WO2022083286A1 - 一种光学传感装置及具有该光学传感装置的自移动机器人 - Google Patents
一种光学传感装置及具有该光学传感装置的自移动机器人 Download PDFInfo
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- WO2022083286A1 WO2022083286A1 PCT/CN2021/115213 CN2021115213W WO2022083286A1 WO 2022083286 A1 WO2022083286 A1 WO 2022083286A1 CN 2021115213 W CN2021115213 W CN 2021115213W WO 2022083286 A1 WO2022083286 A1 WO 2022083286A1
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- optical
- optical sensor
- sensing device
- lens cover
- opening
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
Definitions
- the present application relates to the technical field of self-moving robots, and in particular, to an optical sensing device and a self-moving robot having the optical sensing device.
- a cleaning robot is an autonomous robot that automatically cleans in a specific area (such as indoors).
- the cleaning robot In order to identify the surrounding environment, the cleaning robot usually needs to arrange an optical sensing device, such as a camera. In order to prevent dust from contaminating the lens, the lens needs to be sealed. set up.
- a camera is installed in front of the traditional cleaning robot.
- the camera is fixed on the base of the machine body.
- the seal consists of two sections: the camera mounting hole of the camera lens cover is covered with glue, and then tightly assembled with the base of the machine body to realize the sealing of the front section of the camera; Seal the lens cover and the striker with soft glue to seal the entire section of the camera.
- This sealing method has the following disadvantages: the mounting hole needs to be aligned with the camera during installation. Therefore, it is only valid when the installation angles of a single camera or multiple cameras are at the same angle. For dual cameras with different angles, due to the thickness of the lens cover Unable to install.
- the present application provides an optical sensing device with a plurality of optical sensors of different angles, which is easy to assemble and has a dustproof effect, and a cleaning robot using the same.
- An optical sensing device comprising:
- the at least two optical sensors disposed on the base, the at least two optical sensors including a first optical sensor
- a first sealing member is disposed on the circumference of the first optical sensor, and the first sealing member is sandwiched between the base and the lens cover.
- a second optical sensor is included, the lens cover is provided with a second opening, and the second optical sensor is inserted between the second opening and the inner wall of the second opening form a seal.
- the optical axes of the first optical sensor and the second optical sensor are not parallel to each other.
- the lens cover is provided with a first opening, and the first optical sensor is inserted into the first opening.
- the lens cover is provided with a transparent cover
- the first optical sensor is arranged between the transparent cover and the base.
- the axial direction of the optical axis of the second optical sensor is parallel to the installation direction A of the lens cover.
- a second sealing member is provided between the second opening and the second optical sensor.
- first sealing member and/or the second sealing member comprise sealing foam and/or rubber.
- the optical sensor is a camera.
- the present invention also provides a self-moving robot, comprising:
- a striker plate arranged in front of the main body
- optical sensing device disposed on the main body, the optical sensing device being the optical sensing device described in any of the above embodiments;
- a flexible seal is arranged between the lens cover and the striker to form a sealed space.
- the optical sensing device provided by the present application and the cleaning robot having the same are aimed at the optical sensing device having at least two optical sensors, wherein a first sealing member is sandwiched between the first optical sensor and the lens cover for sealing, so as to achieve
- the installation and sealing of a plurality of optical sensors has a simple assembly structure and has a dustproof effect.
- FIG. 1 is a schematic diagram of a partially exploded structure of an optical sensing device proposed in an embodiment of the present application
- FIG. 2 is a schematic structural diagram of a lens cover of the optical sensing device in FIG. 1;
- FIG. 3 is a schematic diagram of an exploded structure of a cleaning robot proposed in an embodiment of the present application.
- Fig. 4 is the front view of the cleaning robot shown in Fig. 3;
- FIG. 5 is a schematic cross-sectional view of a part of the structure of the cleaning robot shown in FIG. 3 .
- FIG. 1 and 2 show an optical sensing device provided by an embodiment of the present application, including a base 141 , two optical sensors 31 and 32 , and a lens cover 27 .
- the two optical sensors 31 and 32 are both disposed on the base 141 , and the lens cover 27 is used to seal the two optical sensors 31 and 32 .
