groove 11 is a square groove, the outer contour of the laser generator 2 is a rectangular structure; if the mounting groove 11 is a circular groove, the outer contour of the laser generator 2 is a cylindrical structure. The dimensions of the mounting groove 11 are also adapted to the outer contour dimensions of the laser generator 2, thus enabling the laser generator 2 to be smoothly assembled into the mounting groove 11.

[0074] In one embodiment, the mounting groove 11 is a square groove, and the outer peripheral wall of the laser generator 2 is adapted to the mounting groove 11.

[0075] Specifically, the cross-sectional shape of the mounting groove 11 is rectangular, and the outer contour of the laser generator 2 is a rectangular structure with a size smaller than that of the mounting groove 11, so that the laser generator 2 can be fitted into the mounting groove 11.

[0076] In one embodiment, the mounting slot 11 and the laser generator 2 can be clearance fit, and the slot wall of the mounting slot 11 is fixed with adhesive by applying adhesive to the outer wall of the laser generator 2.

[0077] It should be noted that by fixing the mounting slot 11 to the laser generator 2 with adhesive, the mounting slot 11 and the laser generator 2 can be rigidly connected, which will not affect the positioning effect of the laser generator 2.

[0078] The mounting slot 11 and the laser generator 2 are fitted with a small gap, which facilitates assembly and reduces the amount of adhesive used, thereby ensuring the strength of the fixed connection between the mounting slot 11 and the laser generator 2 and ensuring good positioning effect.

[0079] In this case, part of the groove wall of the mounting slot 11 directly abuts against the laser generator 2, while the other part of the groove wall is fixed to the laser generator 2 by adhesive dispensing, which can also ensure a good positioning effect.

[0080] In one embodiment, the mounting slot 11 is interference-fitted with the laser generator 2.

[0081] By interfering with the mounting groove 11 and the laser generator 2, the groove wall of the mounting groove 11 is tightly pressed together with the outer wall of the laser generator 2, generating sufficient friction and clamping force, thereby firmly fixing the laser generator 2 in the through groove. This effectively prevents the laser generator 2 from shifting, loosening or falling off, ensuring stability and reliability during long-term use, and providing continuous and accurate obstacle avoidance function for automatic cleaning equipment.

[0082] During the interference fit installation process, the mounting groove 11 and the laser generator 2 are interference fitted, so that the laser generator 2 can be accurately positioned in the mounting groove 11 with high precision and accurate emission direction.

[0083] In one embodiment, as an interference fit between the mounting groove 11 and the laser generator 2, the circumferential outer wall of the laser generator 2 abuts against the mounting groove 11 to form an interference fit.

[0084] Specifically, the mounting slot 11 is a square slot, the outer contour of the laser generator 2 is a rectangular structure, and the four circumferential walls of the laser generator 2 are all in contact with the four slot walls of the square slot.

[0085] As shown in Figures 9 and 10, in another embodiment, as another interference fit between the mounting groove 11 and the laser generator 2, the positioning structure includes at least one limiting protrusion 12. The limiting protrusion 12 is formed on the groove wall of the mounting groove 11 and extends toward the inner side of the mounting groove 11. The limiting protrusion 12 abuts against the outer wall of the laser generator 2 to press and fix the laser generator 2 in the mounting groove 11. This also allows the laser generator 2 to be accurately positioned in the mounting groove 11 with high precision and accurate emission direction of the laser generator 2.

[0086] The limiting protrusion 12 is provided on the groove wall of the mounting groove 11 and extends toward the inner side of the mounting groove 11.

[0087] Specifically, the limiting protrusion 12 is formed on the groove wall of the mounting groove 11, and the limiting protrusion 12 protrudes towards the center line of the mounting groove 11.

[0088] More specifically, the protruding end of the limiting protrusion 12 can be a pointed structure, which can then penetrate into the outer wall of the laser generator 2 to ensure a good limiting effect.

