CN108051824B - Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot - Google Patents
Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot Download PDFInfo
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- CN108051824B CN108051824B CN201711479840.0A CN201711479840A CN108051824B CN 108051824 B CN108051824 B CN 108051824B CN 201711479840 A CN201711479840 A CN 201711479840A CN 108051824 B CN108051824 B CN 108051824B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a detection assembly, a sweeping robot, and a method and a system for detecting walking road conditions of the sweeping robot, wherein the detection assembly comprises: the light emitter is used for emitting test light; a camera chamber having an entrance hole for light to enter; the light receivers are arranged in the darkroom in a pair mode and used for receiving light which is emitted by the light emitter and reflected by the external reflection surface to enter the darkroom through the inlet hole and converting the light intensity signals into electric signals; and the detection circuit is electrically connected with the plurality of light receivers so as to carry out differential operation processing on the electric signals of each pair of light receivers and generate output signals. According to the detection assembly of the sweeping robot provided by the embodiment of the invention, the influence of the external environment on the light intensity is eliminated, so that the influence of the factors such as the color of the external reflecting surface, the external light intensity and the like on the detection result of the detection assembly is reduced.
Description
Technical Field
The invention relates to the technical field of backlight testing, in particular to a detection assembly, a sweeping robot, and a method and a system for detecting walking road conditions of the sweeping robot.
Background
In the related art, the current sweeper uses a PSD sensor (i.e., a position distance sensor) or an infrared sensor to detect an obstacle or a ground. The intensity of the reflected light will have an effect on the output signal result of the sensing system. When the barrier or the ground is made of dark color, such as black, a part of light is absorbed by the ground, so that the intensity of reflected light is weakened, and the detection result of a sensing system is interfered; when strong light sources exist outside, such as sunlight and indoor light, the intensity of reflected light is enhanced, and the detection result of the sensing system is also interfered. In addition, PSD sensors are expensive, resulting in cost pressure.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a detection assembly of a sweeping robot, which can reduce the interference of the external environment on the detection result of the walking road condition.
The invention also provides the sweeping robot, a method for detecting the walking road condition of the sweeping robot and a system for detecting the walking road condition of the sweeping robot.
The detection assembly of the sweeping robot according to the first aspect of the invention comprises: a light emitter for emitting test light; a camera chamber having an entrance aperture for light to enter; a plurality of light receivers arranged in a pair in the darkroom, the light receivers being used for receiving the light emitted by the light emitter and reflected by an external reflection surface to enter the darkroom through the inlet hole and converting the light intensity signal into an electric signal; a detection circuit electrically connected to the plurality of light receivers to perform a differential operation process on the electrical signals of each pair of light receivers and generate an output signal.
According to the detection assembly of the sweeping robot, the light receivers distributed in pairs are arranged in the darkroom to collect the light intensity information of the light rays emitted by the light emitter and reflected by the external reflection surface, the light intensity information is converted into the electric signals to be fed back to the detection circuit, the detection circuit carries out differential operation processing on the electric signals fed back by each pair of light receivers, and after the electric signals of each pair of light receivers are subjected to differential operation processing, the influence of the external environment on the light intensity is eliminated in a common-mode signal mode, so that the influence of factors such as the color of the external reflection surface and the external light intensity on the detection result of the detection assembly is reduced.
According to the detection assembly of the sweeping robot, the detection circuit comprises a differential amplifier for differential operation processing, the differential amplifier is provided with a non-inverting input end, an inverting input end and an output end, the non-inverting input end is electrically connected with one of the light receivers in each pair, the inverting input end is electrically connected with the other of the light receivers in each pair, and the output end is used for outputting the output signal.
According to the detection assembly of the sweeping robot in another embodiment of the present invention, the light receiver is any one of a photoelectric tube, a photomultiplier tube, a photo resistor, a photo transistor, a solar cell, a color sensor, and an image sensor.
In some embodiments, the light receiver is a photoresistor, the photoresistor is connected to the detection circuit, and the controller converts a resistance signal of the photoresistor into a voltage signal and performs differential processing on the voltage signal.
According to the detection assembly of the sweeping robot provided by the embodiment of the invention, the number of the light receivers is two, and the two light receivers are symmetrically distributed relative to the central axis of the inlet hole.
The detection assembly of the sweeping robot provided by the embodiment of the invention further comprises a lens, wherein the lens is arranged towards the light emitter so as to converge the test light emitted by the light emitter.
Optionally, the light emitter, the light receiver, the dark room, the detection circuit, and the lens are integrated into a single body.
