CN221635672U - Sensor assembly and floor cleaning robot - Google Patents

Abstract

Embodiments of the present application provide a sensor assembly and a floor scrubbing robot. The sensor assembly includes a housing, a camera, and a first radar; the shell comprises a first shell and a second shell, and the first shell is arranged on the second shell and is positioned on the front side of the shell; the camera is used for shooting an external environment; at this time, the first radar is arranged on the upper side of the first shell, and the first radar is arranged on the first shell so as to be fixed on the first shell, is positioned on the upper side of each camera and is matched with the cameras; the first radar is used for scanning the external environment, and the first radar is matched with the cameras, so that the sensing range of the sensor assembly is ensured. The cost of a plurality of ultrasonic radars is greater than that of a first radar and a plurality of cameras, and the first radar and the plurality of cameras replace the plurality of ultrasonic radars, so that the cost of the sensor assembly is reduced.

Description

Sensor component and floor cleaning robot

Technical Field

The present application relates to the technical field of sensor components, and in particular, to a sensor component and a floor-cleaning robot.

Background Art

With the development of science and technology, floor scrubbing robots are used in indoor scenes or cleaning scenes. The floor scrubbing robot includes a shell and multiple ultrasonic radars. The multiple ultrasonic radars are connected to the shell. At this time, the multiple ultrasonic radars are arranged at intervals along the circumference of the shell. The ultrasonic radar, as a safety auxiliary device, can inform the user of surrounding obstacles with sound or a more intuitive display. However, the cost of multiple ultrasonic radars is high, resulting in a high cost of existing floor scrubbing robots.

Utility Model Content

An embodiment of the present application provides a sensor assembly and a floor cleaning robot. In this case, a first radar is arranged on the upper side of a first shell, and the first radar is installed on the first shell so that the first radar is fixed to the first shell. The first radar is on the upper side of each camera and cooperates with multiple cameras. The first radar is used to scan the external environment. The first radar is matched with multiple cameras to form multiple ultrasonic radars, thereby ensuring the sensing range of the sensor assembly. The cost of multiple ultrasonic radars is greater than the cost of the first radar and multiple cameras. The first radar and multiple cameras replace multiple ultrasonic radars, thereby reducing the cost of the sensor assembly.

Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

According to one aspect of an embodiment of the present application, a sensor assembly is provided, which is applied to a floor scrubbing robot;

The sensor assembly comprises:

A housing, comprising a first housing and a second housing, wherein the first housing is mounted on the second housing and is located at the front side of the housing;

A plurality of cameras are respectively installed on the front side wall of the first housing and the outer side wall of the second housing, and a camera area is formed between the plurality of cameras, and the cameras are used to photograph the external environment;

The first radar is installed on the first shell and is located on the top of the first shell; the first radar is located on the upper side of each of the cameras and cooperates with the multiple cameras; the first radar is used to scan the external environment.

Optionally, a mounting seat is protruding from the outer side wall of the second shell, and the camera is mounted on the mounting seat and arranged along an incline, wherein the shooting end of the camera faces forward and downward.

Optionally, the mounting seat is inclined along the front-to-back direction, and the mounting seat is provided with a first mounting groove; the camera is detachably mounted in the first mounting groove.

Optionally, there are two cameras, which are respectively installed on the left wall and the right wall of the second shell and arranged in an "eight" shape; the shooting ends of the two cameras face forward and downward.

Optionally, the camera is located on the front side wall of the first shell, the front side wall of the first shell is provided with a second mounting groove, the second mounting groove extends along the front and lower direction, and the camera is installed in the second mounting groove.

Optionally, the sensor assembly also includes a camera, which is installed on the front side wall of the first shell and is above the camera; the camera cooperates with the camera located on the front side wall of the first shell; and the camera end of the camera is used to face forward.

Optionally, the first radar is rotatably mounted on the first housing, and the detection end of the first radar rotates as the first radar rotates.