- the two optical sensors include the first optical sensor 31 .
- a first sealing member 60 is provided on the circumference of the first optical sensor 31, and the first sealing member 60 is sandwiched between the base 141 and the lens cover 27.
- the circumference of an optical sensor 31 forms a seal.
- one end surface of the first sealing member 60 is attached to the surface of the base 141 , and the opposite end surface is used for contacting the first plate surface 271 of the lens cover 27 .
- the first sealing member 60 is configured To compress the seal along the mounting direction of the seal cover 27 .
- the first sealing member 60 is a sealing foam or rubber, of course, it can also be a combination of sealing foam and rubber.
- the two optical sensors also include a second optical sensor 32 .
- the axes of the first optical sensor 31 and the second optical sensor 32 are not parallel to each other. As shown in FIG. 5 , the optical axis L of the first optical sensor 31 is not parallel to the optical axis I of the second optical sensor 32, that is, That is, the installation directions of the first optical sensor 31 and the second optical sensor 32 are not parallel.
- the first optical sensor 31 is sealed by sandwiching the first sealing member 60 between the lens cover 27 and the base 141 .
- the sealing structure is simple and does not interfere with the installation of the second optical sensor 32 .
- the sealing causes mutual interference, and the lens cover 27 can simultaneously realize the sealing of the two optical sensors.
- the lens cover 27 is covered on the first optical sensor 31 and the second optical sensor 32, which can prevent dust from contaminating the lens of the optical sensor.
- the lens cover 27 is connected to the base 141 to form a seal around the optical sensor.
- the lens of the optical sensor is sealed by the lens cover 27, and then a sealed space is formed by the sealing member and the lens cover 27. The sealed space isolates the lens of the optical sensing device from the outside world and prevents dust pollution. lens.
- the lens cover 27 is provided with an opening corresponding to each optical sensor, the opening is used for light to pass through, and specifically includes a first opening 2710 and a second opening 2720 .
- the first opening 2710 corresponds to the first optical sensor 31, and the second opening 2720 corresponds to the second optical sensor.
- the lens cover 27 includes a first layout 271 and a second layout 272 , the first opening 2710 is formed on the first layout 271 , and the second opening 2720 is formed on the second layout 272 .
- the first layout 271 and the second layout 272 are arranged at an angle.
- the first layout 271 and the second layout 272 are both flat plates.
- the lens cover 27 is made in one piece.
- the first opening 2710 is a see-through hole for see-through
- the see-through hole is arranged in front of the lens of the first optical sensor 31, and the first optical sensor 31 is not protruded, so it will not be inserted into the first opening 2710, does not affect the installation of the lens cover 27.
- the first optical sensor 31 can also be inserted into the first opening 2710 .
- the first optical sensor 31 is clearance fit with the inner wall of the first opening 2710 .
- the second optical sensor 32 is used to be inserted into the second opening 2720 to form a seal with the inner wall of the second opening 2720 .
- the lens cover 27 is mounted on the base 141 along the mounting direction A.
- the installation direction A is parallel to the axial direction of the second opening 2720, that is, the optical axis I of the second optical sensor 32 is parallel to the installation direction A of the lens cover 27.
- the second optical sensor 32 can play the role of guiding and assisting in positioning, so as to improve the assembly accuracy of the lens cover 27 .
- a second sealing member is provided between the second opening 2720 and the second optical sensor 32 , and the second sealing member is used to form a seal between the second opening 2720 and the second optical sensor 32 .
- the second sealing member includes a sealing rubber or sealing foam or rubber disposed on the inner wall of the second opening 2720, and when the second optical sensor 32 is inserted, it forms a sealing contact with the outer surface of the second optical sensor 32,
- a sealant can also be provided on the outer side of the second optical sensor 32, as long as the inner wall between the opening and the optical sensor can be sealed, which is not limited here.
- the second optical sensor 32 defines the installation direction A of the lens cover 27 , and the first optical sensor 31 is sandwiched between the base 141 and the lens cover 27 .
- the end face sealing method of the first sealing member 60 is simple and convenient in the installation process, and the sealing is good.