According to a second aspect of the present invention, a system for detecting a walking road condition of a sweeping robot includes: the detection component; and the controller is electrically connected with the detection circuit to receive the output signal, and when the output signal is received, the controller converts the output signal into a distance value between the detection assembly and an external reflection surface in an operation mode.
In some embodiments, when the external reflection surface is an obstacle, the controller is configured to determine that the obstacle is present when a value of a distance between the detection assembly and the external reflection surface falls within a preset threshold range and determine that the obstacle is not present when the value of the distance between the detection assembly and the external reflection surface does not fall within the preset threshold range.
In some embodiments, when the external reflection surface is a walking surface, the controller is configured to determine that the walking surface is flat when a value of a distance between the detection assembly and the external reflection surface falls within a preset threshold range and determine that the walking surface is not flat when the value of the distance between the detection assembly and the external reflection surface does not fall within the preset threshold range.
In some embodiments, the controller is configured to issue a stop command or a turn command to control the sweeping robot to stop moving or turning when there is an obstacle or walking unevenness.
According to the third aspect of the invention, the sweeping robot comprises: a body; and the detection assembly is positioned at the bottom and/or the side part of the machine body, so that whether the walking ground is normal or not is detected through the detection assembly arranged at the bottom, and the obstacle on the outer side is detected through the detection assembly arranged at the side part.
The method for detecting the walking road condition of the sweeping robot according to the fourth aspect of the invention comprises the following steps: emitting test light to an external reflecting surface; receiving the light reflected by the external reflecting surface in pairs, and converting the light intensity signal into an electric signal; carrying out differential operation processing on each pair of electric signals and sending out an output signal; and calculating and converting the output signal into a distance value between the detection assembly and the external reflecting surface, and judging the position information of the external reflecting surface according to whether the distance value falls within a preset threshold range.
In some embodiments, when the distance value between the detection assembly and the external reflection surface is within a preset threshold range, the walking road surface is judged to be flat or an obstacle is detected; and when the distance value between the detection assembly and the external reflecting surface does not fall within the range of the preset threshold value, judging that the walking road surface is uneven or no obstacle is detected.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of a detection assembly of a sweeping robot according to an embodiment of the present invention.
Reference numerals:
the detection assembly 100 is provided with a detection component,
the device comprises a light emitter 1, a darkroom 2, an inlet hole 21, a light receiver 3, a detection circuit 4, a lens 5 and an external reflection surface a.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A detection assembly 100 of a sweeping robot according to an embodiment of the present invention is described below with reference to fig. 1.
As shown in fig. 1, a detecting assembly 100 of a sweeping robot according to an embodiment of the first aspect of the present invention includes: a light emitter 1, a dark room 2, a plurality of light receivers 3, and a detection circuit 4.
The light emitter 1 is used for emitting a test light, the light emitter 1 may adopt a light source capable of emitting a light of a certain color, such as a 550nm green light source, and the light emitter 1 may emit a light toward the lower side of the sweeping robot or emit a light toward the left side, the right side, the front side or the rear side of the sweeping robot.
The camera chamber 2 has an entrance hole 21 for light to enter, and the camera chamber 2 provides a good collection environment for the light emitted by the light emitter 1 and reflected by the external reflection surface a. The dark room 2 may be selected from a light-shielding black box which leaves a slit through which only a light beam in the detection range passes, wherein the slit is formed as an entrance hole 21.
A plurality of light receivers 3 are arranged in pairs in the dark room 2, and the light receivers 3 are used for receiving the light which is emitted by the light emitter 1 and reflected by the external reflection surface a to enter the dark room 2 through the entrance hole 21 and converting the light intensity signal into an electric signal.
It should be noted that the external reflection surface a is a reflection surface capable of reflecting the light emitted by the light emitter 1, and when the external reflection surface a is within the detection range of the detection assembly 100, the light emitted by the light emitter 1 enters the darkroom 2 from the entrance hole 21 after being reflected by the external reflection surface a; on the contrary, when the external reflection surface a is not in the detection range of the detection assembly 100, the light emitted by the light emitter 1 is reflected by the external reflection surface a and cannot enter the darkroom 2 from the entrance hole 21.
The detection circuit 4 is electrically connected with the plurality of light receivers 3 to carry out differential operation processing on the electric signals of each pair of light receivers 3 and generate output signals, so that light intensity information in the external environment collected by the two light receivers 3 arranged in pairs is filtered out, and the influence of the external environment on the output signals is provided.
