WO2025214356A1 - Robot and cleaning control method therefor - Google Patents

Abstract

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

Description

Robot and cleaning control method thereof

This application claims priority to the Chinese patent application with application number 202410416791X, filed with the China Patent Office on April 8, 2024, and application name “Robot and its cleaning control method”, the priority to the Chinese patent application with application number 2024207131775, filed with the China Patent Office on April 8, 2024, and application name “Robot”, and the priority to the Chinese patent application with application number 2024207413767, filed with the China Patent Office on April 8, 2024, and application name “Self-cleaning robot”, the entire contents of which are incorporated by reference into this application.

Technical Field

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

Background Art

Robots typically rely on their sensors to gain visual perception and follow a predefined mowing path. Because mowing environments are often dusty, weed-filled, and otherwise contaminated, the robot's sensors are easily clogged with dust, weeds, and other impurities, affecting their accuracy. Therefore, a cleaning device is needed that can efficiently clean the sensor surface.

Summary of the Invention

In view of this, the present application provides a robot and a cleaning control method thereof to solve the technical problem of sensor cleaning of the robot.

A cleaning control method provided in a first aspect of the present application is applied to a robot, the robot including a sensor module, the sensor module including at least two sensors and a light-transmitting member, the light-transmitting member covering the at least two sensors, the sensor module also including a cleaning assembly, the cleaning assembly including a driving member and a cleaning brush, the output shaft of the driving member being connected to the cleaning brush, and when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting member corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting member, the cleaning control method comprising:

determining an area to be cleaned on the light-transmitting member;

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

The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned.

A second aspect of the present application provides a robot for mowing lawns. The robot includes a body and a sensor module, wherein the sensor module is mounted on the body. The sensor module includes at least two sensors and a light-transmitting member, wherein the light-transmitting member covers the at least two sensors. The sensor module also includes a cleaning assembly, wherein the cleaning assembly includes a driving member and a cleaning brush, wherein the output shaft of the driving member is connected to the cleaning brush, and when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting member corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting member. The robot also includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to execute:

determining the area to be cleaned on the light-transmitting member by using the detection signals respectively generated by the at least two sensors;

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

The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned.

A robot provided in a third aspect of the present application is used for mowing grass. The robot includes a body and a sensor module. The sensor module is mounted on the body. The sensor module includes:

A light transmission port, comprising at least two light transmission holes;

at least two sensors, wherein the energy output surface and/or the energy input surface of each sensor corresponds to the position of one of the light-transmitting holes;

a light-transmitting member, covering the at least two light-transmitting holes;

The cleaning component comprises a driving member and a cleaning brush, wherein the cleaning brush is connected to the driving member and cleans the light-transmitting member under the drive of the driving member.

Therefore, since the cleanliness of the light-transmitting member affects the detection accuracy of at least two sensors, and the cleaning speed of the cleaning brush also affects the working efficiency of the robot, in the present application, when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting member corresponding to the at least two sensors to clean the dirt on the surface of the light-transmitting member, thereby improving the cleaning efficiency. The present application can also determine the area to be cleaned on the light-transmitting member, and determine the swing angle range of the cleaning brush based on the area to be cleaned, and control the driving member to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned, eliminating the need for repeated cleaning in the clean area of the light-transmitting member, thereby further improving the cleaning efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

FIG18 is an exploded schematic diagram of the sensor module in FIG17 ;

FIG19 is a further exploded schematic diagram of some components in FIG17;

FIG20 is a further exploded view of some components in FIG18 from another perspective;

FIG21 is a schematic structural diagram of the cleaning brush in FIG18 ;

FIG22 is a flow chart of a cleaning control method according to an embodiment of the present application.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. Similar words such as "one", "an", or "the" used in this application do not indicate a quantitative limitation, but are only used to indicate the existence of at least one. Similar words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Similar words such as "connected" or connected are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

Throughout this specification, reference to terms such as "embodiment," "specific embodiment," and "example" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Please refer to Figure 1, which is a schematic diagram of the structure of a robot 1 in one embodiment of the present application. In some embodiments, robot 1 is a robot capable of automatically mowing lawns. Its operating principle is to use built-in sensors to identify lawn contours and obstacles and mow along a pre-set path. In other embodiments, robot 1 can also be a robot with other purposes, such as a sweeping robot, without limitation here.

As shown in FIG1 , the robot 1 includes a body 11 and a sensor module 12 . The sensor module 12 is mounted on the body 11 .

Please refer to Figures 2, 3, and 4. Figure 2 is a schematic diagram of the robot in Figure 1; Figure 3 is a schematic diagram of the structure of the sensor module in one embodiment of the present application; and Figure 4 is an exploded schematic diagram of the sensor module in Figure 3. The sensor module 12 includes at least two sensors 121 and a light-transmitting member 122. The light-transmitting member 122 covers the at least two sensors 121. The light signals emitted or received by the at least two sensors 121 are respectively transmitted through the light-transmitting member 122. The light-transmitting members 122 are arranged coplanarly. The sensor module 12 also includes a cleaning assembly 123, which includes a driving member 1231 and a cleaning brush 1232. The output shaft 1233 of the driving member 1231 is connected to the cleaning brush 1232. When the driving member 1231 drives the cleaning brush 1232 to rotate, the cleaning brush 1232 can cover the surfaces of the light-transmitting member 122 corresponding to the at least two sensors 121 to clean dirt on the surface of the light-transmitting member 122.

Therefore, since the cleanliness of the light-transmitting member 122 will affect the detection accuracy of at least two sensors 121, and the cleaning speed of the cleaning brush 1232 also affects the working efficiency of the robot 1, in this application, when the driving member 1231 drives the cleaning brush 1232 to rotate, the cleaning brush 1232 can cover the surface of the light-transmitting member 122 corresponding to at least two sensors 121, and can simultaneously clean the dirt on the entire surface of the light-transmitting member 122, thereby improving the cleaning efficiency.

Please also refer to Figure 5, which is a schematic diagram of the modules of the robot 1 according to one embodiment of the present application. The robot 1 also includes a processor 13. The processor 13 is disposed on the body 11. The processor 13 is connected to at least two sensors 121 and a driver 1231. The processor 13 determines the area to be cleaned on the light-transmitting member 122, determines the swing angle range of the cleaning brush 1232 based on the area to be cleaned, and controls the driver 1231 to drive the cleaning brush 1232 to swing within the swing angle range to clean the area to be cleaned.

Thus, the processor 13 can determine the area to be cleaned on the light-transmitting member 122, and determine the swing angle range of the cleaning brush 1232 based on the area to be cleaned, and control the driving member 1231 to drive the cleaning brush 1232 to swing within the swing angle range to clean the area to be cleaned. There is no need to repeat cleaning in the clean area of the light-transmitting member 122, which can further improve the cleaning efficiency.

In some embodiments, at least two sensors 121 each generate a detection signal and feed it back to the processor 13. The processor 13 determines the area to be cleaned on the light-transmitting member 122 based on the detection signals from the at least two sensors 121, determines the swing angle range of the cleaning brush 1232 based on the area to be cleaned, and controls the driving member 1231 to swing the cleaning brush 1232 within the swing angle range to clean the area to be cleaned. Specifically, when the sensor 121 is a radar, the processor 13 can determine whether there is dirt on a light-transmitting region of the light-transmitting member 122 corresponding to the sensor 121 by the time interval between the radar receiving the reflected signal of the radar signal. If the time interval between the reflected signal of the radar signal is less than a preset time threshold, it is determined whether there is dirt on the light-transmitting member 122 corresponding to the sensor 121. When the sensor 121 is a visual camera, the processor 13 can determine whether there is dirt on the light-transmitting region of the light-transmitting member 122 corresponding to the sensor 121 by taking a photo with the visual camera. It is understandable that the processor 13 may also determine whether there is dirt on the light-transmitting member 122 corresponding to the sensor 121 in other ways, which are not limited here.

In some embodiments, referring to both Figures 1 and 4 , at least two sensors 121 are mounted on the front side of the body 11. The at least two sensors 121 include a first sensor 1211 and a second sensor 1212. The first sensor 1211 is a radar, which may be, but is not limited to, a laser radar, a millimeter-wave radar, a solid-state radar, etc., and the second sensor 1212 is a visual camera, which may be, but is not limited to, a binocular camera, etc., which is used to focus light reflected from the detected object onto a photosensitive element through a lens system to form a two-dimensional image. Therefore, the first sensor 1211 and the second sensor 1212 act as the eyes of the robot 1, sensing obstacles in front of the robot 1 so that the processor 13 can correct the robot 1's path based on this obstacle information. In other embodiments, the at least two sensors 121 can both be visual sensors or both be radars, without limitation.

In other implementations, the at least two sensors 121 may include three or more sensors, which is not limited here.

In some embodiments, referring to FIG1 , the first sensor 1211 and the second sensor 1212 may be, but are not limited to, stacked one above the other. For example, the first sensor 1211 is disposed above the second sensor 1212, or the second sensor 1212 is disposed above the first sensor 1211. In this embodiment, the first sensor 1211 is disposed above the second sensor 1212.

It is understandable that in other embodiments, the first sensor 1211 and the second sensor 1212 can also be other types of sensors, and are not limited to being installed in the front of the fuselage 11, but can also be installed in the rear, side, top or bottom of the fuselage 11, without limitation here.

In some embodiments, the tilt angle of the first sensor 1211 is greater than the tilt angle of the second sensor 1212. The tilt angle of the first sensor 1211 refers to the angle between the central axis of the first sensor 1211 and the height direction of the robot 1. The tilt angle of the second sensor 1212 refers to the angle between the central axis of the second sensor 1212 and the height direction of the robot 1. The height direction refers to the height direction of the robot 1 in its natural state of use.

Therefore, the first sensor 1211 is tilted relatively downward, so that obstacles on the ground can be better observed.