- the number of the second optical sensor 32 is only one, and the second optical sensor 32 is sealed by inserting the sealing member into the opening to the side wall of the opening, which can play a role of assisting positioning while sealing, and is compatible with other optical sensors. The seals of the optical sensors do not interfere with each other.
- the number of the second optical sensors 32 may be multiple, the multiple second optical sensors 32 are arranged parallel to each other, and the mounting axis is parallel to the mounting direction of the lens cover. Therefore, multiple second optical sensors 32 are parallel to each other. The optical sensors are all inserted into the corresponding openings to form seals with the inner walls of the openings.
- the number of the first optical sensors 31 may also be multiple.
- the first layout 271 is a transparent cover plate, and the transparent cover plate does not need a see-through hole to allow light to pass through.
- the transparent cover is provided on the optical sensor, and the first sealing member 60 is provided between the base 141 on which the optical sensor is installed.
- the number of optical sensors that are not parallel to each other may be more than two, however, one of the optical sensors is used to be inserted into one of the openings of the lens cover 27 to match the inner wall of the corresponding opening. A seal is formed between them, and the other two optical sensors that are not parallel to each other are sealed by sandwiching a seal.
- one or more optical sensors that are arranged in parallel with one of the optical sensors that are not parallel to each other may also be included, so that there are at least two optical sensors parallel to each other in the optical sensor, and at least two optical sensors that are parallel to each other
- the optical sensors can each be inserted into the corresponding openings to form a seal with the inner walls of the openings. Since the axial directions of the optical sensors parallel to each other are the same, their installation directions are also the same, which ensures that the lens cover plate is installed to the base along one installation direction, so as to realize the sealing of multiple optical sensors.
- the optical sensors that are parallel to each other can also be sealed by one or more of the first sealing members sandwiched between the base and the lens cover.
- the optical sensor is a camera, which is used to capture images of the surrounding environment.
- the optical sensor is an infrared sensor for sensing infrared information of the surrounding environment.
- the optical sensor may also be a laser sensor for emitting a laser signal to sense environmental obstacles.
- the optical sensing device described in this application is not limited to a combination of multiple types of optical sensors.
- the present application also provides a self-moving robot, and this embodiment specifically uses a cleaning robot as an example. See Figure 3-5. 3 shows a schematic diagram of an exploded structure of the cleaning robot proposed in this embodiment, FIG. 4 is a front view of the cleaning robot provided in this embodiment, and FIG. 5 is a partial structural cross-sectional schematic diagram of the cleaning robot shown in FIG. 1 .
- the cleaning robot includes a host 14 , a striker 12 , a flexible seal 23 , and also includes the optical sensing device provided in any of the above embodiments.
- the cleaning robot provided in this embodiment is used for cleaning the ground, and can autonomously move and perform cleaning tasks in a specific environment.
- the optical sensing device is arranged on the main body to sense the surrounding environment, so that the cleaning robot can intelligently control the walking and cleaning work according to the surrounding environment.
- the striker 12 is arranged in front of the main body 14. During the progress of the cleaning robot, if it encounters an obstacle, the striker 12 moves relative to the host 14, and the cleaning robot can judge that there is an obstacle ahead according to the relative displacement, and adjust the traveling direction as required.
- the flexible seal 23 is used to form a sealed space 40 between the striker 12 and the main body 14, thereby isolating the lens of the optical sensor from the external environment.
- the base 141 is used to be installed on the main body 14 so as to fix the optical sensing device on the main body 14 of the cleaning robot. Since the striker 12 needs to move relative to the main body 14, the flexible seal 23 has the ability to deform. When a collision occurs, the position of the main body 14 and the optical sensor will not move due to the collision. In the above situation, in the cleaning robot provided in this embodiment, the angle of the information collected by the optical sensor relative to the cleaning robot is constant and does not change, which reduces the requirement for data operation.
- the sealed space 40 is defined by the lens cover 27 , the flexible seal 23 and the striker 12 .
- a transparent window 121 is provided at the wall of the strike plate 12 defining the sealed space 40 , and the transparent window 121 is used for light to pass through.