According to the detection assembly 100 of the sweeping robot provided by the embodiment of the invention, the light receivers 3 distributed in pairs are arranged in the darkroom 2 to collect the light intensity information of the light emitted by the light emitter 1 and reflected by the external reflection surface a, the light intensity information is converted into the electric signal and fed back to the detection circuit 4, the detection circuit 4 performs differential operation processing on the electric signal fed back by each pair of light receivers 3, and after the electric signal of each pair of light receivers 3 is subjected to differential operation processing, the influence of the external environment on the light intensity is eliminated in a mode of common-mode signals, so that the influence of factors such as the color of the external reflection surface a and the external light intensity on the detection result of the detection assembly 100 is reduced.
Therefore, the detecting assembly 100 of the sweeping robot of the invention has the following advantages: 1. by constructing a common-mode signal, a detection circuit 4 is utilized to process and calculate an interference signal part (one part is irrelevant to the influence of an external light source, and the other part is the influence of the color of a barrier material), so that the sensing detection precision is improved; 2. the PSD sensor or the infrared sensor detects whether or not the light beam from the transmitter is received, but the detecting component 100 of the embodiment of the present invention detects the intensity of the light through the optical receiver 3 (including but not limited to CDS photoresistor) and performs a difference operation; 3. the cost is low.
To facilitate the differential operation, the detection circuit 4 includes a differential amplifier having a non-inverting input terminal electrically connected to one of the light receivers 3 of each pair, an inverting input terminal electrically connected to the other of the light receivers 3 of each pair, and an output terminal for outputting an output signal.
The differential amplifier is formed with a differential circuit, which is a circuit having such a function, on the detection circuit 4. The input end of the circuit is the input of two signals, the difference value of the two signals is the effective input signal of the circuit, and the output of the circuit is the amplification of the difference value of the two input signals. The method is characterized in that the method comprises the following steps of designing a scenario that if an interference signal exists, the same interference is generated on two input signals, and through the difference between the two signals, the effective input of the interference signal is zero, so that the aim of resisting common-mode interference is fulfilled.
According to the detecting assembly 100 of the sweeping robot in another embodiment of the present invention, the light receiver 3 is any one of a photoelectric tube, a photomultiplier tube, a photo resistor, a photo transistor, a solar cell, a color sensor, and an image sensor.
Specifically, the light receiver 3 may be a photo resistor, and the photo resistor may change its resistance value according to the intensity of the received light, and is detected by the detection circuit 4. The photoresistor is connected into the detection circuit 4, and the controller converts the resistance signal of the photoresistor into a voltage signal and performs differential processing on the voltage signal.
In the embodiment shown in fig. 1, the number of the light receivers 3 is two, and the two light receivers 3 are symmetrically distributed with respect to the central axis of the inlet hole 21.
The detecting assembly 100 of the sweeping robot according to the embodiment of the present invention further includes a lens 5, and the lens 5 is disposed toward the light emitter 1 to converge the test light emitted by the light emitter 1. The lens 5 can be a shift fresnel lens 5 for testing.
The light emitter 1, the light receiver 3, the darkroom 2, the detection circuit 4 and the lens 5 can be integrated into a whole to form a detection assembly 100, and the whole detection assembly 100 is installed on the sweeping robot.
According to a second aspect of the present invention, a system for detecting a walking road condition of a sweeping robot includes: in the detection assembly 100 and the controller of the above embodiments, the controller is electrically connected to the detection circuit 4 to receive the output signal, and when receiving the output signal, the controller converts the output signal into a distance value between the detection assembly 100 and the external reflection surface a through calculation.
When the external reflection surface a is an obstacle, the controller is configured to determine that the obstacle exists when a value of a distance between the detection assembly 100 and the external reflection surface a falls within a preset threshold range and determine that the obstacle does not exist when the value of the distance between the detection assembly 100 and the external reflection surface a does not fall within the preset threshold range.
When the external reflection surface a is a walking surface, the controller is configured to judge that the walking surface is flat when a value of a distance between the detection assembly 100 and the external reflection surface a falls within a preset threshold range and judge that the walking surface is not flat when the value of the distance between the detection assembly 100 and the external reflection surface a does not fall within the preset threshold range.
Accordingly, the light emitter 1 may be configured to emit light toward the lower side of the sweeping robot to detect whether the walking road surface of the robot is flat, and the light emitter 1 may also be configured to emit light toward the left side, right side, front side or rear side of the sweeping robot to detect the surrounding obstacles.
In a preferred embodiment, the controller is configured to send a stop command or a turning command when an obstacle exists or the walking ground is uneven so as to control the sweeping robot to stop moving or turning.