Optionally, the sensor assembly further includes a second radar, which is installed in the second shell and located at the bottom of the second shell, and the first radar is located above the second radar.

Optionally, the first radar is a multi-line laser radar, and the second radar is a single-line laser radar.

A floor-cleaning robot comprises the sensor assembly.

In the technical solutions provided in some embodiments of the present application, the shell includes a first shell and a second shell, the first shell is installed on the second shell and is on the front side of the shell; multiple cameras are respectively installed on the front side wall of the first shell and the outer side wall of the second shell, a camera area is formed between the multiple cameras, and the cameras are used to shoot the external environment; the first radar is installed on the first shell and is on the top of the first shell; the first radar is on the upper side of each camera and cooperates with the multiple cameras; the first radar is used to scan the external environment. At this time, the first radar is arranged on the upper side of the first shell, and the first radar is installed on the first shell so that the first radar is fixed to the first shell, and the first radar is on the upper side of each camera and cooperates with the multiple cameras; the first radar is used to scan the external environment, and the first radar is matched with multiple cameras to form multiple ultrasonic radars, thereby ensuring the sensing range of the sensor assembly, and the cost of the multiple ultrasonic radars is greater than the cost of the first radar and the multiple cameras. The first radar and the multiple cameras replace the multiple ultrasonic radars, thereby reducing the cost of the sensor assembly.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

FIG1 shows a schematic diagram of a sensor assembly according to an embodiment of the present application;

FIG2 shows an exploded view of a sensor assembly according to an embodiment of the present application;

FIG3 shows a schematic diagram of a first housing of a sensor assembly according to an embodiment of the present application;

FIG4 is a partial enlarged view taken along line A in FIG3 ;

FIG5 shows a schematic diagram of a second housing of a sensor assembly according to an embodiment of the present application;

Reference numerals

100. Sensor assembly;

10. housing; 11. first housing; 111. second mounting groove; 12. second housing; 121. mounting seat; 121a. first mounting groove;

20. Camera; 20a. Camera area;

30. First radar;

40. Camera;

50. Second radar.

DETAILED DESCRIPTION

Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations/steps, nor must they be executed in the order described. For example, some operations/steps can be decomposed, while some operations/steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

Please refer to Figures 1 to 5. The embodiment of the present application provides a sensor assembly 100. The sensor assembly 100 is applied to a floor cleaning robot. In this case, the sensor assembly 100 is used to sense surrounding obstacles.

In an embodiment of the present application, the sensor assembly 100 includes a shell 10, multiple cameras 20 and a first radar 30, and the multiple cameras 20 and the first radar 30 are arranged on the outside of the shell 10, wherein the shell 10 serves as a supporting component of the sensor assembly 100 and is used to support the multiple cameras 20 and the first radar 30. Optionally, the shell 10 can be connected to a mobile vehicle and move with the movement of the mobile vehicle, so that the sensor assembly 100 moves with the movement of the mobile vehicle, thereby facilitating the forward and backward movement of the sensor assembly 100.

In an embodiment of the present application, the shell 10 includes a first shell 11 and a second shell 12. The first shell 11 is installed on the second shell 12 and is at the front side of the shell 10. At this time, the shell 10 is composed of the first shell 11 and the second shell 12. The first shell 11 is arranged on the outside of the second shell 12. The first shell 11 is installed on the second shell 12 so that the first shell 11 is fixed to the second shell 12. The first shell 11 is at the front side of the shell 10 so that the first shell 11 faces straight ahead.

In an embodiment of the present application, multiple cameras 20 are respectively installed on the front side wall of the first shell 11 and the outer wall of the second shell 12, and a camera area 20a is formed between the multiple cameras 20, and the camera 20 is used to shoot the external environment. At this time, the multiple cameras 20 are respectively arranged on the front side wall of the first shell 11 and the outer wall of the second shell 12, and the multiple cameras 20 are respectively installed on the front side wall of the first shell 11 and the outer wall of the second shell 12, so that the multiple cameras 20 are respectively fixed on the front side wall of the first shell 11 and the outer wall of the second shell 12, and a camera area 20a is formed between the multiple cameras 20, and the camera 20 is used to shoot the external environment, thereby facilitating the multiple cameras 20 to replace the multiple ultrasonic radars and reducing the ultrasonic radars around the shell 10.