In some embodiments, referring to FIG. 3 , the light-transmitting element 122 includes a first light-transmitting area 1221 and a second light-transmitting area 1222 , wherein the first light-transmitting area 1221 is disposed corresponding to the first sensor 1211 , and the second light-transmitting area 1222 is disposed corresponding to the second sensor 1212 .

In some embodiments, the first light-transmitting area 1221 corresponding to the first sensor 1211 and the second light-transmitting area 1222 corresponding to the second sensor 1212 can be integrally formed. In other embodiments, the first light-transmitting area 1221 corresponding to the first sensor 1211 and the second light-transmitting area 1222 corresponding to the second sensor 1212 can be separate but coplanar.

Therefore, since the first light-transmitting area 1221 and the second light-transmitting area 1222 are arranged on the same plane, the same cleaning brush 1232 can be used to complete surface cleaning of the first light-transmitting area 1221 and the second light-transmitting area 1222, which can improve cleaning efficiency.

In some embodiments, referring again to Figures 1 and 4 , a cleaning assembly 123 is mounted on one side of at least two sensors 121. In this embodiment, the cleaning assembly 123 is mounted on one side of the second sensor 1212, and the first sensor 1211 is located on the side of the second sensor 1212 away from the cleaning assembly 123. The cleaning brush 1232 of the cleaning assembly 123 can extend from the side of the second sensor 1212 closest to the cleaning assembly 123 to the side of the first sensor 1211 away from the cleaning assembly 123. Preferably, the cleaning assembly 123 is mounted near the center of the side of the second sensor 1212 away from the first sensor 1211. The length of the cleaning brush 1232 is greater than or equal to the distance between the central axis of the output shaft 1233 of the driving member 1231 and the farthest points on the surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222. When the processor 13 determines that there is an area to be cleaned on the light-transmitting member 122 of the first sensor 1211, it determines that the maximum swing angle range of the cleaning brush 1232 is the first angle range α. When the processor 13 determines that there is an area to be cleaned on the light-transmitting member 122 of the second sensor 1212, it determines that the maximum swing angle range of the cleaning brush 1232 is a second angle range β. The second angle range β is different from the first angle range α. In this embodiment, the second angle range β is greater than the first angle range α.

Therefore, when the processor 13 determines that there is dirt in different areas of the first light-transmitting area 1221 corresponding to the first sensor 1211 and the second light-transmitting area 1222 corresponding to the second sensor 1212, it can control the cleaning brush 1232 to reciprocate within different swing angle ranges to perform cleaning work.

In some embodiments, the first angle range α is based on the fact that the swing of the cleaning brush 1232 can cover all areas of the light-transmitting member 122 corresponding to the first sensor 1211 , for example, 100 degrees, and the second angle range β is 0-180 degrees.

Thus, when it is determined that there is dirt on the first light-transmitting area 1221 corresponding to the first sensor 1211, the processor 13 can control the driving member 1231 to rotate and then drive the cleaning brush 1232 to swing within the first angle range α, without having to swing within the second angle range β, which can reduce the activity range of the cleaning brush 1232 and improve the cleaning efficiency.

In other embodiments, when the processor 13 determines that there is dirt in a local area of the first light-transmitting area 1221 and the second light-transmitting area 1222, the processor 13 controls the driving member 1231 to drive the cleaning brush 1232 to clean only that local area. For example, when it is determined that there is dirt in the first light-transmitting area 1221 and the second light-transmitting area 1222 within a range of 30 to 60 degrees of the swing angle of the cleaning brush 1232, the processor 13 controls the driving member 1231 to drive the cleaning brush 1232 to swing only within a range of 0 to 60 degrees to clean the dirt. For another example, when it is determined that there is dirt in the first light-transmitting area 1221 and the second light-transmitting area 1222 within a range of 120 to 150 degrees of the swing angle of the cleaning brush 1232, the processor 13 controls the driving member 1231 to drive the cleaning brush 1232 to swing only within a range of 120 to 180 degrees to clean the dirt.

In some embodiments, the cleaning brush 1232 can float along the direction of the central axis of the output shaft 1233 of the driving member 1231 toward one side away from or close to the first light-transmitting area 1221 and the second light-transmitting area 1222. Therefore, the cleaning brush 1232 can be lifted to avoid the area to be cleaned on the first light-transmitting area 1221 and/or the second light-transmitting area 1222, and lowered to an appropriate position to scrape off dirt in the area to be cleaned. For example, when the processor 13 determines that there is dirt in the first light-transmitting area 1221 and/or the second light-transmitting area 1222 within the range of 30 degrees to 60 degrees of the swinging of the cleaning brush 1232, the cleaning brush 1232 is controlled to first lift the preset height and then move from 0 degrees to an area greater than 60 degrees, and then the cleaning brush 1232 is lowered so that the cleaning brush 1232 moves clockwise from 60 degrees to 0 degrees, so as to scrape the dirt within the range of 30 degrees to 60 degrees directly from the first light-transmitting area 1221 and/or the second light-transmitting area 1222, so as to avoid cleaning the dirt in a certain local area and causing the dirt to be retained in other areas of the first light-transmitting area 1221 and/or the second light-transmitting area 1222.

In some embodiments, the cleaning brush 1232 moves along the central axis of the output shaft 1233 of the driving member 1231 toward one side away from or close to the first light-transmitting area 1221 and the second light-transmitting area 1222 by, but not limited to, adding a linear driving member such as a cylinder or a hydraulic drive, which is not limited here.

In some embodiments, referring also to FIG. 5 , the sensor module 12 further includes a pressure sensor 14 connected to the processor 13. The pressure sensor 14 is configured to sense the pressure exerted on the first light-transmitting area 1221 and the second light-transmitting area 1222. The processor 13 determines whether the cleaning brush 1232 of the cleaning assembly 123 is properly installed based on the pressure exerted on the first light-transmitting area 1221 and the second light-transmitting area 1222. The pressure sensor 14 senses the pressure exerted on the surface of the light-transmitting member 122; the processor 13 determines whether the pressure falls within a preset pressure range, which indicates that the contact pressure of the cleaning brush 1232 against the light-transmitting member 122 after installation is appropriate. When the pressure falls within the preset pressure range, the processor 13 determines that the cleaning brush 1232 is properly installed.

Therefore, since the cleaning brush 1232 is installed on the output shaft 1233 of the driving member 1231 by means of screws or the like, if the cleaning brush 1232 is screwed too tightly, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too small, causing the cleaning brush 1232 to excessively scrape the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in serious surface wear of the first light-transmitting area 1221 and the second light-transmitting area 1222; conversely, if the cleaning brush 1232 is screwed too loosely, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too large, causing the cleaning brush 1232 to be unable to effectively scrape the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in inadequate cleaning of the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222.

In some embodiments, after the cleaning brush is installed in place, the pressure sensor 14 continues to sense the pressure value on the surface of the light-transmitting member 122; the processor 13 determines whether the pressure value is lower than the preset pressure range; when the pressure value is lower than the preset pressure range, the processor 13 determines that the cleaning brush 1232 is loose or the cleaning brush 1232 is too worn.

Therefore, after the cleaning brush 1232 is installed in place, it is necessary to continue to monitor whether the installation of the cleaning brush 1232 becomes loose or whether the cleaning brush 1232 is too worn to complete the cleaning work. The working status of the cleaning brush 1232 can be monitored at all times to increase the reliability of the cleaning system of the robot 1.

In some embodiments, please refer to Figure 6, which is a schematic diagram of the structure of a sensor module in one embodiment of the present application. Pressure sensors 14 can be installed on opposite sides of first sensor 1211. Translucent member 122 abuts against pressure sensor 14. When translucent member 122 is pressed, the pressure exerted on translucent member 122 is transmitted to pressure sensor 14.

In some other embodiments, please refer to FIG7 , which is an enlarged schematic diagram of point VIII in FIG4 . The pressure sensor 14 can be installed on the cleaning brush 1232 .

Therefore, there are multiple installation methods for the pressure sensor 14 , and the choice can be made based on the actual needs, with the convenience of installation and the convenience of accurately measuring the pressure of the cleaning brush 1232 on the light-transmitting member 122 being the basis.

In some embodiments, the processor 13 further determines whether the cleaning brush 1232 is currently in the raised state or the lowered abutting state according to the magnitude of the pressure exerted on the first light-transmitting area 1221 and the second light-transmitting area 1222 .

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

In some embodiments, please refer to Figures 3 and 4, the sensor module 12 also includes a housing 125. The housing 125 is mounted on the body 11. The housing 125 is roughly square in shape, narrow at the top and wide at the bottom, and a mounting cavity is formed inside it. A panel 1251 is formed at one end facing the outside of the robot 1. A light-transmitting port 1252 and a through-hole 1253 are provided on the panel 1251. The first sensor 1211 and the second sensor 1212 are respectively mounted in the mounting cavity and exposed from different light-transmitting holes of the light-transmitting port 1252 of the panel 1251. The light-transmitting member 122 is mounted on the side of the panel 1251 facing away from the mounting cavity, and is covered on the light-transmitting port 1252. The driving member 1231 can be but is not limited to a motor. In this embodiment, the driving member 1231 includes a motor and a reducer. The reducer reduces the speed of the motor. The driving member 1231 is installed as a whole in the installation cavity. The cleaning brush 1232 is located on the side of the light-transmitting member 122 away from the installation cavity. The output shaft 1233 of the driving member 1231 passes through the through hole 1253 on the panel 1251 and is connected to the cleaning brush 1232.

Thus, the installation stability of the first sensor 1211, the second sensor 1212, the light-transmitting member 122, the driving member 1231 and the cleaning brush 1232 can be increased.