- the flexible sealing member 23 is in sealing contact with the inner wall of the striker 12 , and also includes a sealing portion 25 for pressing and sealing the flexible sealing member 23 and the striker 12 . Specifically, the sealing portion 25 is clamped on the striker 12 along the circumferential direction, and the circumferential edge of the flexible sealing member 23 is clamped between the sealing portion 25 and the striker 12 .
- the flexible seal is made of rubber or flexible plastic.
- the base 141 can also be integrally formed with the main body 14 .
- the self-moving robot provided by the present application may include the cleaning robot described in the above embodiments, such as a household sweeping robot, a mopping robot, and an integrated sweeping and supporting robot. It can also be a robot for autonomous inspection, which detects the surrounding environment by setting up multiple optical sensors.
- the optical sensor device and the self-moving robot provided by the present application can solve the installation and sealing problems of a plurality of optical sensors with different angles, the installation structure is simple, and the lens is dustproof.
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Abstract
一种光学传感装置及具有该光学传感装置的自移动机器人,包括:基座(141);设置于基座(141)上的至少两个光学传感器(31、32),至少两个光学传感器(31、32)包括第一光学传感器(31);镜头盖板(27),用于密封光学传感器(31、32);其中,第一光学传感器(31)的周向设置第一密封件(60),第一密封件(60)夹设于基座(141)与镜头盖板(270)之间。该光学传感装置及具有其的自移动机器人,能够同时密封轴线不平行的光学传感器(31、32),且装配简单。
Description
本申请涉及自移动机器人技术领域,尤其涉及一种光学传感装置及具有该光学传感装置的自移动机器人。
清洁机器人,是一种自主的在特定区域(如室内)内自动清扫的机器人,清洁机器人为了识别周边环境,通常需要布置光学传感装置,比如摄像头,为了防止灰尘污染镜头,需要对镜头进行密封设置。
传统的清洁机器人前方安装一个摄像头,摄像头固定在机器本体底座上,密封包括两段:摄像头镜头盖板的摄像头安装孔通过包胶后,与机器本体底座紧配装配,实现摄像头的前段密封;再将镜头盖板和撞板间用软胶密封,实现摄像头的整段密封。这种密封方式有如下缺点:安装时需要将安装孔对准摄像头安装,因此,只在单摄像头或者多摄像头角度安装角度一致时有效,对于角度不同的双摄像头,由于镜头盖板具有一定厚度而无法安装。
在当今环境下,随着扫地机器人智能化的发展,在扫地机器人前方增加摄像头的方案屡见不鲜,然而摄像头的防尘一直是需要解决的技术问题,而由于目前清洁机器人功能的丰富化,前方会增加不止一个摄像头,摄像头功能不同也会导致安装角度不同,会给防尘带来较大的困难。