According to the detection system of the sweeping robot, light emitted by the light source is divergent and forms a light emitting beam through the convergence action of the lens 5, and the light emitting beam is reflected when touching the surface of an obstacle or the surface of the ground. When the external reflecting surface a is in the detection range, a reflected light beam can be absorbed into the darkroom 2 through the inlet hole 21 and can be irradiated on the optical receiver 3, the optical receiver 3 generates an electrical parameter change after receiving the light beam and is detected by the detection circuit 4, an output signal is obtained through differential processing operation and is sent to the controller for analysis, the controller judges and detects the information of the external reflecting surface a according to the analysis result, and the controller controls the walking parts (such as a driving wheel and a universal wheel) of the sweeping robot to execute corresponding operation according to the judgment result; when the reflecting surface is not in the set proper range, the reflected light beam cannot be shot into the darkroom 2 through the slit, the light receiver 3 does not receive the light beam, the electrical parameter cannot be changed, the output signal of the detection circuit 4 cannot be changed, and the controller judges that the information of the external reflecting surface a is not detected.
According to the third aspect of the invention, the sweeping robot comprises: the machine body and the walking road surface detection system of the above embodiment, the detection assembly 100 is located at the bottom and/or the side of the machine body, so as to detect whether the walking ground is normal or not through the detection assembly 100 located at the bottom, and detect the outside obstacle through the detection assembly 100 located at the side.
Specifically, a circuit board is further arranged in a shell of the sweeping robot, and the circuit board is used for installing and integrating some electrical components of the sweeping robot and realizing the electrical connection of all the electrical components.
The sweeping robot comprises a body, a dust box arranged in the body, a fan, a circuit board and the like, wherein the dust box is used for containing and storing dust, hair and the like cleaned by the sweeping robot, the cleaning function of the sweeping robot is achieved, a driving wheel, universal wheels and other assemblies are arranged outside the body, the driving wheel is used for achieving the movement of the sweeping robot, the universal wheels are used for achieving the steering of the sweeping robot, and the controller correspondingly controls the universal wheels and the driving wheel to perform corresponding operation after receiving an output signal fed back by the detection assembly 100.
For example, when the detecting assembly 100 disposed on the left side of the sweeping robot sends an output signal indicating that the robot is in contact with an obstacle, the controller may control the driving wheel to turn towards the right side to avoid the obstacle.
The method for detecting the walking road condition of the sweeping robot according to the fourth aspect of the invention comprises the following steps:
s1: and emitting the test light to the external reflecting surface.
S2: the light reflected by the external reflecting surface is received in pairs, and the light intensity signal is converted into an electric signal.
S3: carrying out differential operation processing on each pair of electric signals and sending out an output signal;
s4: and calculating and converting the output signal into a distance value between the detection assembly and the external reflecting surface, and judging the position information of the external reflecting surface according to whether the distance value falls within a preset threshold range.
Therefore, the electric signals fed back by each pair of light receivers are subjected to differential operation processing, and after the electric signals of each pair of light receivers are subjected to differential operation processing, the influence of the external environment on the light intensity is eliminated in a common-mode signal mode, so that the influence of factors such as the color of an external reflecting surface and the external light intensity on the detection result of the detection assembly is reduced.
According to the method for detecting the walking road condition of the sweeping robot, when the distance value between the detection assembly 100 and the external reflecting surface a is within the preset threshold range, the walking road surface is judged to be normal or an obstacle is detected; when the distance value between the detection assembly 100 and the external reflection surface a does not fall within the preset threshold range, it is judged that the walking road surface is not flat or no obstacle is detected.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, but do not indicate or imply that the structures or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be considered as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (13)
1. The utility model provides a detection subassembly of robot of sweeping floor which characterized in that includes:
a light emitter for emitting test light;
a camera chamber having an entrance aperture for light to enter;
a plurality of light receivers arranged in a pair in the darkroom, the light receivers being used for receiving the light emitted by the light emitter and reflected by an external reflection surface to enter the darkroom through the inlet hole and converting the light intensity signal into an electric signal;
a detection circuit electrically connected to the plurality of light receivers to perform differential operation processing on the electrical signals of each pair of the light receivers and generate output signals;
the lens is arranged towards the light emitter so as to converge the test light emitted by the light emitter.
2. The detecting assembly of claim 1, wherein the detecting circuit comprises a differential amplifier for differential operation, the differential amplifier has a non-inverting input electrically connected to one of the light receivers of each pair, an inverting input electrically connected to the other of the light receivers of each pair, and an output for outputting the output signal.
3. The detecting assembly of claim 1 or 2, wherein the light receiver is any one of a photoelectric tube, a photomultiplier tube, a photo resistor, a photo triode, a solar cell, a color sensor, and an image sensor.