The shape of each light-transmitting hole in the light-transmitting opening 1252 can be identical; some can be identical while others differ; or each can be different. The shape of each light-transmitting hole in the light-transmitting opening 1252 can be, but is not limited to, rectangular, square, polygonal, circular, or elliptical. In some embodiments, each light-transmitting hole in the light-transmitting opening 1252 has the same shape and size and is rectangular, specifically, a rounded rectangle. In other embodiments, each light-transmitting hole in the light-transmitting opening 1252 can have different sizes, or some can be identical while others differ.

Among them, the light-transmitting holes of the light-transmitting port 1252 can be connected to each other, and accordingly, the light-transmitting component 122 can be a whole piece without any gaps and formed in one piece; the light-transmitting holes of the light-transmitting port 1252 can also be light-transmitting holes set at intervals, and accordingly, the light-transmitting component 122 can also be a plurality of components that are spaced apart from each other.

The material of the light-transmitting member 122 can be, but is not limited to, glass or transparent plastic. The light-transmitting holes of the light-transmitting member 122 and the light-transmitting opening 1252 correspond one-to-one. The light-transmitting holes of the light-transmitting member 122 and the corresponding light-transmitting opening 1252 can be the same size or different sizes. The shapes of at least two light-transmitting holes of the light-transmitting member 122 and the light-transmitting opening 1252 can be the same or different.

In some embodiments, the sensor module 12 further includes a heat sink 1254 disposed on a side of the housing 125. The heat sink 1254 is disposed on a side wall of the housing 125 adjacent to the panel 1251. The heat sink 1254 is used to dissipate heat from the first sensor 1211, the second sensor 1212, the driver 1231, and the like. It is understood that the heat sink 1254 can also be disposed within the mounting cavity or elsewhere on the housing 125, without limitation herein.

In some embodiments, the housing 125 further includes a receiving slot (not shown) located adjacent to the output shaft 1233 of the driver 1231. The cleaning brush 1232 can be retracted inwardly and stored within the receiving slot, or raised outwardly and positioned above the receiving slot. The processor 13 is configured to, upon receiving a cleaning instruction, drive the cleaning brush 1232 outwardly from the receiving slot to perform a cleaning task; upon completion of the cleaning task, drive the cleaning brush 1232 inwardly and store it within the receiving slot.

Thus, when the cleaning brush 1232 is needed, the processor 13 can use the linear drive to drive the cleaning brush 1232 to move along the central axis of the output shaft 1233 of the drive member 1231 toward a side away from the light-transmitting member 122, so that the cleaning brush 1232 extends out of the storage slot. When cleaning is completed, the processor 13 can use the linear drive to drive the cleaning brush 1232 to move along the central axis of the output shaft 1233 of the drive member 1231 toward a side close to the light-transmitting member 122 and store it in the storage slot, making it easier to store the cleaning brush 1232.

In some embodiments, the housing 125 is further provided with a stopper 1255, located on the side of the through-hole 1253 away from the light-transmitting opening 1252. The stopper 1255 is used to limit the swing angle range of the cleaning brush 1232. In some implementations, the stopper 1255 includes an arcuate portion 1256, and a first stopper 1257 and a second stopper 1258 located on opposite sides of the arcuate portion 1256. The arcuate portion 1256 is configured to conform to the shape of one end of the cleaning brush 1232. The first stopper 1257 limits the swing angle range of the cleaning brush 1232 on one side, and the second stopper 1258 limits the swing angle range of the cleaning brush 1232 on the other side. In this embodiment, the first stopper 1257 and the second stopper 1258 limit the swing angle range of the cleaning brush 1232 to within a range of 0 to 180 degrees. It is understandable that, in other embodiments, the swing angle range of the cleaning brush 1232 defined by the first stop portion 1257 and the second stop portion 1258 is not limited to 0 to 180 degrees, and can be specifically limited according to actual needs.

In some embodiments, please refer to Figures 8 and 9. Figure 8 is a schematic diagram of the decomposed structure of the cleaning brush in one embodiment of the present application; Figure 9 is a schematic diagram of the structure of the cleaning brush in Figure 4. The cleaning brush 1232 includes a connecting end 1234 and a brush arm 1235. The connecting end 1234 is hollow and annular, and is used for a connecting member to pass through to connect with the output shaft 1233 of the driving member 1231. The brush arm 1235 includes a brush body 1236 and a brush head 1237. The brush body 1236 is connected to the connecting end 1234, and the brush head 1237 is connected to the side of the brush body 1236 facing the driving member 1231. The connecting end 1234 of the cleaning brush 1232 rotates around the connecting end 1234 as the output shaft 1233 of the driving member 1231 rotates, and the distance from the connecting end 1234 to the brush arm 1235 is greater than or equal to the distance from the connecting end 1234 to the target position in the light-transmitting port 1252, wherein the target position is the position with the largest distance from the connecting end 1234.

In some embodiments, the cross-section of the brush head 1237 is triangular. The surface of the brush head 1237 and the brush body 1236 transition in a beveled manner. Therefore, the brush arm 1235 can effectively guide dirt and improve the cleaning effect.

In some embodiments, the brush body 1236 has a snap-fitting groove 1236a, the brush head 1237 is disposed on the side of the brush body 1236 facing the light-transmitting member 122, and the brush arm 1235 has a protrusion 1237a that snaps into the snap-fitting groove 1236a, thereby connecting the brush arm 1235 to the brush body 1236. The brush body 1236 and the brush arm 1235 can be detachably connected. In other embodiments, the brush body 1236 and the brush arm 1235 can also be an integrated structure.

In some embodiments, as shown in FIG. 9 , the cleaning brush 1232 further includes a fixing member 420 , which is used to fix the connecting end 1234 of the cleaning brush 1232 to the output shaft 1233 , wherein the fixing member 420 may be, but is not limited to, a nut.

In other embodiments, the distance between the connecting end 1234 and the brush arm 1235 may be other distances.

In some embodiments, referring to FIG. 8 , the pressure sensor 14 is disposed between the brush body 1236 and the brush head 1237 . Therefore, the pressure sensor 14 can well sense the pressure applied by the brush head 1237 to the light-transmitting member 122 .

Please refer to Figure 10, which is a schematic diagram of the structure of the cleaning assembly provided in some embodiments of the present application. In some embodiments, the driving member 1231 includes a driving member 1231 and a track 411. The output shaft 1233 of the driving member 1231 is connected to the track 411, and the connecting end 1234 of the cleaning brush 1232 is connected to the track 411. The track 411 moves in translation with the rotation of the output shaft 1233, and the cleaning brush 1232 moves in translation with the translation of the track 411. In other embodiments, the driving member 1231 can also have other structures and is not limited to the structure exemplified in this application.

In some embodiments, as shown in FIG3 , the light-transmitting member 122 includes a first edge 310 , the connecting end 1234 of the cleaning brush 1232 is disposed adjacent to the first edge 310 , the projection of the connecting end 1234 on the first edge 310 is located at the midpoint of the first edge 310 , and the rotation angle of the output shaft 1233 is 0° to 180°.

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

When the brush arm 1235 of the cleaning brush 1232 rotates around the connecting end 1234 as the output shaft 1233 rotates, and the distance from the connecting end 1234 to the brush arm 1235 is greater than or equal to the distance from the connecting end 1234 to the target position in at least two light-transmitting holes, and the target position is the position with the largest distance from the connecting end 1234, the cleaning brush 1232 can clean every position of the light-transmitting element 122 during the process of rotating from 0° to 180°.

In other embodiments, the projection of the connecting end 1234 on the first side 310 can be located at any position on the first side 310. While ensuring that every position of the light-transmitting member 122 can be cleaned, compared to a solution in which the projection of the connecting end 1234 on the first side 310 is located at a non-midpoint position on the first side 310, the length of the cleaning brush 1232 can be effectively shortened, thereby reducing the production cost of the cleaning brush 1232.

In some embodiments, referring again to FIG. 1 , the housing 125 is further provided with a cleaning bar 1259. The cleaning bar 1259 may be, but is not limited to, a brush or a scraper. The cleaning bar 1259 is disposed adjacent to the stop block 1255. The cleaning bar 1259 is used to remove dirt from the brush arm 1235 when the brush arm 1235 rotates to a position substantially parallel to the first stop portion 1257, thereby improving the cleaning effect on the light-transmitting member 122.

In some embodiments, a drain groove is provided on the housing 125 adjacent to the cleaning bar 1259 , and the drain groove is used to collect dirt cleaned from the brush arm 1235 by the cleaning bar.

Thus, it is prevented that dirt may contaminate other components of the robot 1 .

In some embodiments, as shown in Figure 6, the panel 1251 includes an inner plate-like structure 601 and an outer plate-like structure 602, the inner plate-like structure 601 is recessed toward the interior of the robot 1 relative to the outer plate-like structure 602, at least two light-transmitting holes are opened in the inner plate-like structure 601, and the light-transmitting member 122 is covered on the inner plate-like structure 601 and is in the same plane as the outer plate-like structure 602.

Since at least two light-transmitting holes are opened in the inner plate-shaped structure 601 , when the light-transmitting member 122 is covered on the inner plate-shaped structure 601 , that is, the light-transmitting member 122 of the outer shell 125 covers the at least two light-transmitting holes.

In other embodiments, the light-transmitting member 122 may also only cover at least two light-transmitting holes.

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

After the driving member 1231 drives the cleaning brush 1232 to complete cleaning of the area to be cleaned, it is determined whether the area to be cleaned is clean;

When it is determined that the cleaning area is not cleaned thoroughly, the liquid spraying component is controlled to spray the cleaning liquid to the area to be cleaned;

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

Therefore, the liquid spraying component sprays the cleaning liquid to improve the cleaning effect.

In some embodiments, the sensor module 12 further includes a rain sensor for sensing whether it is raining. If so, the processor 13 controls the driving member 1231 to drive the cleaning brush 1232 to clean the surface of the light-transmitting member 122 .

Therefore, when it rains, raindrops on the light-transmitting member 122 of the sensor module 12 can be cleared in time to prevent the rain from affecting the sensing ability of the sensor module 12 .