In the embodiment of the present application, the first radar 30 is installed on the first housing 11 and is located at the top of the first housing 11; the first radar 30 is located on the upper side of each camera 20 and cooperates with multiple cameras 20; the first radar 30 is used to scan the external environment. At this time, the first radar 30 is set on the upper side of the first housing 11, and the first radar 30 is installed on the first housing 11, so that the first radar 30 is fixed to the first housing 11, and the first radar 30 is located on the upper side of each camera 20 and cooperates with multiple cameras 20; the first radar 30 is used to scan the external environment, and the first radar 30 matches multiple ultrasonic radars with multiple cameras 20, thereby ensuring the sensing range of the sensor assembly 100. The cost of multiple ultrasonic radars is greater than the cost of the first radar 30 and multiple cameras 20. The first radar 30 and multiple cameras 20 replace multiple ultrasonic radars, reducing the cost of the sensor assembly 100. At this time, the first radar 30 matches multiple ultrasonic radars with multiple cameras 20, so as to replace the traditional solution of multiple ultrasonic radars, and can achieve equivalent performance and be applied to multiple usage scenarios, while reducing the cost of the sensor assembly 100.

The outer wall of the second shell 12 is provided with a mounting seat 121, and the camera 20 is mounted on the mounting seat 121 and arranged along an incline, wherein the shooting end of the camera 20 faces the front and lower side. At this time, the mounting seat 121 is protruded outward from the outer wall of the second shell 12, and the camera 20 is arranged on the inner side of the mounting seat 121. The camera 20 is mounted on the mounting seat 121 so that the camera 20 is fixed to the mounting seat 121. The camera 20 is arranged along an incline, wherein the shooting end of the camera 20 faces the front and lower side, so that the camera 20 can record the environmental conditions of the front and lower side.

The mounting base 121 is inclined along the front-to-back direction, and the mounting base 121 is provided with a first mounting groove 121a; the first mounting groove 121a is recessed from bottom to top by the mounting base 121, and the groove opening of the first mounting groove 121a faces downward, and the inner contour of the first mounting groove 121a is adapted to the outer contour of the camera 20, so that the camera 20 can be connected to the mounting base 121 through the first mounting groove 121a, thereby facilitating the inclined arrangement of the camera 20, and the camera 20 can be detachably installed in the first mounting groove 121a, so that the camera 20 can be connected or detached from the first mounting groove 121a, and when the camera 20 is connected to the first mounting groove 121a, the camera 20 can record the environmental conditions in the front and lower part, and when the camera 20 is detached from the first mounting groove 121a, the camera 20 can be replaced or repaired.

There are two cameras 20, which are respectively installed on the left and right walls of the second shell 12 and arranged in an "eight" shape; the shooting ends of the two cameras 20 face the front and bottom, and the two cameras 20 are arranged to record the environmental conditions in the front and bottom of the left and right walls of the second shell 12, thereby facilitating increasing the shooting range of the camera 20.

A camera 20 is located on the front side wall of the first shell 11. The front side wall of the first shell 11 is provided with a second mounting groove 111. The second mounting groove 111 protrudes outward from the front side wall of the first shell 11. The notch of the second mounting groove 111 faces the front and lower part. The second mounting groove 111 extends along the front and lower direction. A camera 20 is arranged on the inner side of the first shell 11. A camera 20 is installed in the second mounting groove 111 so that the camera 20 can be connected to the first shell 11 through the second mounting groove 111. The shooting end of the camera 20 faces the front and lower part of the first shell 11 so that the camera 20 can record the environmental conditions of the front and lower part of the first shell 11.

