CN111766589A - 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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- CN111766589A CN111766589A CN201910186507.3A CN201910186507A CN111766589A CN 111766589 A CN111766589 A CN 111766589A CN 201910186507 A CN201910186507 A CN 201910186507A CN 111766589 A CN111766589 A CN 111766589A
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- sweeping robot
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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
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
Abstract
The invention relates to 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 and the light receiver are both arranged on the detection component body, and the light emitter, the light receiver and the detection component body are integrated into a whole. The light emitter and the light receiver both adopt a time-of-flight sensor and/or an optical tracking sensor. Compared with other sensor structures, the structure of the invention is smaller, and can provide position space for other function sensors carried by the sweeper on the premise of saving the structural space at the front end of the sweeper; the investment of the die is reduced, and the assembly link is simplified; the coverage range of the front-end distance measurement is enlarged, and the measurement range is greatly improved compared with that of the traditional sensor; compared with the traditional infrared cliff and edge sensor, the precision is obviously improved.
Description
Technical Field
The invention relates to the technical field of sweeping robots, 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
With the development of science and technology, the sweeping robot walks into thousands of households, but the intellectualization of the sweeping robot is limited to a certain extent, if the robot cannot intelligently avoid obstacles at home, the robot usually relies on sensing obstacles after collision to avoid the obstacles, the situation that furniture, vases and the like are damaged by collision often occurs, and certain trouble is brought to consumers.
Some manufacturers in the prior art compare indoor obstacles by means of ultrasonic sensors, infrared sensors, collision switches, laser radar, and vision. However, the above prior art has the following technical problems: (1) an ultrasonic sensor: the influence of temperature and humidity is large, and the measurement precision is low; (2) laser radar: the single-point laser measurement range is small, and the motor difference is small; (3) an infrared sensor: the influence of illumination is large, and the measurement range of the narrow beam angle is small; (4) a collision switch: and the floor sweeping robot and indoor household articles are easy to damage by contact measurement. (5) Monocular vision cannot measure depth information of the obstacle; (6) binocular vision calculation is complicated and has poor real-time performance; (7) the small field of view of the depth camera is narrow in measurement range.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention provides a detection assembly of a sweeping robot, which can measure the distance by measuring the time difference from the emission to the reception of photons and cannot be influenced by the illumination dissipation intensity like infrared.
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: the light emitter and the light receiver are both arranged on the detection component body, and the light emitter, the light receiver and the detection component body are integrated into a whole.
According to the detection assembly of the sweeping robot, disclosed by the embodiment of the invention, the composite structure of the light emitter, the receiver and the recharging fine alignment infrared lamp is adopted, the distance measurement is carried out by measuring the time difference from the emission to the reception of photons based on the photon flight time sensor, and the influence of the illumination dissipation intensity on the detection assembly like infrared rays is avoided. Compared with other sensors, the structure is smaller, and on the premise of saving the structural space of the front end of the sweeper, the position space can be provided for other functional sensors carried by the sweeper; the investment of the die is reduced and the assembly link is simplified.
According to the detection assembly of the sweeping robot, both the optical emitter and the optical receiver adopt a time-of-flight sensor and/or an optical tracking sensor.
According to the detection assembly of the sweeping robot, the plurality of light emitters are located on the same horizontal plane, the light receiver is not located on the same horizontal plane with the light emitters, and the light receiver is located in the central area between the light emitters at the left limit position and the right limit position.
According to an embodiment of the invention, the detection assembly of the sweeping robot further comprises: a plurality of recharging precision alignment signal lights that are also integrated on the detection component body.
According to the detection assembly of the sweeping robot, the recharging precise alignment signal lamp and the light emitter are not on the same horizontal plane.
According to the detection assembly of the sweeping robot, the relative distance between two adjacent light emitters is less than 50 mm.
According to the detection assembly of the sweeping robot, the normal included angle between two adjacent light emitters is larger than 0 degree and smaller than 90 degrees.
According to a second aspect of the invention, the detecting component of the sweeping robot comprises: the sensor is arranged on the body of the sweeping robot, and the sensor adopts one or more of the following sensors: time-of-flight sensor, optical tracking sensor, infrared ranging sensor, lidar, ultrasonic sensor. The embodiment enlarges the coverage range of the front-end distance measurement, and greatly improves the measurement range compared with the measurement range of the traditional sensor; compared with the traditional infrared cliff and edge sensor, the precision is obviously improved.