In some embodiments, please refer to FIG11 , which is a top view of a sensor module in another embodiment of the present application. A magnetic portion 43 is provided on the cleaning brush 1232. The sensor module 12 also includes a Hall sensor 19, which is connected to the processor 13. The Hall sensor 19 is located within the swing angle range of the cleaning brush 1232 and is used to sense the swinging motion of the cleaning brush 1232 and obtain the rotation angle of the cleaning brush 1232. At least two sensors 121 are respectively used to obtain the stain status of the corresponding light-transmitting member 122. The processor 13 controls the rotation of the cleaning brush 1232 based on the stain status of the light-transmitting member 122 and limits the rotation of the cleaning brush 1232 based on the rotation angle of the cleaning brush 1232 obtained by the Hall sensor 19.

In some embodiments, the Hall sensor 19 includes a first group of Hall sensors 191 and a second group of Hall sensors 192, and the two Hall sensors in each group of Hall sensors are symmetrical about the connection end 1234 of the cleaning brush 1232, the angle between the line connecting the first group of Hall sensors 191 and the first connection end 1234 is a first angle, and the angle between the line connecting the second group of Hall sensors 192 and the first connection end 1234 is a second angle, and the first angle is smaller than the second angle.

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

For example, when there is stain only in the second light-transmitting area 32, the processor 13 controls the cleaning brush 1232 to rotate in the first direction. When the first group of Hall sensors 191 all detect the magnetic part 43, the processor 13 limits the cleaning brush 1232 from continuing to rotate in the first direction. When there is stain in the first light-transmitting area 31, the processor 13 controls the cleaning brush 1232 to rotate in the first direction. When the second group of Hall sensors 192 all detect the magnetic part 43, the processor 13 limits the cleaning brush 1232 from continuing to rotate in the first direction.

In other embodiments, a stepper motor or a servo motor may be selected, and the output shaft 1233 may be directly controlled to rotate to a preset angle through a control instruction issued by the processor 13 .

Please refer to Figure 12, which is a schematic diagram of the structure of a robot 1 in another embodiment of the present application. In this embodiment, a first sensor 1211 and a second sensor 1212 are stacked one above the other, and a cleaning assembly 123 is installed between the first sensor 1211 and the second sensor 1212. When the processor 13 determines that there is an area to be cleaned on the first light-transmitting area 1221 of the first sensor 1211, it determines that the first angle range of the cleaning brush 1232 is 0 to 180 degrees. When the processor 13 determines that there is an area to be cleaned on the second light-transmitting area 1222 of the second sensor 1212, it determines that the second angle range of the cleaning brush 1232 is 180 to 360 degrees.

Thus, when the cleaning component 123 is located between the first sensor 1211 and the second sensor 1212, the maximum swing range of the cleaning brush 1232 is in the first angle range of 0 to 180°, and is used to clean the first light-transmitting area 1221 corresponding to the first sensor 1211; the maximum swing range of the cleaning brush 1232 is in the second angle range of 180 to 360°, and is used to clean the second light-transmitting area 1222 corresponding to the second sensor 1212. There is no need to clean the second light-transmitting area 1222 while cleaning the first light-transmitting area 1221, nor is there any need to clean the first light-transmitting area 1221 while cleaning the second light-transmitting area 1222. Moreover, compared with the cleaning brush 1232 being fixed on one side of the first sensor 1211 and the second sensor 1212, arranging the cleaning brush 1232 between the first sensor 1211 and the second sensor 1212 can shorten the length of the cleaning brush 1232, making it convenient to arrange other components around it.

It is understood that in other embodiments, when a partial area of the first light-transmitting area 1221 corresponding to the first sensor 1211 is determined to be the area to be cleaned, only that partial area may be cleaned without controlling the cleaning brush 1232 to swing to clean the entire first light-transmitting area 1221. Similarly, when a partial area of the second light-transmitting area 1222 corresponding to the second sensor 1212 is determined to be the area to be cleaned, only that partial area may be cleaned without controlling the cleaning brush 1232 to swing to clean the entire second light-transmitting area 1222.

Please refer to Figures 13 and 14. Figure 13 is a schematic structural diagram of a sensor module in another embodiment of the present application, and Figure 14 is an exploded schematic diagram of the sensor module in Figure 13. The sensor module 12 also includes a housing 125, which includes a connecting portion 1603. The light-transmitting member 122 includes a first light-transmitting region 1221 and a second light-transmitting region 1222. The first light-transmitting region 1221 and the second light-transmitting region 1222 are located in the same plane and are independently arranged. The at least two light-transmitting holes include a first light-transmitting hole 1252a and a second light-transmitting hole 1252b. The first light-transmitting hole 1252a and the second light-transmitting hole 1252b are at least partially separated by the connecting portion 1603.

Specifically, in some embodiments, the housing 125 further includes a first shell 1601 and a second shell 1602. A connecting portion 1603 is connected between the first shell 1601 and the second shell 1602. Therefore, in this embodiment, the housing 125 is generally I-shaped. A through hole 1253 is provided in the connecting portion 1603, through which the output shaft 1233 of the driving member 1231 passes and connects to the connecting end 1234 of the cleaning brush 1232. The first shell 1601 and the second shell 1602 each have a mounting cavity for mounting the first sensor 1211 and the second sensor 1212, respectively. The light-transmitting opening 1252 includes a first light-transmitting hole 1252a and a second light-transmitting hole 1252b. The first light-transmitting hole 1252a and the second light-transmitting hole 1252b are at least partially separated by a connecting portion 1603. The first light-transmitting hole 1252a is provided on the first housing 1601, through which the first sensor 1211 emerges. The second light-transmitting hole 1252b is provided on the second housing 1602, through which the second sensor 1212 emerges. The first light-transmitting region 1221 is mounted on the first housing 1601 and covers the first sensor 1211. The second light-transmitting region 1222 is mounted on the second housing 1602 and covers the second sensor 1212. It can be seen that in this embodiment, the first light-transmitting region 1221 and the second light-transmitting region 1222 are two separate, coplanar light-transmitting components.

It is understandable that in this embodiment, a cleaning strip, a stop block, a drain trough, etc. can be provided on the connecting portion 1603. Please refer to the above embodiment for details and no limitation is made here.

In an embodiment, the connection end 1234 of the cleaning brush 1232 is located at the center of the connection portion 1603 between the first light-transmitting hole 1252a and the second light-transmitting hole 1252b, which allows the length of the cleaning brush 1232 to be the shortest while being able to clean the first light-transmitting area 1221 and the second light-transmitting area 1222.

Among them, when at least two light-transmitting holes include the first light-transmitting hole 1252a and the second light-transmitting hole 1252b, and also include other light-transmitting holes, the first light-transmitting hole 1252a and the second light-transmitting hole 1252b are the light-transmitting holes located in the middle or close to the middle position among the at least two light-transmitting holes. For example, when the number of at least two light-transmitting holes is three, the first light-transmitting hole 1252a and the second light-transmitting hole 1252b are the light-transmitting holes located in the middle position among the three light-transmitting holes and any one of the other two light-transmitting holes; when the number of at least two light-transmitting holes is four, the first light-transmitting hole 1252a and the second light-transmitting hole 1252b are the two light-transmitting holes located in the middle among the four light-transmitting holes.

In some embodiments, the rotation angle of the output shaft 1233 is 0° to 360°. Thus, when the connection end 1234 is located at the connection portion 1603 between the first light-transmitting hole 1252a and the second light-transmitting hole 1252b, the brush arm 1235 of the cleaning brush 1232 rotates around the connection end 1234 as the output shaft 1233 rotates. Furthermore, if the distance from the connection end 1234 to the brush arm 1235 is greater than or equal to the distance from the connection end 1234 to a target position in at least two light-transmitting holes, and the target position is the position with the greatest distance from the connection end 1234, the cleaning brush 1232 can clean at least two light-transmitting holes.

In some embodiments, at least two sensors 121 can respectively obtain the stain conditions of the first light-transmitting area 1221 and the second light-transmitting area 1222. When there is stain only in the second light-transmitting area 1222, the processor 13 can control the output shaft 1233 of the driving member 1231 to rotate clockwise by a first angle; when there is stain only in the first light-transmitting area 1221, the processor 13 can control the output shaft 1233 of the driving member 1231 to rotate counterclockwise by a second angle, wherein the first angle can be equal to the second angle, for example, the first angle and the second angle are both equal to 180°, which can accurately clean the light-transmitting member with stains.

In some embodiments, as shown in Figures 1 and 3, the cleaning component 123 includes a collecting member 44, which is arranged on the side of the light-transmitting member 122 close to the gravity direction G to collect garbage generated when the cleaning component 123 cleans the light-transmitting member 122.

Thereby, it is possible to prevent the garbage cleaned from the light-transmitting member 122 from being scattered on other parts of the self-cleaning robot 1 .

In some embodiments, as shown in FIG4 , the at least two light-transmitting holes are arranged along the gravity direction G, and the angle between the side of the at least two sensors 121 close to the at least two light-transmitting holes and the gravity direction G gradually increases from the far end to the proximal end of the gravity direction.

Thus, it can be ensured that the at least two sensors 121 can both observe the ground conditions.

Please refer to FIG15 , which is a schematic structural diagram of a robot in another embodiment of the present application.