The sensor assembly 100 also includes a camera 40, which is installed on the front side wall of the first shell 11 and is above the camera 20; the camera 40 cooperates with the camera 20 located on the front side wall of the first shell 11; the camera end of the camera 40 is used to face forward, at this time, the camera 40 is arranged on the inner side of the first shell 11, and the camera 40 is installed on the front side wall of the first shell 11, so that the camera 40 is fixed to the front side wall of the first shell 11, the camera 40 is above the camera 20, and the camera 40 cooperates with the camera 20 located on the front side wall of the first shell 11; the camera end of the camera 40 is used to face forward, so that the camera 40 records the environmental conditions directly in front of the first shell 11, so that the shooting range of the camera 40 and the shooting range of the camera 20 cover the environmental conditions in front of the first shell 11.

The first radar 30 is rotatably mounted on the first shell 11, and the detection end of the first radar 30 rotates with the rotation of the first radar 30. At this time, the first radar 30 is set at the top of the first shell 11 and is at the commanding height of the shell 10. The first radar 30 is rotatably mounted on the first shell 11 to facilitate adjustment of the position of the first radar 30 relative to the first shell 11, thereby facilitating the first radar 30 to rotate 360 degrees. The detection end of the first radar 30 rotates with the rotation of the first radar 30, so that the detection end of the first radar 30 detects the surroundings of the upper side of the first shell 11.

The sensor assembly 100 also includes a second radar 50, which is installed on the second shell 12 and is located at the bottom of the second shell 12. The first radar 30 is located above the second radar 50. At this time, the second radar 50 is arranged on the lower side of the second shell 12. The second radar 50 is installed on the second shell 12 so that the second radar 50 can be fixed on the lower side of the second shell 12 so that the detection end of the second radar 50 can detect the lower side of the second shell 12. Optionally, the first radar 30 is a multi-line laser radar and the second radar 50 is a single-line laser radar.

Workflow: Multiple cameras 20 are respectively arranged on the left side wall of the second housing 12, the right side wall of the second housing 12 and the front side wall of the first housing 11, two cameras 20 are respectively installed on the left side wall of the second housing 12, the right side wall of the second housing 12 and the front side wall of the first housing 11, the camera 20 on the left side wall of the second housing 12 and the camera 20 on the right side wall of the second housing 12 are arranged in an inclined direction and tilted toward the front and lower side of the second housing 12, so that the camera 20 on the left side wall of the second housing 12 and the camera 20 on the right side wall of the second housing 12 can shoot the left side wall of the first housing 11 and the first The external environment conditions of the right side wall of the shell 11, a camera 20 is installed on the front side wall of the first shell 11, the camera 20 of the front side wall of the first shell 11 is arranged in an inclined direction and inclined toward the front and lower part of the first shell 11, so that the camera 20 of the front side wall of the first shell 11 can shoot the front and lower part of the first shell 11, the camera 40 is installed on the front side wall of the first shell 11 and is on the upper side of the camera 20 of the front side wall of the first shell 11, the camera 40 shoots the external environment conditions directly in front of the first shell 11, so that multiple cameras 20 and cameras 40 are arranged along the peripheral side of the shell 10.

Among them, the first radar 30 and the second radar 50 are installed on the upper and lower sides of the shell 10, so that the first radar 30 and the second radar 50 can respectively detect the external environment conditions on the upper and lower sides of the shell 10. The first radar 30 is a multi-line laser radar, and the second radar 50 is a single-line laser radar. The single-line laser radar is cheaper than the multi-line laser radar, so that the first radar 30 and the second radar 50 and the three cameras 20 and the camera 40 can match multiple ultrasonic radars, thereby ensuring the sensing range of the sensor assembly 100. The cost of multiple ultrasonic radars is greater than the cost of the first radar 30 and the second radar 50 and the three cameras 20 and the camera 40. The first radar 30 and the second radar 50 and the three cameras 20 and the camera 40 replace multiple ultrasonic radars, thereby reducing the cost of the sensor assembly 100.