[0089] Among them, the groove wall in the mounting groove 11 that does not directly abut against the laser generator 2, that is, the groove wall where the limiting protrusion 12 is located, can be bonded to the laser generator 2 by applying adhesive, thereby enhancing the fixing effect.

[0090] As shown in Figure 10, the mounting groove 11 is a square groove. The square groove includes a first groove wall and a second groove wall arranged opposite to each other, as well as a third groove wall and a fourth groove wall arranged opposite to each other. The first groove wall is provided with a limiting protrusion 12 to press the laser generator 2 onto the second groove wall. The third groove wall is provided with a limiting protrusion 12 to press the laser generator 2 onto the fourth groove wall.

[0091] By setting the mounting slot 11 as a square slot and cooperating with the limiting protrusion 12, the laser generator 2 can be precisely positioned and secured from two mutually perpendicular directions. The limiting protrusion 12 on the first slot wall presses the laser generator 2 against the second slot wall, while the limiting protrusion 12 on the third slot wall presses it against the fourth slot wall, ensuring that the position of the laser generator 2 in the mounting slot 11 is extremely stable, avoiding shaking or displacement, and ensuring the accuracy and reliability of the automatic cleaning equipment during obstacle avoidance.

[0092] The first, third, second, and fourth trench walls are all planar, and they are connected sequentially to form the walls of a complete square trench.

[0093] Limiting protrusions 12 are provided on the first and third groove walls adjacent to each other along the two circumferences of the laser generator. Limiting protrusions 12 are not provided on the second and fourth groove walls.

[0094] As shown in Figure 6, a limit stop 13 is formed at the opening of the mounting groove 11 away from the mounting carrier. The limit stop 13 extends inward to the inside of the groove to stop the laser generator 2 in the direction in which the laser generator 2 is inserted into the mounting groove 11.

[0095] By setting a limit stop 13, the laser generator 2 can be effectively prevented from coming out of the mounting slot 11 from the direction away from the mounting carrier, which further improves the installation stability.

[0096] Among them, the limit stop 13 can be integrally formed with the bracket 1.

[0097] The limiting stop 13 is formed on the groove of the mounting groove 11 on the side away from the mounting carrier and extends toward the inside of the mounting groove 11.

[0098] Specifically, there are two limit stops 13. Both limit stops 13 are flat and are arranged one above the other with a gap in between, so that the laser emitted by the laser generator 2 can pass through. The upper limit stop 13 extends downward and the lower limit stop 13 extends upward, that is, both limit stops 13 extend toward the center line of the groove at the groove opening.

[0099] The bracket 1 is a long strip structure. In one embodiment, the mounting groove 11 can be set in the middle of the bracket 1 along its length, so that the laser generator 2 is located in the middle of the bracket 1, making the bracket 1 more evenly stressed and improving the stability of the overall structure.

[0100] The middle part of bracket 1 refers to the middle part of bracket 1 in the length direction, that is, the center point of mounting groove 11 is located on the line of symmetry extending along the width direction in bracket 1.

[0101] As shown in Figure 4, the mounting slot 11 can also be set on one side of the bracket 1 along the length direction, which can leave more space for other components according to the specific design requirements of the automatic cleaning equipment.

[0102] When bracket 1 is installed on automatic cleaning equipment, its length direction is horizontal, and the mounting slot 11 can be set on the left or right side of bracket 1.

[0103] As shown in Figures 1 and 3, the laser obstacle avoidance module also includes a camera 3. As shown in Figure 4, the bracket 1 is provided with a mounting hole 14, and the camera 3 is installed in the mounting hole 14.

[0104] By setting up camera 3, the laser obstacle avoidance module is equipped with visual detection function. Camera 3 can capture image information of the surrounding environment. Combined with the laser detection function of laser generator 2, it can provide richer and more comprehensive environmental perception data for automatic cleaning equipment.

[0105] The camera 3 is also facing the front of the automatic cleaning device, meaning that the shooting direction of the camera 3 is roughly the same as the emission direction of the laser generator 2.