According to the detection assembly of the sweeping robot, each sensor comprises a light emitter and a light receiver.
According to the third aspect of the invention, the system for detecting the walking road condition of the sweeping robot comprises: the detection assembly as described above; the detection circuit is electrically connected with the optical receiver so as to carry out operation processing on the electric signal of the optical receiver and generate an output signal; and the controller is electrically connected with the light receiver to receive the output signal and convert the output signal into a distance value between the detection assembly and an external reflecting surface in an operation mode.
According to the system for detecting the walking road condition of the sweeping robot, provided by the embodiment of the invention, the controller is configured to judge that an obstacle exists according to the condition that the distance value between the detection assembly and the external reflecting surface falls within the preset threshold range, and judge that no obstacle exists according to the condition that the distance value between the detection assembly and the external reflecting surface does not fall within the preset threshold range.
According to the system for detecting the walking road condition of the sweeping robot, the controller is configured to judge that the walking ground is flat according to the condition that the external reflecting surface is the walking ground, and judge that the walking ground is not flat according to the condition that the distance value between the detection assembly and the external reflecting surface is not in the preset threshold range.
According to the system for detecting the walking road condition of the sweeping robot, the controller is configured to send out a stop instruction or a turning instruction according to the existence of the obstacle or the unevenness of the walking ground so as to control the sweeping robot to stop moving or turn.
According to a fourth aspect of the invention, a sweeping robot comprises: a body; the system for detecting the walking road condition of the sweeping robot is characterized in that the detection assembly is positioned at the front part of the machine body.
According to a fifth aspect of the present invention, a method for detecting a walking road condition of a sweeping robot by using the sweeping robot includes: emitting test light to an external reflecting surface; receiving light reflected by an external reflecting surface, and converting a light intensity signal of the light into an electric signal; carrying out operation processing on the electric signal and sending out an output signal; 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.
According to the method for detecting the walking road condition of the sweeping robot, disclosed by the embodiment of the invention, the walking road surface is judged to be flat or an obstacle is detected according to the condition that the distance value between the detection assembly and the external reflecting surface is within the range of the preset threshold value; and judging whether the walking road surface is uneven or no obstacle is detected according to the condition that the distance value between the detection assembly and the external reflecting surface is not within the range of a preset threshold value.
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 foregoing 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 structural diagram of a detection assembly of a sweeping robot according to an embodiment of the first aspect of the present invention;
FIG. 2 is a schematic diagram of a multi-channel TOF sensor layout according to an embodiment of a first aspect of the present disclosure;
fig. 3 is a schematic diagram of a position of a detection assembly of the sweeping robot according to the second aspect of the present invention, which is mounted on the sweeping robot;
fig. 4 is a schematic composition diagram of a detecting assembly of the sweeping robot according to the second aspect of the present invention;
fig. 5 is a schematic composition diagram of a walking road condition detection system of a sweeping robot according to a third aspect of the present invention;
fig. 6 is a schematic composition diagram of a sweeping robot according to a fourth embodiment of the present invention;
fig. 7 is a flowchart of a method for detecting a walking road condition of a sweeping robot according to a fifth aspect of the present invention.
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 or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Example 1
A first detection assembly of the sweeping robot according to the embodiment of the invention is described below with reference to fig. 1 and 2.
In the invention, in order to reduce the investment of a die and simplify the assembly link, a composite structure of the light emitter, the receiver and the backfill precise alignment infrared lamp is firstly designed. Preferably, a Time of Flight (TOF) sensor is used, and the distance measurement is performed by measuring the Time difference between the emission and the reception of photons, so that the influence of the dissipation intensity of illumination on the infrared ray does not occur. In order to ensure that the TOF can accurately sense the information of the obstacle in front of the sweeping robot, the TOF is preferably arranged at the middle upper part of the front end of the sweeping robot. In order to receive the recharging infrared signal sent by the charging seat, the recharging precise alignment infrared lamp is preferably arranged in the middle of the front end of the sweeping robot.