In some embodiments, as shown in FIG15 , the robot 1 includes a housing 125, the housing 125 further includes a fourth housing 62 and a fifth housing 63, the fourth housing 62 and the fifth housing 63 are not arranged coplanarly, the light-transmitting member 122 includes a first light-transmitting area 31 and a second light-transmitting area 32, the light-transmitting hole includes a first light-transmitting hole 1252a provided on the fourth housing 62 and a second light-transmitting hole 1252b provided on the fifth housing 63, the first light-transmitting area 31 is covered at the first light-transmitting hole 1252a, and the second light-transmitting area 32 is covered at the second light-transmitting hole 1252b; the cleaning brush 1232 includes a first cleaning brush 12323 and a second cleaning brush 12324, the first cleaning brush 12325 includes a first cleaning brush 12326 and a second cleaning brush 12327. The cleaning brush 12323 includes a first connecting part 4231 and a first cleaning part 4232, the first connecting part 4231 is connected to the output shaft 1233, and the extension direction of the first cleaning part 4232 is parallel to the plane where the first light-transmitting area 31 is located; the second cleaning brush 12324 includes a second connecting part 4241 and a second cleaning part 4242, the second connecting part 4241 is connected to the output shaft 1233, and the second cleaning part 4242 is parallel to the plane where the second light-transmitting area 32 is located. Under the drive of the driving member 1231, the first cleaning part 4232 is used to clean at least the first light-transmitting area 31, and the second cleaning part 4242 is used to clean at least the second light-transmitting area 32.

Thus, when the light-transmitting ports corresponding to at least two sensors 121 are arranged in the housing 125 on different planes, under the drive of the same driving member 1231, the first cleaning part 4232 is used to clean at least the first light-transmitting area 31, and the second cleaning part 4242 is used to clean at least the second light-transmitting area 32, without the need for each light-transmitting member to be configured with a cleaning brush 1232 and a driving member 1231 for cleaning, which saves more costs.

As shown in FIG3 , in some embodiments, the robot 1 further includes a processor 13 and a pressure sensor 14. The cleaning brush 1232 includes a connecting end 1234 and a brush arm 1235. The pressure sensor 14 is disposed between the connecting end 1234 and the brush arm 1235. The connecting end 1234 is connected to the driving member 1231. The brush arm 1235 is disposed on the side of the connecting end 1234 facing the light-transmitting member 122. The processor 13 determines the installation condition and wear condition of the cleaning brush 1232 based on the pressure applied by the cleaning brush 1232 to the light-transmitting member 122. Thus, if the cleaning brush 1232 is not properly installed, a prompt to reinstall it can be displayed. If the cleaning brush 1232 is worn to a certain extent, a reminder to replace the cleaning brush 1232 can be displayed.

Please refer to Figures 16, 17, 18, 19 and 20. Figure 16 is a structural schematic diagram of the robot 1 in another embodiment of the present application. Figure 17 is a structural schematic diagram of the sensor module in another embodiment of the present application. Figure 18 is a decomposed schematic diagram of the sensor module in Figure 17. Figure 19 is a further decomposed schematic diagram of some components in Figure 17. Figure 20 is a further decomposed schematic diagram of some components in Figure 18 from another perspective.

In some embodiments, the first sensor 1211 is a radar, the second sensor 1212 is a visual camera, and the first sensor 1211 and the second sensor 1212 are arranged side by side. In this embodiment, the visual camera is a binocular camera, and the radar is located between the two lenses of the binocular camera. In other embodiments, the first sensor 1211 and the second sensor 1212 can be arranged side by side. The rotation axis of the cleaning brush 1232 is located on a side perpendicular to the arrangement direction of the first sensor 1211 and the second sensor 1212. The cleaning brush 1232 includes at least two cleaning brushes 1232 arranged side by side, and the output shaft 1233 of the driving member 1231 is connected to the at least two cleaning brushes 1232. The driving member 1231 drives the at least two cleaning brushes 1232 to have a coupling swing angle range that can cover the entire surface of the light-transmitting member 122, and can clean dirt on any area on the entire surface of the light-transmitting member 122.

Thus, at least two cleaning brushes 1232 can also be used to simultaneously clean dirt on the light-transmitting member 122 arranged side by side, and the length of the cleaning brushes 1232 can be shortened.

In some embodiments, the light-transmitting element 122 includes a first light-transmitting area 1221 and a second light-transmitting area 1222 arranged side by side and on the same plane, wherein the first light-transmitting area 1221 is arranged corresponding to the first sensor 1211 and the second light-transmitting area 1222 is arranged corresponding to the second sensor 1212 .

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

In some embodiments, the at least two cleaning brushes 1232 include a first cleaning brush 12323, a second cleaning brush 12324, and a connecting rod 1230 connecting the first cleaning brush 12323 and the second cleaning brush 12324. The connecting rod 1230 enables the coordinated swinging of the first cleaning brush 12323 and the second cleaning brush 12324. In other embodiments, the coordinated swinging of the first cleaning brush 12323 and the second cleaning brush 12324 can also be achieved through gear linkage, etc., which is not limited here.

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

In some embodiments, the first sensor 1211 is a radar, and the second sensor 1212 is a binocular camera. The radar is disposed between the two lenses of the binocular camera. The light-transmitting element 122 is an integrated light-transmitting element. The first light-transmitting region 1221 corresponds to the radar, and the second light-transmitting region 1222 corresponds to the region between the two lenses of the binocular camera. In other embodiments, the first light-transmitting region 1221 corresponding to the first sensor 1211 and the second light-transmitting region 1222 corresponding to the second sensor 1212 can be separate but coplanar.

Therefore, the integrated light-transmitting component can have better structural stability and can also avoid dead corners where dirt and grime can accumulate.

When the processor 13 determines that there is dirt in a local area of the first light-transmitting area 1221 and the second light-transmitting area 1222, it controls the driving member 1231 to drive the first cleaning brush 12323 and the second cleaning brush 12324 to clean only that local area. For example, when it is determined that there is dirt in the first light-transmitting area 1221 and the second light-transmitting area 1222 within the range of 30 to 60 degrees of the swinging of the first cleaning brush 12323 and the second cleaning brush 12324, the processor 13 controls the driving member 1231 to drive the first cleaning brush 12323 and the second cleaning brush 12324 to swing only within the range of 0 to 60 degrees to clean the dirt. For example, when it is determined that there is dirt in the first light-transmitting area 1221 and the second light-transmitting area 1222 within the range of 120 degrees to 150 degrees of the swinging of the first cleaning brush 12323 and the second cleaning brush 12324, the processor 13 controls the driving member 1231 to drive the first cleaning brush 12323 and the second cleaning brush 12324 to swing only within the range of 120 degrees to 180 degrees to clean the dirt.

In some embodiments, the first cleaning brush 12323 and the second cleaning brush 12324 can float along the direction of the central axis of the output shaft 1233 of the driving member 1231 toward one side away from or close to the first light-transmitting area 1221 and the second light-transmitting area 1222. Therefore, the first cleaning brush 12323 and the second cleaning brush 12324 can be lifted relative to the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 to avoid the area to be cleaned on the first light-transmitting area 1221 and the second light-transmitting area 1222, and descend at an appropriate position to scrape off dirt in the area to be cleaned. For example, when the processor 13 determines that there is dirt in the first light-transmitting area 1221 and/or the second light-transmitting area 1222 within the range of 30 degrees to 60 degrees of the swinging of the first cleaning brush 12323 and the second cleaning brush 12324, the first cleaning brush 12323 and the second cleaning brush 12324 are controlled to first lift the preset height and then move from 0 degrees to an area greater than 60 degrees, and then, the first cleaning brush 12323 and the second cleaning brush 12324 are lowered so that the first cleaning brush 12323 and the second cleaning brush 12324 rotate clockwise from 60 degrees to 0 degrees, so as to scrape the dirt within the range of 30 degrees to 60 degrees directly from the first light-transmitting area 1221 and/or the second light-transmitting area 1222, so as to avoid cleaning the dirt in the local area and causing the dirt to be retained in other areas of the first light-transmitting area 1221 and/or the second light-transmitting area 1222.

In some embodiments, the first cleaning brush 12323 and the second cleaning brush 12324 move along the direction of the central axis of the output shaft 1233 of the driving member 1231 toward one side away from or close to the first light-transmitting area 1221 and the second light-transmitting area 1222 by, but not limited to, adding a linear driving member such as a cylinder or a hydraulic drive, which is not limited here.

In some embodiments, referring also to FIG. 4 , the sensor module 12 further includes a pressure sensor 14 connected to the processor 13. The pressure sensor 14 is configured to sense the pressure applied to the first light-transmitting area 1221 and the second light-transmitting area 1222. The processor 13 determines whether the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are properly installed based on the pressure applied to the first light-transmitting area 1221 and the second light-transmitting area 1222. The processor 13 determines whether the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are properly installed by determining whether the pressure value measured by the pressure sensor 14 is greater than or equal to a first preset threshold. If the pressure value is greater than or equal to the first preset threshold, the processor 13 determines that the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are properly installed. If the pressure value measured by the pressure sensor 14 is also greater than or equal to a second preset threshold, and the second preset threshold is greater than the first preset threshold, the processor determines that the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are installed too tightly, which will affect the cleaning effect. If the pressure value measured by the pressure sensor 14 is less than the first preset threshold, it is determined that the first cleaning brush 12323 and the second cleaning brush 12324 of the cleaning assembly 123 are installed too loosely, which will also affect the cleaning effect.

Therefore, since the first cleaning brush 12323 and the second cleaning brush 12324 are installed on the output shaft 1233 of the driving member 1231 by means of screws or the like, if the first cleaning brush 12323 and the second cleaning brush 12324 are too tightly screwed, the distance between the first cleaning brush 12323 and the second cleaning brush 12324 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too small, causing the first cleaning brush 12323 and the second cleaning brush 12324 to excessively scrape the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in the first light-transmitting area 1221 and the second light-transmitting area 1222 being excessively scraped. The surfaces of area 1221 and the second light-transmitting area 1222 are severely worn; on the contrary, if the first cleaning brush 12323 and the second cleaning brush 12324 are screwed too loosely, the distance between the first cleaning brush 12323 and the second cleaning brush 12324 and the surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too large, resulting in the first cleaning brush 12323 and the second cleaning brush 12324 being unable to effectively scrape the surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in inadequate cleaning of the surfaces of the first light-transmitting area 1221 and the second light-transmitting area 1222.