[0106] The bracket 1 is a long strip structure, and the mounting hole 14 is located in the middle of the bracket 1 along its length. The camera 3 and the laser generator 2 are arranged opposite or staggered in the width direction of the bracket 1.

[0107] Setting the mounting hole 14 in the middle of the length direction makes the layout of the camera 3 on the bracket 1 more symmetrical, which can maintain the weight balance of the entire laser obstacle avoidance module and thus improve the stability of the automatic cleaning equipment during operation.

[0108] In one embodiment, the laser generator 2 is also located in the middle of the support 1 along its length, that is, the mounting groove 11 is also located in the middle of the support 1 along its length. The camera 3 and the laser generator 2 are opposite each other in the width direction of the support 1, that is, the camera 3 and the laser generator 2 are opposite each other in the vertical direction, which further ensures the weight balance of the entire laser obstacle avoidance module and improves the stability of the automatic cleaning equipment.

[0109] In one embodiment, the laser generator 2 is disposed on one side of the bracket 1 along its length, and the camera 3 is disposed in the middle of the bracket 1 along its length, such that the camera 3 and the laser generator 2 are staggered in the width direction of the bracket 1, that is, staggered in the vertical direction, so that the conductive wires and signal wires of the camera 3 can be staggered from the conductive wires and signal wires of the laser generator 2, which facilitates installation and cable management.

[0110] As shown in Figure 2, a transparent cover 4 is provided on the outer wall of the bracket 1 away from the mounting carrier. The transparent cover 4 covers the camera end of the camera 3 and the emission end of the laser generator 2.

[0111] By setting transparent covers 4 on the camera end of camera 3 and the output end of laser generator 2, it is possible to effectively block dust, water vapor, oil and other impurities from entering, avoid pollutants from adhering to and obstructing the lens or scattering the laser, reduce image clarity and laser detection accuracy, and ensure that the obstacle avoidance function of the automatic cleaning equipment is stable and reliable in the long term.

[0112] The transparent cover 4 can be transparent glass or transparent plastic, etc.

[0113] The bracket 1 has a receiving groove 15 on its outer wall away from the mounting carrier. The transparent cover 4 is placed in the receiving groove 15, and the thickness of the transparent cover 4 is the same as the depth of the receiving groove 15.

[0114] By setting the receiving groove 15, an installation position is provided for the transparent cover 4, and the transparent cover 4 is prevented from protruding, so that the transparent cover 4 provides a flat and uniform surface for the outer wall of the bracket 1, making the overall appearance of the laser obstacle avoidance module cleaner and more beautiful.

[0115] The shape and size of the transparent cover 4 are adapted to the shape and size of the receiving groove 15, so that the transparent cover 4 is just embedded in the receiving groove 15.

[0116] As shown in Figures 5 and 7, a wire fastener 16 is provided on the inner wall surface 18.

[0117] By setting the cable fixing clips 16, a fixing point is provided for the cables of the laser generator 2, allowing the cables to be arranged orderly along the inner wall 18 of the bracket 1. During the operation of the automatic cleaning equipment, the cables will not swing or tangle, avoiding problems such as wire wear and short circuits that may be caused by messy cables. The neat and standardized cable layout not only improves the utilization of space, but also facilitates subsequent maintenance and repair work.

[0118] The wire fastener 16 is located below the laser generator 2.

[0119] In a second aspect of this embodiment, an automatic cleaning device is provided, including the laser obstacle avoidance module as described above.

[0120] As shown in Figure 8, the automatic cleaning equipment includes a housing, and the bracket 1 includes a mounting ear 17. The laser obstacle avoidance module is connected to the housing through the mounting ear 17.

[0121] The mounting ear 17 can be integrally formed with the bracket 1.

[0122] There are two mounting ears 17, one formed on the left side of the bracket 1 and the other formed on the right side of the bracket 1.

[0123] Specifically, the through hole for mounting ear 17 can be set vertically. The through hole is used to pass through bolts, and then the laser obstacle avoidance module is connected to the housing by bolts to realize the assembly of the laser obstacle avoidance module and the housing.