As shown in fig. 1, a detecting assembly of a sweeping robot according to an embodiment of the first aspect of the present invention includes: the device comprises a plurality of light emitters (1, 2 and 3), a light receiver (4), a plurality of recharging accurate alignment signal lamps (5 and 6) and a detection assembly body (7), wherein the light emitters, the light receiver and the recharging accurate alignment signal lamps are all installed on the detection assembly body (7). The light emitters, the light receiver, the recharging fine alignment signal lamp and the detection component body are integrated into a whole. Preferably, the detection assembly is arranged at the middle upper part of the front end of the sweeping robot. In the invention, the detection assembly is arranged at the front end of the sweeping robot, so that the collision-free obstacle avoidance function can be realized. In a conventional sensor structure, the transmitters and the receivers are in a one-to-one correspondence relationship, for example, three transmitters correspond to three receivers respectively, the number of devices is large, and the structure is large and complex. In the embodiment, the number of the optical receivers is greatly reduced, the functions which can be realized by a plurality of optical receivers originally can be completed by one optical receiver, and the number of devices is reduced, so that the cost is saved, and the structure is further simplified. In addition, through with a plurality of light emitters, a photoreceiver, fill back and aim at signal lamp and determine module body as an organic whole, its structure is less in comparing in traditional sensor structure, under the robot front end structural space that sparingly sweeps the floor, still can provide position space for other function sensor that the robot carried of sweeping the floor.
Preferably, the optical transmitter and the optical receiver both adopt a time of flight (TOF) sensor, and the distance measurement is carried out by measuring the time difference from the emission to the reception of photons, so that the influence of the dissipation intensity of illumination on the optical transmitter and the optical receiver like infrared does not occur. However, the present invention is not limited to this scheme, and for example, the Optical transmitter and the Optical receiver may be implemented by hardware such as an Optical Tracking Sensor (OTS).
Although the present embodiment shows a schematic diagram of three light emitters, the present invention is not limited to this scheme, and may be two, four or more. Furthermore, although the present embodiment shows two schematic diagrams of the back-charging precise alignment signal lamps, the present invention is not limited to this scheme, and may be three, four or more. In the embodiment of the invention, by increasing the number of the light emitters, the coverage range of the front-end distance measurement can be enlarged, and the measurement range can be greatly improved compared with that of the traditional sensor.
In the embodiment of the invention, preferably, the light emitters (1, 2, 3) and the light receiver (4) are not in the same horizontal plane, and the light receiver (4) is positioned in the central areas of the light emitters (1) and the light emitters (3) on the left and the right sides, namely not beyond the longitudinal positions of the light emitters on the left and the right sides. The optical receiver (4) is arranged at the central area position of the three optical transmitters (1, 2, 3), so that the signals of the left, middle and right optical transmitters (1, 2, 3) can be received conveniently, and the processing can be symmetrical on software, but the invention is not limited to the position mentioned above.
In an embodiment of the invention, the back-filling fine alignment signal lamps (5, 6) may be arranged below/above the area of the light emitters (1, 2, 3). Preferably, the back-filling fine alignment signal lamps (5, 6) are not in the same horizontal plane as the light emitters (1, 2, 3). The recharging precise alignment signal lamps (5 and 6) have the function of judging the direction of the charging seat through the strength relation of the received left infrared signal and the received right infrared signal, so that the sweeping robot is controlled to return to the charging seat.
FIG. 2 is a schematic diagram of a multi-channel TOF sensor layout according to an embodiment of the present disclosure; as shown in fig. 2, taking a 3-channel TOF sensor as an example, 1, 2, and 3 are TOF transmitting lamps, and 4 are TOF receiving lamps. The 3 transmitting lamps transmit light signals with different coded waveforms, and the receiving lamps judge which channel transmitting lamp monitors the obstacle information by reading the receiving sequence signal, so that the relative position of the obstacle and the sweeping robot is judged.
In the embodiment of the present invention, the relative distance positions between the three light emitters (1, 2, 3) satisfy a certain relationship, such as the distance between the adjacent light emitters of the detection assembly is less than 50mm, but not limited to the above-mentioned distances.
In the embodiment of the invention, the relative position angles among the three light emitters (1, 2, 3) satisfy a certain relationship, for example, the normal included angle between the adjacent light emitters is more than 0 degrees and less than 90 degrees, but not limited to the above-mentioned angles.