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

Therefore, based on the real-time pressure measured by the pressure sensor 14, the working conditions of the first cleaning brush 12323 and the second cleaning brush 12324 can be judged in real time, and real-time feedback can be given to facilitate the user to make timely adjustments according to actual conditions.

In some embodiments, the processor 13 further determines whether the first cleaning brush 12323 and the second cleaning brush 12324 are currently in a raised state or in a lowered abutting state according to the pressure applied to the light-transmitting member 122 .

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

In some embodiments, please refer to FIG17 , the sensor module 12 further includes a housing 125. The housing 125 is installed in the body 11. The housing 125 includes a panel 1251 and a side wall 1252c. The panel 1251 and the side wall 1252c together form a storage cavity. The first sensor 1211 and the second sensor 1212 are installed side by side in the storage cavity. The side wall 1252c has a first protrusion 1253a and a second protrusion 1254a protruding toward a side away from the storage cavity, and a supporting protrusion 1255a connected to the first protrusion 1253a and the second protrusion 1254a. 3a and the second lug 1254a are respectively provided with a first through hole 1256a and a second through hole 1257a, the rotating shaft of the first cleaning brush 12323 is installed in the first through hole 1256a, the rotating shaft of the second cleaning brush 12324 is installed in the second through hole 1257a, the driving member 1231 is installed in the supporting protrusion 1255a, and the output shaft 1233 of the driving member 1231 passes through the first through hole 1256a and is connected with the rotating shaft of the first cleaning brush 12323.

Thus, the first cleaning brush 12323 and the second cleaning brush 12324 can be well limited by the first through hole 1256a and the second through hole 1257a, and the installation is more stable and reliable.

In some embodiments, the first lug 1253a, the second lug 1254a and the supporting protrusion 1255a are located on the same side wall of the side wall 1252c, and the extension direction of the first lug 1253a and the supporting protrusion 1255a is parallel to the central axis of the output shaft 1233 of the driving member 1231.

Thus, by supporting the convex wall 1255a, the structural strength of the side wall 1252c of the housing 125 can be enhanced.

In some embodiments, the first lug 1253a, the second lug 1254a and the supporting protrusion 1255a are located on the same side wall of the side wall 1252c, and the extension direction of the first lug 1253a and the supporting protrusion 1255a is parallel to the central axis of the output shaft 1233 of the driving member 1231.

Thus, by supporting the convex wall 1255a, the structural strength of the side wall 1252c of the housing 125 can be enhanced.

In some embodiments, the swing angle range of the first cleaning brush 12323 and the second cleaning brush 12324 is close to 0 to 180 degrees. Compared with a single cleaning brush, the first cleaning brush 12323 and the second cleaning brush 12324 can shorten the arm length of the cleaning brush 1232.

In some embodiments, the liquid spray assembly 126 is disposed below the housing 125 and between the first lug 1253a and the second lug 1254a. The liquid spray assembly 126 includes a liquid storage chamber 1261, a spray port 1262, and a pump. The pump sprays the cleaning liquid within the liquid storage chamber 1261 through the spray port 1262 onto the surface of the light-transmitting member 122 located above the spray port 1262. Simultaneously, the driving member 1231 drives the first cleaning brush 12323 and the second cleaning brush 12324 to oscillate back and forth, distributing the cleaning liquid across the entire surface of the light-transmitting member 122, thereby achieving a comprehensive cleaning effect.

In some embodiments, the spray port 1262 can rotate within a certain angle range relative to the liquid storage chamber 1261, so that the spray port 1262 can be aligned with different positions of the light-transmitting element 122, which can make the spraying effect more uniform and further enhance the overall cleaning effect.

In some embodiments, the liquid spray assembly 126 may be omitted, and a receiving groove (not shown) may be further provided on the panel 1251. The receiving groove extends parallel to the length of the connecting rod 1230 and is located adjacent to the output shaft 1233 of the driving member 1231. The first cleaning brush 12323 and the second cleaning brush 12324 can be retracted toward the side closer to the receiving chamber 1250 and stored within the receiving groove, or raised toward the side away from the receiving chamber 1250 and located outside the receiving groove.

Thus, when the cleaning brush 1232 is needed, the processor 13 can control the cleaning brush 1232 to move along the central axis of the output shaft 1233 of the driving member 1231 toward a side away from the receiving chamber 1250, so that the cleaning brush 1232 extends out of the receiving slot. When cleaning is completed, the processor 13 can control the cleaning brush 1232 to move along the central axis of the output shaft 1233 of the driving member 1231 toward a side close to the receiving chamber 1250 and store it in the receiving slot, making it easier to store the cleaning brush 1232.

It is understandable that in this embodiment, a cleaning strip, a stop block, a drain trough, etc. can be provided on the housing 125 . Please refer to the above embodiment for details and no limitation is made here.

In some embodiments, please refer to Figure 21, which is a schematic diagram of the cleaning brush in Figure 18. The first cleaning brush 12323 and the second cleaning brush 12324 have the same structure, each including a connecting end 1234 and a brush arm 1235. The connecting end 1234 is annular and is used to connect to the output shaft 1233 of the driving member 1231. The brush arm 1235 includes a brush body 1236 and a brush head 1237. The brush body 1236 is connected to the connecting end 1234, and the brush head 1237 is connected to the side of the brush body 1236 facing the driving member 1231.

In some embodiments, the cross-section of the brush head 1237 is triangular. The surface of the brush head 1237 and the brush body 1236 transition in a beveled manner. Therefore, the brush arm 1235 can effectively guide dirt and improve the cleaning effect.

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

Therefore, because first cleaning brush 12323 and second cleaning brush 12324 are linked by connecting rod 1230, when the first stopper limits the swing angle range of first cleaning brush 12323 on one side, it also limits the swing angle range of first cleaning brush 12323 on that side. Similarly, when the second stopper limits the swing angle range of second cleaning brush 12324 on the other side, it also limits the swing angle range of first cleaning brush 12323 on that side. This simplifies the limiting structure.

In some embodiments, a first cleaning bar and a second cleaning bar are further provided on the panel 1251. The first cleaning bar is arranged adjacent to the first stop block, and the second cleaning bar is arranged adjacent to the second stop block. The first cleaning bar is used to clean dirt on the first cleaning brush 12323 when the first cleaning brush 12323 rotates to be adjacent to the first stop block, and the second cleaning bar is used to clean dirt on the second cleaning brush 12324 when the second cleaning brush 12324 rotates to be adjacent to the second stop block.

In some embodiments, the first cleaning bar and the second cleaning bar may be scrapers or brushes, etc., which are not limited here.

In some embodiments, drainage troughs are provided on the panel 1251 adjacent to the first cleaning bar and the second cleaning bar, respectively, for collecting dirt cleaned from the first cleaning brush 12323 by the first cleaning bar and dirt cleaned from the second cleaning brush 12324 by the second cleaning bar.

Thus, the first cleaning bar and the second cleaning bar can be used to scrape off dirt from the first cleaning brush 12323 and the second cleaning brush 12324 respectively, to prevent the dirt from the first cleaning brush 12323 and the second cleaning brush 12324 from contaminating other components of the robot 1.

Please refer to Figure 22, which is a schematic flow chart of a cleaning control method according to one embodiment of the present application. This cleaning control method is applied to the aforementioned robot 1. It is understood that the steps of the cleaning control method are not limited to the following sequence and can be adjusted and added or subtracted based on actual needs, and this is not a limitation here.

Cleaning control methods include:

Step 221: Determine the area to be cleaned on the light-transmitting member 122;

Step 222: Determine the swing angle range of the cleaning brush 1232 based on the determined area to be cleaned;

Step 223: Control the driving member 1231 to drive the cleaning brush 1232 to swing within the swing angle range to clean the area to be cleaned.

Therefore, in the present application, the area to be cleaned on the light-transmitting member 122 can be determined, and the swing angle range of the cleaning brush 1232 can be determined based on the area to be cleaned, and the driving member 1231 can be controlled to drive the cleaning brush 1232 to swing within the swing angle range to clean the area to be cleaned. There is no need to repeat cleaning in the clean area of the light-transmitting member 122, which can further improve the cleaning efficiency.

In some embodiments, step 222 includes:

When it is determined that the area to be cleaned is located on a certain light-transmitting area of the light-transmitting member 122 , the swing angle range of the cleaning brush 1232 is determined based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush 1232 .

Therefore, the swing angle range of the cleaning brush 1232 is determined based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush 1232 , which can improve the cleaning efficiency of the cleaning brush 1232 on the light-transmitting member 122 .

In some embodiments, the at least two sensors 121 include a first sensor 1211 and a second sensor 1212, and the light-transmitting member 122 includes a first light-transmitting area 1221 and a second light-transmitting area 1222. The first light-transmitting area 1221 is covered on the first sensor 1211, and the second light-transmitting area 1222 is covered on the second sensor 1212. Based on the relative positional relationship between the light-transmitting areas and the rotation axis of the cleaning brush 1232, the swing angle range of the cleaning brush 1232 is determined, including:

When it is determined that the area to be cleaned is located in the first light-transmitting area 1221 of the light-transmitting member 122, the maximum swing angle range of the cleaning brush 1232 is determined to be the first angle range;

When it is determined that the area to be cleaned is located in the second light-transmitting area 1222 of the light-transmitting member 122 , the maximum swing angle range of the cleaning brush 1232 is determined to be the second angle range, and the first angle range is different from the second angle range.

Therefore, when the area to be cleaned is located in different areas of the light-transmitting member 122, the swing angle range of the cleaning brush 1232 is determined to be different, so that the dirt at different positions of the light-transmitting member 122 can be cleaned in a targeted manner, which can improve cleaning efficiency and reduce energy consumption.