4. The detecting assembly of claim 3, wherein the light receiver is a photo resistor, the photo resistor is connected to the detecting circuit, and the controller converts a resistance signal of the photo resistor into a voltage signal and performs differential processing on the voltage signal.
5. The detecting assembly of claim 1, wherein the number of the light receivers is two, and the two light receivers are symmetrically distributed relative to the central axis of the entrance hole.
6. The detecting assembly of claim 1, wherein the light emitter, the light receiver, the dark room, the detecting circuit, and the lens are integrated.
7. The utility model provides a detect system of robot walking road conditions of sweeping floor which characterized in that includes:
the detection assembly of any one of claims 1-6; and
and the controller is electrically connected with the detection circuit to receive the output signal, and when the output signal is received, the controller converts the output signal into a distance value between the detection assembly and an external reflection surface in an operation mode.
8. The system for detecting the walking road condition of the sweeping robot as claimed in claim 7, wherein when the external reflecting surface is an obstacle, the controller is configured to determine that the obstacle exists when the distance value between the detecting component and the external reflecting surface falls within a preset threshold range and determine that the obstacle does not exist when the distance value between the detecting component and the external reflecting surface does not fall within the preset threshold range.
9. The system for detecting the walking road condition of the sweeping robot as claimed in claim 7, wherein when the external reflecting surface is a walking ground, the controller is configured to determine that the walking ground is flat when the distance value between the detecting component and the external reflecting surface falls within a preset threshold range and determine that the walking ground is not flat when the distance value between the detecting component and the external reflecting surface does not fall within the preset threshold range.
10. The system for detecting walking road conditions of the sweeping robot as claimed in claim 8 or 9, wherein the controller is configured to issue a stop command or a turn command to control the sweeping robot to stop moving or turn when there is an obstacle or walking unevenness.
11. A sweeping robot is characterized by comprising:
a body; and
the system for detecting walking road conditions of the sweeping robot as claimed in any one of claims 7-10, wherein the detecting component is located at the bottom and/or the side of the machine body, so as to detect whether the walking ground is normal or not by the detecting component located at the bottom, and to detect the external obstacle by the detecting component located at the side.
12. A method for detecting walking road conditions of a sweeping robot, wherein the method for detecting walking road conditions of the sweeping robot is suitable for controlling the sweeping robot of claim 11, and comprises the following steps:
emitting test light to an external reflecting surface;
receiving the light reflected by the external reflecting surface in pairs, and converting the light intensity signal into an electric signal;
carrying out differential operation processing on each pair of electric signals and sending out an output signal;
and calculating and converting the output signal into a distance value between the detection assembly and the external reflecting surface, and judging the position information of the external reflecting surface according to whether the distance value falls within a preset threshold range.
13. The method for detecting the walking road condition of the sweeping robot according to claim 12, wherein when the distance between the detecting component and the external reflecting surface is within a preset threshold range, the walking road surface is judged to be flat or an obstacle is detected; and when the distance value between the detection assembly and the external reflecting surface does not fall within the range of the preset threshold value, judging that the walking road surface is uneven or no obstacle is detected.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711479840.0A CN108051824B (en) | 2017-12-29 | 2017-12-29 | Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot |
| PCT/CN2018/098034 WO2019128227A1 (en) | 2017-12-29 | 2018-08-01 | Detection assembly, floor sweeping robot and method and system for detecting walking road conditions thereof |
| US16/128,531 US20190204442A1 (en) | 2017-12-29 | 2018-09-12 | Detection assembly, cleaning robot and method and system for detecting walking condition thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711479840.0A CN108051824B (en) | 2017-12-29 | 2017-12-29 | Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108051824A CN108051824A (en) | 2018-05-18 |
| CN108051824B true CN108051824B (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711479840.0A Active CN108051824B (en) | 2017-12-29 | 2017-12-29 | Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot |
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| CN111766589A (en) * | 2019-03-12 | 2020-10-13 | 江苏美的清洁电器股份有限公司 | Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot |
| CN115349778B (en) * | 2022-08-15 | 2023-12-19 | 奥比中光科技集团股份有限公司 | Control method and device of sweeping robot, sweeping robot and storage medium |
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| EP3287242B1 (en) * | 2012-09-21 | 2021-10-20 | iRobot Corporation | Proximity sensor for a mobile robot |
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Effective date of registration: 20210301 Address after: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215100 Patentee after: Meizhizongheng Technology Co.,Ltd. Address before: No.39 Caohu Avenue, Xiangcheng Economic Development Zone, Suzhou, Jiangsu Province, 215100 Patentee before: JIANGSU MIDEA CLEANING APPLIANCES Co.,Ltd. Patentee before: MIDEA GROUP Co.,Ltd. |