In the embodiment of the invention, based on the TOF sensor, the OTS sensor and the like, the barrier identification and avoidance can be realized, meanwhile, the original infrared sensor can be replaced, the influence of the change of ambient light on the traditional infrared distance measurement is eliminated, and better user experience is brought to consumers.
Example 2
A second detecting component of the sweeping robot according to the embodiment of the present invention is described below with reference to fig. 3 and 4, so as to implement the downward-looking and edge-following functions. This second detection unit may be used alone or in combination with the first detection unit in embodiment 1.
The TOF has a ranging function, so that a series of functions such as the height of the sweeping robot from the ground and the width of the sweeping robot from a wall can be derived, the TOF can replace a traditional infrared downward-looking device, a traditional infrared edge-looking device and other devices with similar functions, and the TOF can be used for ranging by measuring the Time difference from photon emission to photon reception due to the adoption of a photon-based Flight Time (TOF) sensor, so that the TOF is not influenced by the light dissipation intensity like infrared, and the precision of the TOF is obviously improved.
As shown in fig. 3, a detecting assembly of a sweeping robot according to a second aspect of the present invention includes: the sweeping robot comprises a plurality of sensors (11, 12 and 13), wherein the sensors (11, 12 and 13) are all installed on a sweeping robot body. Preferably, the sensors are arranged at the left, middle and right positions of the front end of the sweeping robot. As shown in fig. 4, each sensor may include one transmitting lamp (14) and one receiving lamp (15).
Preferably, the sensors are all time of flight (TOF) sensors, and distance measurement is carried out by measuring the time difference from photon emission to photon reception, so that the influence of illumination dissipation intensity on the condition of infrared rays is avoided. However, the present invention is not limited to this scheme, and for example, the Sensor may also be implemented by hardware such as an Optical Tracking Sensor (OTS), an infrared distance measuring Sensor, a laser radar, and an ultrasonic Sensor.
Although the present embodiment shows a schematic diagram in which three sensors are provided, the present invention is not limited to this scheme, and two, four or more sensors may be provided. In the embodiment of the invention, the coverage range of the front-end distance measurement can be enlarged by increasing the number of the sensors, and the measurement range can be greatly improved compared with that of the traditional sensors.
In the same way, the structure can also be used as an edge sensor, the function of the traditional infrared edge sensor can be replaced based on the TOF self-ranging principle, and the precision is obviously improved.
In the embodiment of the invention, based on the TOF sensor, the OTS sensor and the like, the original infrared sensor can be replaced, the influence of the change of ambient light on the traditional infrared distance measurement is eliminated, and better user experience is brought to consumers.
Example 3
As shown in fig. 5, the walking road condition detection system of the sweeping robot according to the third aspect of the present invention includes: the detection assembly of embodiment 1 above; and a detection circuit 200 electrically connected to the optical receiver 4 to perform arithmetic processing on an electrical signal of the optical receiver and generate an output signal; and a controller 300, wherein the controller 300 is electrically connected to the detection circuit 200 to receive the output signal, and when receiving the output signal, the controller 300 converts the output signal into a distance value between the detection component and the external reflection surface.
When the external reflection surface is an obstacle, the controller 300 is configured to determine that the obstacle exists 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 does not exist when the value of the distance between the detection assembly and the external reflection surface does not fall within the preset threshold range.
When the external reflection surface is a walking surface, the controller 300 is configured to judge that the walking surface is flat when the value of the distance between the detection assembly and the external reflection surface 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 and the external reflection surface does not fall within the preset threshold range.
Correspondingly, the light emitter (1, 2, 3) can be set to emit light towards the lower part of the sweeping robot so as to detect whether the walking road surface of the robot is flat, and the light emitter (1, 2, 3) can also be set to emit light towards the left side, the right side, the front side or the rear side of the sweeping robot so as to realize the detection of the surrounding obstacles.
As a preferred embodiment, the controller 300 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.
Example 4
As shown in fig. 6, a sweeping robot according to a fourth aspect of the present invention includes: a body 400; in the system 500 for detecting the walking road condition of the sweeping robot in embodiment 3, the detecting component is located at the front portion of the machine body, so as to detect the outside obstacle through the detecting component located at the front portion, or measure the height of the sweeping robot from the ground through the detecting component.
Specifically, a circuit board is further arranged in the body of the sweeping robot, and the circuit board is used for mounting 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 components 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 a detection component.