发明内容
针对上述技术中存在的不足之处,本申请提供了一种具有多个不同角度光学传感器的便于装配、又具有防尘效果的光学传感装置,及采用其的清洁机器人。
为解决上述技术问题,本申请采用的技术方案是:
一种光学传感装置,包括:
基座;
设置于所述基座上的至少两个光学传感器,所述至少两个光学传感包括第一光学传感器;
用于密封所述光学传感器的镜头盖板,;
其中,所述第一光学传感器的周向设置第一密封件,所述第一密封件夹设于所述基座与所述镜头盖板之间。
在其中一实施例中,包括第二光学传感器,所述镜头盖板设有第二开孔,所述第二光学传感器***所述第二开孔以与所述第二开孔的内壁之间形成密封。
在其中一实施例中,所述第一光学传感器和第二光学传感器的光轴轴线互不平行。
在其中一实施例中,所述镜头盖板设有第一开孔,所述第一光学传感器***所述第一开孔。
在其中一实施例中,所述镜头盖板设有透明盖板,所述第一光学传感器设于所述透明盖板与基座之间。
在其中一实施例中,所述第二光学传感器的光轴轴线方向平行于所述镜头盖板的安装方向A。
在其中一实施例中,所述第二开孔与所述第二光学传感器之间设有第二密封件。
在其中一实施例中,所述第一密封件和/或第二密封件包括密封泡棉和/或橡胶。
在其中一实施例中,所述光学传感器为摄像头。
本发明还提供了一种自移动机器人,包括
主体;
设置在所述主体前方的撞板;
设置于所述主体上的光学传感装置,所述光学传感装置为上述任意实施例所述的光学传感装置;以及
设置于所述镜头盖板和所述撞板之间用于形成密封空间的柔性密封件。
本申请与现有技术相比,其有益效果是:
本申请提供的光学传感装置及具有其的清洁机器人,针对具有至少两个光学传感器的光学传感装置,其中第一光学传感器与镜头盖板之间夹设第一密封件进行密封,从而实现多个光学传感器的安装和密封,装配结构简单,且具有防尘效果。
为了更清楚地说明本申请实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。其中:
图1是本申请实施例提出的光学传感装置的部分分解结构示意图;
图2是图1中的光学传感装置的镜头盖板结构示意图;
图3是本申请实施例提出的清洁机器人的分解结构示意图;
图4是图3所示的清洁机器人的正视图;
图5是图3所示的清洁机器人的部分结构剖面示意图。
为使本申请的上述目的、特征和优点能够更为明显易懂,下面结合附图,对本申请的具体实施方式做详细的说明。可以理解的是,此处所描述的具体实施例仅用于解释本申请,而非对本申请的限定。另外还需要说明的是,为了便于描述,附图中仅示出了与本申请相关的部分而非全部结构。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例,都属于本申请保护的范围。
本申请中的术语“包括”和“具有”以及它们任何变形,意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元,而是可选地还包括没有列出的步骤或单元,或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
在本文中提及“实施例”意味着,结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例,也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是,本文所描述的实施例可以与其它实施例相结合。
图1和图2示出了本申请一实施例提供的光学传感装置,包括基座141,两个光学传感器31、32,镜头盖板27。
其中,两个光学传感器31、32均设置于基座141上,镜头盖板27用于密封两个光学传感器31,32。两个光学传感器包括第一光学传感器31。为了密封第一光学传感器31,本实施例中,第一光学传感器31的周向设置第一密封件60,第一密封件60夹设于基座141与镜头盖板27之间,可以在第一光学传感器31的周向形成密封。具体的,第一密封件60一端面贴敷在基座141表面,相对的另一端面用于与镜头盖板27的第一板面271接触,在形成密封接触时,第一密封件60构造为沿着密封盖板27的安装方向压紧密封。可选的,第一密封件60为密封泡棉或者橡胶,当然也可以是密封泡棉和橡胶的组合。
两个光学传感器还包括第二光学传感器32。其中,第一光学传感器31与第二光学传感器32的轴线互不平行,如图5中,第一光学传感器31的光轴轴线L与第二光学传感器32的光轴轴 线I不平行,也就是说,第一光学传感器31与第二光学传感器32的安装方向的不平行。