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

In some embodiments, the rotation axis of the cleaning brush 1232 is located between the first sensor 1211 and the second sensor 1212 , with the first angle ranging from 0° to 180° and the second angle ranging from 180° to 360°.

In some embodiments, the at least two sensors include a first sensor 1211 and a second sensor 1212, the first sensor 1211 and the second sensor 1212 are arranged side by side, the light-transmitting member 122 includes a first light-transmitting area 1221 and a second light-transmitting area 1222, the first light-transmitting area 1221 is covered on the first sensor 1211, and the second light-transmitting area 1222 is covered on the second sensor 1212, the rotation axis of the cleaning brush is located on a side in a direction perpendicular to the arrangement direction of the first sensor 1211 and the second sensor 1212, the cleaning brush 1232 includes a first cleaning brush and a second cleaning brush that swing in a linked manner, and the swing angle range of the cleaning brush 1232 is determined based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush, including:

When it is determined that the area to be cleaned is located in the first light-transmitting area 1221 of the light-transmitting member 122, the maximum swing angle range of the cleaning brush 1232 is determined to be the first angle range;

When it is determined that the area to be cleaned is located in the second light-transmitting area 1222 of the light-transmitting member 122 , the maximum swing angle range of the cleaning brush 1232 is determined to be the second angle range, and the first angle range is smaller than the second angle range.

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

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

Sense the pressure value on the surface of the light-transmitting element 122;

Determine whether the pressure value is within a preset pressure range, wherein the preset pressure range indicates that the abutting pressure of the cleaning brush 1232 on the light-transmitting member 122 is appropriate after installation;

When the pressure value is within the preset pressure range, it is determined that the cleaning brush 1232 is installed in place.

Therefore, since the cleaning brush 1232 is installed on the output shaft 1233 of the driving member 1231 by means of screws or the like, if the cleaning brush 1232 is screwed too tightly, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too small, causing the cleaning brush 1232 to excessively scrape the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in serious surface wear of the first light-transmitting area 1221 and the second light-transmitting area 1222; conversely, if the cleaning brush 1232 is screwed too loosely, the distance between the cleaning brush 1232 and the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222 will be too large, causing the cleaning brush 1232 to be unable to effectively scrape the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222, resulting in inadequate cleaning of the surface of the first light-transmitting area 1221 and the second light-transmitting area 1222.

In some embodiments, the cleaning control method further comprises:

After the cleaning brush 1232 is installed in place, the pressure value on the surface of the light-transmitting member 122 continues to be sensed;

Determine whether the pressure value is lower than the preset pressure range;

When the pressure value is lower than the preset pressure range, it is determined that the cleaning brush 1232 is loosely installed or the cleaning brush 1232 is too worn.

Therefore, after the cleaning brush 1232 is installed in place, it is necessary to continue to monitor whether the installation of the cleaning brush 1232 becomes loose or whether the cleaning brush 1232 is too worn to complete the cleaning work. The working status of the cleaning brush 1232 can be monitored at all times to increase the reliability of the cleaning system of the robot 1.

In some embodiments, the sensor module 12 further includes a liquid spraying component 126, and the cleaning control method further includes:

Before controlling the driving member 1231 to drive the cleaning brush 1232 to swing within the swing angle range to clean the area to be cleaned, controlling the liquid spraying assembly 126 to spray the cleaning liquid to the area to be cleaned based on the area to be cleaned; and/or,

After the driving member 1231 drives the cleaning brush 1232 to complete cleaning of the area to be cleaned, it is determined whether the area to be cleaned is clean;

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

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

Therefore, the liquid spraying assembly 126 sprays the cleaning liquid to improve the cleaning effect.

In some embodiments, the cleaning control method further comprises:

Detect whether it is raining through the rain sensor;

If yes, the driving member 1231 is controlled to drive the cleaning brush 1232 to clean the surface of the light-transmitting member 122 .

Therefore, when it rains, raindrops on the light-transmitting member 122 of the sensor module 12 can be cleared in time to prevent the rain from affecting the sensing ability of the sensor module 12 .

It should be noted that those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required for this application. The processor can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The robot 1 also includes a memory, which can be a random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art.

The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the creative concept of the present application, and these all fall within the scope of protection of the present application.

Claims (41)