In another embodiment, a floor-cleaning robot includes a sensor assembly 100 . The sensor assembly 100 is a part of the floor-cleaning robot. The floor-cleaning robot is used for cleaning a floor.

In the technical solutions provided in some embodiments of the present application, the shell 10 includes a first shell 11 and a second shell 12, the first shell 11 is installed on the second shell 12 and is located on the front side of the shell 10; multiple cameras 20 are respectively installed on the front side wall of the first shell 11 and the outer side wall of the second shell 12, and a camera area 20a is formed between the multiple cameras 20, and the camera 20 is used to shoot the external environment; the first radar 30 is installed on the first shell 11 and is located on the top of the first shell 11; the first radar 30 is located on the upper side of each camera 20 and cooperates with the multiple cameras 20; the first radar 30 is used to scan the external environment, at this time, the first A radar 30 is arranged on the upper side of the first shell 11. The first radar 30 is installed on the first shell 11 so that the first radar 30 is fixed to the first shell 11. The first radar 30 is on the upper side of each camera 20 and cooperates with multiple cameras 20. The first radar 30 is used to scan the external environment. The first radar 30 is matched with multiple cameras 20 to form multiple ultrasonic radars, thereby ensuring the sensing range of the sensor assembly 100. The cost of multiple ultrasonic radars is greater than the cost of the first radar 30 and multiple cameras 20. The first radar 30 and multiple cameras 20 replace multiple ultrasonic radars, thereby reducing the cost of the sensor assembly 100.

In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

In the description of this application, the terms "second" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "second" and "second" may explicitly or implicitly include one or more features.

Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of the present application. At the same time, for technical personnel in this field, according to the idea of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims (10)

1. A sensor assembly, characterized by being applied to a floor scrubbing robot; the sensor assembly includes:

A housing including a first housing and a second housing, the first housing being mounted to the second housing and being at a front side of the housing;

A plurality of cameras respectively mounted on the front side wall of the first housing and the outer side wall of the second housing, wherein a camera area is formed among the cameras, and the cameras are used for shooting an external environment;

A first radar mounted to the first housing and located on top of the first housing; the first radar is positioned on the upper side of each camera and is matched with a plurality of cameras; the first radar is used for scanning an external environment.

2. The sensor assembly of claim 1, wherein the outer sidewall of the second housing is convexly provided with a mount, the camera being mounted to the mount and arranged in an inclined manner, wherein a photographing end of the camera faces forward and downward.

3. The sensor assembly of claim 2, wherein the mount is inclined in a front-to-rear direction, the mount being provided with a first mounting slot; the camera is detachably mounted in the first mounting groove.

4. The sensor assembly of claim 2, wherein the cameras have two, two of which are mounted to the left and right side walls of the second housing, respectively, and are arranged in a figure-eight configuration; the shooting ends of the two cameras face to the front lower side.

5. The sensor assembly of claim 1, wherein one of the cameras is located on a front side wall of the first housing, the front side wall of the first housing being provided with a second mounting groove extending in a front-down direction, the camera being mounted to the second mounting groove.

6. The sensor assembly of claim 5, further comprising a camera mounted to a front side wall of the first housing above the camera; the camera cooperates with the camera at a front side wall of the first housing; the camera end of the camera is used for facing forward.

7. The sensor assembly of claim 1, wherein the first radar is rotatably mounted to the first housing, the detection end of the first radar rotating with rotation of the first radar.

8. The sensor assembly of claim 7, further comprising a second radar mounted to the second housing at a bottom of the second housing, the first radar being above the second radar.

9. The sensor assembly of claim 8, wherein the first radar is a multi-line lidar and the second radar is a single-line lidar.

10. A floor scrubbing robot comprising a sensor assembly according to any one of claims 1 to 9.