本实施例中,第一光学传感器31采用在镜头盖板27与基座141之间夹设第一密封件60的方式进行密封,密封结构简单,且不会与第二光学传感器32的安装和密封造成相互干涉,镜头盖板27可以同时实现两个光学传感器的密封。
本实施例中,镜头盖板27盖设在第一光学传感器31和第二光学传感器32上,能够防止灰尘污染光学传感器的镜头。具体而言,镜头盖板27与基座141连接,在光学传感器的周围形成密封。在具体的实施场景中,通过镜头盖板27密封光学传感器的镜头,再通过密封部件与镜头盖板27围设形成密封空间,该密封空间使得光学传感装置的镜头与外界隔离,防止灰尘污染镜头。
请参见图1和图2,镜头盖板27上开设有对应每个光学传感器的开孔,开孔用于供光线透过,具体包括第一开孔2710和第二开孔2720。其中,第一开孔2710对应第一光学传感器31,第二开孔2720对应第二光学传感器。具体的,镜头盖板27包括第一版面271和第二版面272,第一开孔2710开设在第一版面271上,第二开孔2720开设在第二版面272上。其中,第一版面271与第二版面272呈角度设置。优选的,第一版面271和第二版面272均为平板。镜头盖板27为一体制成件。
具体的,第一开孔2710为用于透视的透视孔,该透视孔对齐设置于第一光学传感器31的镜头的前方,第一光学传感器31非凸出设置,因此不会***第一开孔2710内,不影响镜头盖板27的安装。当然在另一实施例中,第一光学传感器31也可***第一开孔2710。为了便于装配,第一光学传感器31与第一开孔2710的内壁之间间隙配合。
第二光学传感器32用于***第二开孔2720内以与第二开孔2720的内壁之间形成密封。参见图1,镜头盖板27沿着安装方向A安装于基座141上。具体而言,安装方向A平行于第二开孔2720的轴线方向,即第二光学传感器32的光轴轴线I方向平行于镜头盖板27的安装方向A,如此,安装镜头盖板27时,第二光学传感器32可作发挥导向和辅助定位作用,提高镜头盖板27的装配精度。
本实施例中,第二开孔2720与第二光学传感器32之间设有第二密封件,第二密封件用于在第二开孔2720与第二光学传感器32之间形成密封。具体而言,第二密封件包括设置在第二开孔2720内壁上的密封包胶或者密封泡棉或者橡胶,当第二光学传感器32***后与第二光学传感器32的外侧表面形成密封接触,当然,也可以在第二光学传感器32的外侧面设置密封包胶,只要能实现开孔与光学传感器之间的内壁密封即可,在此不作限定。
本实施例中,两个轴线方向不平行的光学传感器,其中第二光学传感器32定义了镜头盖 板27的安装方向A,第一光学传感器31采用基座141与镜头盖板27之间夹设第一密封件60的端面密封方式,安装过程简单方便,密封良好。可选的,第二光学传感器32的数量仅有一个,第二光学传感器32通过***开孔以开孔侧壁的密封件进行密封,能够在密封的同时起到辅助定位的作用,且与其他光学传感器的密封不会相互干扰。当然,在其他实施例中,第二光学传感器32的数量可以是多个,多个第二光学传感器32相互平行设置,且安装轴线与镜头盖板的安装方向均平行,因此,多个第二光学传感器均采用***对应的开孔内以与开孔内壁形成密封。相应的,第一光学传感器31的数量也可以是多个。
在另一实施例中,第一版面271为透明盖板,透明盖板无需开设透视孔,可使光线透过。具体而言,透明盖板盖设在光学传感器上,与安装光学传感器的基座141之间设置第一密封件60,透明盖板盖设在第一密封件60上,以方便形成端面密封。
在其他实施例中,两两互不平行的光学传感器的数量可以多于两个,然而,其中一个光学传感器用于***镜头盖板27的其中一个开孔内,以与相应的开孔的内壁之间形成密封,其他两两互不平行的光学传感器则使用夹设密封件的方式密封。
在另一的实施例中,还可以包括与相互不平行的光学传感器的其中一个平行设置的一个或者多个光学传感器,这样光学传感器至少存在两个相互平行的光学传感器,相互平行的至少两个光学传感器可以均***对应的开孔内以与开孔的内壁之间形成密封。由于相互平行的光学传感器的轴线方向相同,因此,其安装方向也相同,这保证了镜头盖板沿着一个安装方向安装至基座,实现多个光学传感器的密封。当然,相互平行的光学传感器也可以选择其中一个或多个在基座与镜头盖板之间夹设第一密封件的方式进行密封。