A cleaning control method, characterized in that it is applied to a robot, the robot including a sensor module, the sensor module including at least two sensors and a light-transmitting member, the light-transmitting member covering the at least two sensors, the sensor module also including a cleaning assembly, the cleaning assembly including a driving member and a cleaning brush, the output shaft of the driving member being connected to the cleaning brush, and when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting member corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting member, the cleaning control method comprising: determining an area to be cleaned on the light-transmitting member; determining a swing angle range of the cleaning brush based on the area to be cleaned; The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned. The cleaning control method according to claim 1, wherein determining the swing angle range of the cleaning brush based on the area to be cleaned comprises: When it is determined that the area to be cleaned is located on a certain light-transmitting area of the light-transmitting member, the swing angle range of the cleaning brush is determined based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush. The cleaning control method according to claim 2, characterized in that the at least two sensors include a first sensor and a second sensor, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area is covered on the first sensor, and the second light-transmitting area is covered on the second sensor, and the determining the swing angle range of the cleaning brush based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush comprises: When it is determined that the area to be cleaned is located in the first light-transmitting area of the light-transmitting member, determining the maximum swing angle range of the cleaning brush to be the first angle range; When it is determined that the area to be cleaned is located in the second light-transmitting area of the light-transmitting member, the maximum swing angle range of the cleaning brush is determined to be the second angle range, and the first angle range is different from the second angle range. The cleaning control method according to claim 3 is characterized in that the second sensor is close to the rotation axis of the cleaning brush, the first sensor is away from the rotation axis of the cleaning brush and is located on a side of the second sensor away from the rotation axis, and the first angle range is smaller than the second angle range. The cleaning control method according to claim 3 is characterized in that the rotation axis of the cleaning brush is located between the first sensor and the second sensor, the first angle range is 0 to 180 degrees, and the second angle range is 180 to 360 degrees. The cleaning control method according to claim 2 is characterized in that the at least two sensors include a first sensor and a second sensor, the first sensor and the second sensor are arranged side by side, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area cover is provided on the first sensor, and the second light-transmitting area cover is provided on the second sensor, the rotation axis of the cleaning brush is located on one side in a direction perpendicular to the arrangement direction of the first sensor and the second sensor, the cleaning brush includes a first cleaning brush and a second cleaning brush that swing in conjunction, and determining the swing angle range of the cleaning brush based on the relative positional relationship between the light-transmitting area and the rotation axis of the cleaning brush comprises: When it is determined that the area to be cleaned is located in the first light-transmitting area of the light-transmitting member, determining the maximum swing angle range of the cleaning brush to be the first angle range; When it is determined that the area to be cleaned is located in the second light-transmitting area of the light-transmitting member, the maximum swing angle range of the cleaning brush is determined to be the second angle range, and the first angle range is smaller than the second angle range. The cleaning control method according to claim 1, characterized in that the cleaning control method further comprises: sensing a pressure value applied to the surface of the light-transmitting element; determining whether the pressure value is within a preset pressure range, wherein the preset pressure range indicates that the abutting pressure of the cleaning brush on the light-transmitting member after installation is appropriate; When the pressure value is within the preset pressure range, it is determined that the cleaning brush is installed in place. The cleaning control method according to claim 7, characterized in that the cleaning control method further comprises: After the cleaning brush is installed in place, continue to sense the pressure value exerted on the surface of the light-transmitting element; Determining whether the pressure value is lower than the preset pressure range; When the pressure value is lower than the preset pressure range, it is determined that the cleaning brush is loose or the cleaning brush is excessively worn. The cleaning control method according to claim 1, wherein the sensor module further comprises a liquid spraying component, and the cleaning control method further comprises: Before controlling the driving member to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned, controlling the liquid spraying assembly to spray cleaning liquid onto the area to be cleaned based on the area to be cleaned; and/or, After the driving member drives the cleaning brush to complete cleaning the area to be cleaned, determining whether the area to be cleaned is clean; When it is determined that the cleaning area is not cleaned completely, controlling the liquid spraying assembly to spray cleaning liquid onto the area to be cleaned; The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned. The cleaning control method according to claim 1, characterized in that the cleaning control method further comprises: Detect whether it is raining through sensors; If yes, the driving member is controlled to drive the cleaning brush to clean the surface of the light-transmitting member. A robot for mowing lawns, characterized in that it includes a body and a sensor module, wherein the sensor module is mounted on the body, the sensor module includes at least two sensors and a light-transmitting member, the light-transmitting member covers the at least two sensors, the sensor module further includes a cleaning assembly, the cleaning assembly includes a driving member and a cleaning brush, the output shaft of the driving member is connected to the cleaning brush, and when the driving member drives the cleaning brush to rotate, the cleaning brush can cover the surface of the light-transmitting member corresponding to the at least two sensors to clean dirt on the surface of the light-transmitting member, the robot further includes a processor and a memory, the memory storing a computer program, and the processor running the computer program to execute: determining the area to be cleaned on the light-transmitting member by using the detection signals respectively generated by the at least two sensors; determining a swing angle range of the cleaning brush based on the area to be cleaned; The driving member is controlled to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned. The robot according to claim 11 is characterized in that the processor determines the swing angle range of the cleaning brush based on the relative position relationship between the light-transmitting area and the rotation axis of the cleaning brush, wherein when the light-transmitting area and the rotation axis of the cleaning brush have different relative position relationships, the cleaning brush has different swing angle ranges. The robot according to claim 12 is characterized in that the at least two sensors include a first sensor and a second sensor, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area cover is provided on the first sensor, and the second light-transmitting area cover is provided on the second sensor, and when the processor determines that the area to be cleaned is located in the first light-transmitting area of the light-transmitting member, the maximum swing angle range of the cleaning brush is determined to be a first angle range; when the processor determines that the area to be cleaned is located in the second light-transmitting area of the light-transmitting member, the processor determines that the maximum swing angle range of the cleaning brush is a second angle range, and the first angle range is different from the second angle range. The robot according to claim 13 is characterized in that the second sensor is close to the rotation axis of the cleaning brush, the first sensor is away from the rotation axis of the cleaning brush and is located on a side of the second sensor away from the rotation axis, and the first angle range is smaller than the second angle range. The robot according to claim 13, characterized in that the rotation axis of the cleaning brush is located between the first sensor and the second sensor, the first angle range is 0 to 180°, and the second angle range is 180 to 360°. The robot according to claim 14 or 15 is characterized in that the length of the cleaning brush is greater than or equal to the distance between the central axis of the output shaft of the driving member and the farthest point on the surface of the first light-transmitting area and the second light-transmitting area. The robot according to claim 14 or 15, characterized in that the forward tilt angle of the first sensor is greater than the forward tilt angle of the second sensor. The robot according to claim 12 is characterized in that the at least two sensors include a first sensor and a second sensor, the first sensor and the second sensor are arranged side by side, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, the first light-transmitting area cover is provided on the first sensor, and the second light-transmitting area cover is provided on the second sensor, the rotation axis of the cleaning brush is located on one side in a direction perpendicular to the arrangement direction of the first sensor and the second sensor, the cleaning brush includes a first cleaning brush and a second cleaning brush that swing in linkage, and when the processor determines that the area to be cleaned is located in the first light-transmitting area of the light-transmitting member, the maximum swing angle range of the cleaning brush is determined to be a first angle range; when the processor determines that the area to be cleaned is located in the second light-transmitting area of the light-transmitting member, the maximum swing angle range of the cleaning brush is determined to be a second angle range, and the first angle range is smaller than the second angle range. The robot according to claim 14, 15 or 18 is characterized in that the sensor module further includes a pressure sensor, which is connected to the processor, and the pressure sensor is used to sense the pressure values applied to the first light-transmitting area and the second light-transmitting area, and the processor is used to determine whether the pressure value is within a preset pressure range, and the preset pressure range indicates that the contact pressure of the cleaning brush on the light-transmitting member after installation is appropriate; when the pressure value is within the preset pressure range, the processor determines that the cleaning brush is installed in place. The robot according to claim 19 is characterized in that the processor is further used to continue sensing the pressure value on the surface of the light-transmitting member after the cleaning brush is installed in place; determine whether the pressure value is lower than the preset pressure range; when the pressure value is lower than the preset pressure range, determine that the cleaning brush is loose or the cleaning brush is too worn. The robot according to claim 19 is characterized in that the sensor module further includes a liquid spray component, which is located on one side of the first sensor and the second sensor, and the processor is used to control the liquid spray component to spray cleaning liquid to the area to be cleaned based on the area to be cleaned before controlling the driving member to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned; and/or, after the driving member drives the cleaning brush to complete cleaning the area to be cleaned, determine whether the area to be cleaned is clean; when it is determined that the cleaning area is not clean, control the liquid spray component to spray cleaning liquid to the area to be cleaned; control the driving member to drive the cleaning brush to swing within the swing angle range to clean the area to be cleaned. The robot according to claim 11 is characterized in that the processor is used to sense whether it is raining through a sensor; if so, control the driving member to drive the cleaning brush to clean the surface of the light-transmitting member. The robot according to claim 11 is characterized in that the sensor module includes a shell, the at least two sensors are installed in the shell, the shell is provided with a light-transmitting port, the at least two sensors are exposed to the shell through the light-transmitting port, the light-transmitting member cover is provided on the light-transmitting port, and the shell is further provided with a storage groove, the storage groove is arranged adjacent to the output shaft of the driving member, and the processor is used to drive the cleaning brush to extend outward from the storage groove to perform a cleaning task in response to the cleaning instruction when receiving a cleaning instruction; after the cleaning task is completed, the cleaning brush is driven to retract inward and be stored in the storage groove. The robot according to claim 11 is characterized in that the robot further includes a Hall sensor, which is connected to the processor, and the Hall sensor is arranged within the swing angle range of the cleaning brush to sense the swinging motion of the cleaning brush and generate a corresponding sensing signal, and the processor determines the swing angle range of the cleaning brush based on the sensing signal. A robot, characterized in that it is used for mowing grass, characterized in that it includes a body and a sensor module, wherein the sensor module is mounted on the body, and the sensor module includes: A light transmission port, comprising at least two light transmission holes; at least two sensors, wherein the energy output surface and/or the energy input surface of each sensor corresponds to the position of one of the light-transmitting holes; a light-transmitting member, covering the at least two light-transmitting holes; The cleaning component comprises a driving member and a cleaning brush, wherein the cleaning brush is connected to the driving member and cleans the light-transmitting member under the drive of the driving member. The robot according to claim 25 is characterized in that the driving member includes an output shaft, the cleaning brush includes a connecting end and a brush arm, the connecting end is connected to the output shaft, the brush arm of the cleaning brush rotates around the connecting end as the output shaft rotates, and the distance from the connecting end to the brush arm is greater than or equal to the distance from the connecting end to the target position in the at least two light-transmitting holes, wherein the target position is the position with the largest distance from the connecting end. The robot according to claim 26 is characterized in that the at least two light-transmitting holes are connected light-transmitting holes or light-transmitting holes arranged at intervals, there is at least one light-transmitting member, the light-transmitting members are located in the same plane, and the connecting end is located on one side of the at least two light-transmitting holes. The robot according to claim 27 is characterized in that the light-transmitting member includes a first edge, the connecting end is arranged adjacent to the first edge, the projection of the connecting end on the first edge is located at the midpoint of the first edge, and the rotation angle of the output shaft is 0° to 180°. The robot according to claim 26 is characterized in that the sensor module further includes a shell, the shell includes a connecting portion, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area, and the first light-transmitting area and the second light-transmitting area are located in the same plane and are independently arranged, the at least two light-transmitting holes include a first light-transmitting hole and a second light-transmitting hole, and the first light-transmitting hole and the second light-transmitting hole are at least partially spaced apart by the connecting portion. The robot according to claim 29, wherein the rotation angle of the output shaft is 0° to 360°. The robot according to claim 25 is characterized in that the cleaning component includes a collecting piece, which is arranged on a side of the light-transmitting piece close to the direction of gravity to collect garbage generated when the cleaning brush cleans the light-transmitting piece. The robot according to claim 25 is characterized in that the at least two light-transmitting holes are arranged along the direction of gravity, and the angle between the side of the at least two sensors close to the at least two light-transmitting holes and the direction of gravity gradually increases from the far end to the proximal end of the direction of gravity. The robot according to claim 25 is characterized in that the at least two sensors are arranged side by side, the rotating axis of the cleaning brush is located on one side in a direction perpendicular to the arrangement direction of the at least two sensors, and the driving member drives the cleaning brush to swing to clean the dirt on the transparent member. The robot according to claim 33 is characterized in that the cleaning brush includes at least two cleaning brushes arranged side by side, the output shaft of the driving member is connected to the at least two cleaning brushes, and the driving member drives the at least two cleaning brushes to swing in conjunction to cover all areas of the light-transmitting member to clean dirt on any area on the entire surface of the light-transmitting member. The robot according to claim 34 is characterized in that the at least two sensors include a first sensor and a second sensor arranged side by side, the light-transmitting member includes a first light-transmitting area and a second light-transmitting area arranged side by side and on the same plane, the first light-transmitting area cover is provided on the first sensor, and the second light-transmitting area cover is provided on the second sensor, the at least two cleaning brushes include a first cleaning brush and a second cleaning brush and a connecting rod connecting the first cleaning brush and the second cleaning brush, the first cleaning brush and the second cleaning brush are driven by the driving member to swing in linkage to clean dirt on the first light-transmitting area and the second light-transmitting area. The robot according to claim 35 is characterized in that the first sensor is a radar, the second sensor is a binocular camera, the radar is arranged between the two lenses of the binocular camera, the light-transmitting component is an integrated light-transmitting component, the first light-transmitting area is the area of the integrated light-transmitting component corresponding to the radar, and the second light-transmitting area is the area of the integrated light-transmitting component corresponding to the two lenses in the binocular camera. The robot according to claim 35 is characterized in that the sensor module also includes a shell, the shell includes a panel and a side wall, the panel and the side wall together form a storage cavity, the first sensor and the second sensor are installed side by side in the storage cavity, the first sensor and the second sensor are installed side by side in the storage cavity, the side wall protrudes toward the side away from the storage cavity to form a first lug and a second lug, and a supporting lug connected to the first lug, the first lug and the second lug are respectively provided with a first through hole and a second through hole, the first cleaning brush is installed in the first through hole, the second cleaning brush is installed in the second through hole, the driving member is installed on the supporting lug, and the output shaft of the driving member passes through the first through hole and is connected to the first cleaning brush. The robot according to claim 37 is characterized in that the first lug, the second lug and the supporting protrusion are located on the same side wall of the side wall, and the extension direction of the first lug and the supporting protrusion is parallel to the central axis of the output shaft of the driving member. The robot according to claim 38 is characterized in that the sensor module also includes a liquid spray component, which is installed on the side wall and located between the first lug and the second lug, and the liquid spray component is used to spray cleaning liquid onto the light-transmitting member. The robot according to claim 39 is characterized in that the liquid spraying assembly includes a liquid storage chamber, a spraying port and a pump, and the pump is used to spray the cleaning liquid in the liquid storage chamber onto the surface of the light-transmitting member through the spraying port. The robot according to claim 37 is characterized in that a storage groove is further provided on the panel, and the storage groove is arranged adjacent to the output shaft of the driving member, and the first cleaning brush and the second cleaning brush can be retracted inward and stored in the storage groove, or lifted outward and located outside the storage groove.