[0124] A third aspect of this embodiment provides an automatic cleaning system, including a base station and an automatic cleaning device as described above, the automatic cleaning device being configured to be docked on the base station.

[0125] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0126] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely implementation methods of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A laser obstacle avoidance module, wherein, The device includes a support and a laser generator. The support is provided with a positioning structure that abuts against the laser generator to position the laser generator on the support.

2. The laser obstacle avoidance module according to claim 1, wherein, The bracket is provided with a mounting groove, the laser generator is inserted into the mounting groove, and at least a portion of the groove wall of the mounting groove forms the positioning structure.

3. The laser obstacle avoidance module according to claim 2, wherein, The bracket includes an inner wall surface and an outer wall surface. The inner wall surface is used to abut against the mounting carrier, and the outer wall surface is located on the side away from the mounting carrier. The mounting groove penetrates the inner wall surface and the outer wall surface at a preset angle so that the angle between the emission direction of the laser generator and the horizontal direction is within a preset range.

4. The laser obstacle avoidance module according to claim 2, wherein, The shape of the mounting groove is adapted to the outer contour of the laser generator.

5. The laser obstacle avoidance module according to claim 4, wherein, The mounting groove is a square groove, and the outer peripheral wall of the laser generator is adapted to the mounting groove.

6. The laser obstacle avoidance module according to claim 2, wherein, The mounting slot is interference-fitted with the laser generator.

7. The laser obstacle avoidance module according to claim 2, wherein, The positioning structure includes at least one limiting protrusion formed on the wall of the mounting groove and extending toward the inside of the mounting groove. The limiting protrusion abuts against the outer wall of the laser generator to press and fix the laser generator in the mounting groove.

8. The laser obstacle avoidance module according to claim 7, wherein, The mounting groove is a square groove, which includes a first groove wall and a second groove wall, as well as a third groove wall and a fourth groove wall, which are arranged opposite to each other. The first groove wall is provided with the limiting protrusion to press the laser generator onto the second groove wall, and the third groove wall is provided with the limiting protrusion to press the laser generator onto the fourth groove wall.

9. The laser obstacle avoidance module according to claim 3, wherein, A limiting stop is formed at the opening of the mounting groove away from the mounting carrier. The limiting stop extends inward to the opening of the groove to stop the laser generator in the direction in which the laser generator is inserted into the mounting groove.

10. The laser obstacle avoidance module according to claim 2, wherein, The bracket is a long strip structure, and the mounting groove is located in the middle of the bracket along its length or on one side of the bracket along its length.

11. The laser obstacle avoidance module according to claim 3, wherein, The laser obstacle avoidance module also includes a camera, and the bracket is provided with a mounting hole, in which the camera is mounted.

12. The laser obstacle avoidance module according to claim 11, wherein, The bracket is a long strip structure, the mounting hole is located in the middle of the bracket along its length, and the camera and the laser generator are arranged opposite or staggered in the width direction of the bracket.

13. The laser obstacle avoidance module according to claim 12, wherein, A transparent cover is provided on the outer wall of the bracket away from the mounting carrier, and the transparent cover covers the camera end of the camera and the emission end of the laser generator.

14. The laser obstacle avoidance module according to claim 13, wherein, The bracket has a receiving groove on its outer wall away from the mounting carrier, and the transparent cover is disposed in the receiving groove. The thickness of the transparent cover is the same as the depth of the receiving groove.

15. The laser obstacle avoidance module according to claim 3, wherein, The inner wall surface is provided with a wire fastener.

16. An automatic cleaning device, wherein, Includes the laser obstacle avoidance module as described in any one of claims 1 to 15.

17. The automatic cleaning device according to claim 16, wherein, The automatic cleaning device includes a housing, the bracket includes mounting ears, and the laser obstacle avoidance module is connected to the housing via the mounting ears.

18. An automatic cleaning system, wherein, It includes a base station and an automatic cleaning device as described in claim 16 or 17, the automatic cleaning device being configured to be docked at the base station.

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