在一具体的实施场景中,光学传感器为摄像头,用于拍摄周围环境图像。在另一具体实施场景中,光学传感器为红外传感器,用于感测周围环境的红外信息。光学传感器还可以是激光传感器,用于发射激光信号,以对环境障碍进行感测。当然,本申请所述的光学传感装置也不限于包括多种类型的光学传感器的组合。
本申请还提供了一种自移动器人,本实施例具体以清洁机器人进行举例说明。请参见图3-5。其中,图3示出了本实施例提出的清洁机器人的分解结构示意图,图4是本实施例提供的清洁机器人的正视图,图5是图1所示的清洁机器人的部分结构剖面示意图。
如图1所示,清洁机器人包括主机14,撞板12,柔性密封件23,还包括上述任意实施例所提供的光学传感装置。
本实施例所提供的清洁机器人,用于地面的清洁,能够自主的在特定环境中自主移动和执行清扫任务。光学传感装置设置于主体上,用于感测周围环境,从而清洁机器人根据周围 环境智能控制行走和清扫工作。
撞板12设置在主体14的前方,在清洁机器人前进过程中,如果碰到障碍,撞板12相对主机14移动,清扫机器人可以根据该相对位移判断前方有障碍,并根据需要调整行进方向。
柔性密封件23用于在撞板12与主体14之间形成密封空间40,从而将光学传感器的镜头与外界环境隔离。其中基座141用于安装在主体14上,从而将光学传感装置固定设置在清洁机器人的主体14上。由于撞板12需要相对主体14活动,柔性密封件23具有形变能力,在发生碰撞时,主体14以及光学传感器的位置不会因为碰撞而发生移动,因此,相比将光学传感器设置在撞板12上的情况,本实施例提供的清洁机器人,光学传感器采集的信息相对清洁机器人角度恒定,不会发生变化,降低了对数据运算的要求。
密封空间40由镜头盖板27、柔性密封件23以及撞板12限定。撞板12限定密封空间40的壁处设置透明窗121,该透明窗121用于供光线透过。其中柔性密封件23与撞板12的内壁密封抵接,还包括用于将柔性密封件23与撞板12压紧密封的密封部25。具体的,密封部25沿周向方向卡接在撞板12上,密封部25与撞板12之间夹紧柔性密封件23的周向边缘。
具体的,柔性密封件为橡胶或者柔性塑料材质。
在另一实施例中,基座141也可以与主体14一体成型。
本申请所提供的自移动机器人,可以包括上述实施例所述的清洁机器人,如家用的扫地机器人、拖地机器人以及扫托一体机器人。也可以是用于自主巡查的机器人,通过设置多个光学传感器来探测周围环境。
综上所述,本申请提供的光学传感装置和具有其的自移动机器人,能够解决多个角度不同的光学传感器的安装和密封问题,其安装结构简单,且具有镜头防尘效果。
以上所述仅为本申请的实施方式,并非因此限制本申请的专利范围,凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其它相关的技术领域,均同理包括在本申请的专利保护范围内。
Claims (10)
- 一种光学传感装置,其特征在于,包括:基座;设置于所述基座上的至少两个光学传感器,所述至少两个光学传感包括第一光学传感器;用于密封所述光学传感器的镜头盖板;其中,所述第一光学传感器的周向设置第一密封件,所述第一密封件夹设于所述基座与所述镜头盖板之间。
- 根据权利要求1所述的光学传感装置,其特征在于,包括第二光学传感器,所述镜头盖板设有第二开孔,所述第二光学传感器***所述第二开孔以与所述第二开孔的内壁之间形成密封。
- 根据权利要求2所述的光学传感装置,其特征在于,所述第一光学传感器和第二光学传感器的光轴轴线互不平行。
- 根据权利要求2或3所述的光学传感装置,其特征在于,所述镜头盖板设有第一开孔,所述第一光学传感器***所述第一开孔。
- 根据权利要求2或3所述的光学传感装置,其特征在于,所述镜头盖板设有透明盖板,所述第一光学传感器设于所述透明盖板与基座之间。
- 根据权利要求2所述的光学传感装置,所述第二光学传感器的光轴轴线方向平行于所述镜头盖板的安装方向A。
- 根据权利要求2所述的光学传感装置,其特征在于,所述第二开孔与所述第二光学传感器之间设有第二密封件。
- 根据权利要求1或7所述的光学传感装置,其特征在于,所述第一密封件和/或第二密封件包括密封泡棉和/或橡胶。
- 根据权利要求1所述的光学传感装置,其特征在于,所述光学传感器为摄像头。
- 一种自移动机器人,其特征在于,包括主体;设置在所述主体前方的撞板;设置于所述主体上的光学传感装置,所述光学传感装置为权利要求1-9任意一项所述的光学传感装置;以及设置于所述镜头盖板和所述撞板之间用于形成密封空间的柔性密封件。
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