For example, after the detection assembly arranged on the left side of the sweeping robot sends out an output signal indicating that the robot touches an obstacle, the controller can control the driving wheel to turn towards the right side so as to avoid the obstacle.
Example 5
As shown in fig. 7, a method for detecting a walking road condition of a sweeping robot according to a fifth embodiment of the present invention includes:
s1: and emitting the test light to the external reflecting surface.
S2: and receiving the light reflected by the external reflecting surface and converting the light intensity signal into an electric signal.
S3: carrying out operation processing on the electric signal 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, in the embodiment, the electric signal fed back by the TOF optical receiver is subjected to operation processing, and the time difference from the emission to the reception of photons is measured to perform ranging, so that the influence of the illumination dissipation intensity on the photons like infrared rays is avoided.
According to the method for detecting the walking road condition of the sweeping robot, when the distance value between the detection assembly and the external reflecting surface is within the preset threshold value range, the walking road surface is judged to be normal or an obstacle is detected; and when the distance value between the detection assembly and the external reflecting surface does not fall within the preset threshold range, judging that the walking road surface is uneven or no obstacle is detected.
In the description of the present invention, it is to be understood that the terms "central," "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 are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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 are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (16)
1. The utility model provides a detection subassembly of robot of sweeping floor which characterized in that includes:
the light emitter and the light receiver are both arranged on the detection component body, and the light emitter, the light receiver and the detection component body are integrated into a whole.
2. The detecting component of the sweeping robot of claim 1,
the light emitter and the light receiver both adopt a time-of-flight sensor and/or an optical tracking sensor.
3. The detecting component of the sweeping robot according to claim 1 or 2,
the plurality of light emitters are located on the same horizontal plane, the light receiver and the light emitters are not located on the same horizontal plane, and the light receiver is located in a central area between the light emitters at the left limit position and the right limit position.
4. The detection assembly of claim 1, further comprising:
a plurality of recharging precision alignment signal lights that are also integrated on the detection component body.
5. The detecting component of the sweeping robot of claim 4,
the recharging fine alignment signal lamp and the light emitter are not on the same horizontal plane.
6. The detecting component of the sweeping robot of claim 1,
the relative distance between two adjacent light emitters is less than 50 mm.
7. The detecting component of the sweeping robot of claim 1,
the normal included angle between two adjacent light emitters is larger than 0 degrees and smaller than 90 degrees.
8. The detection assembly of claim 1, further comprising:
the sensor is arranged on the body of the sweeping robot, and the sensor adopts one or more of the following sensors: time-of-flight sensor, optical tracking sensor, infrared ranging sensor, lidar, ultrasonic sensor.
9. The detecting component of the sweeping robot of claim 1,
each sensor includes a light emitter and a light receiver.
10. 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 1-9; and
a detection circuit electrically connected to the optical receiver to perform arithmetic processing on an electrical signal of the optical receiver and generate an output signal;
and the controller is electrically connected with the light receiver to receive the output signal and convert the output signal into a distance value between the detection assembly and an external reflecting surface in an operation mode.
11. The system for detecting the walking road condition of the sweeping robot as claimed in claim 10, wherein the controller is configured to determine that there is an obstacle according to the distance between the detecting component and the external reflecting surface falling within the preset threshold range, and determine that there is no obstacle according to the distance between the detecting component and the external reflecting surface not falling within the preset threshold range.
12. The system for detecting the walking road condition of the sweeping robot as claimed in claim 10, wherein when the external reflecting surface is the walking ground, the controller is configured to determine that the walking ground is flat according to the distance between the detecting component and the external reflecting surface falling within the preset threshold range, and determine that the walking ground is not flat according to the distance between the detecting component and the external reflecting surface not falling within the preset threshold range.
13. The system for detecting walking road conditions of the sweeping robot as claimed in claim 11 or 12, wherein the controller is configured to issue a stop command or a turn command to control the sweeping robot to stop moving or turn according to the existence of obstacles or unevenness of the walking ground.
14. A sweeping robot is characterized by comprising:
a body; and
the system for detecting walking road conditions of the sweeping robot according to any one of claims 10-13, wherein the detecting component is located at the front part of the body of the sweeping robot.
15. A method for detecting walking road conditions of a sweeping robot by using the sweeping robot of claim 14, comprising the following steps:
emitting test light to an external reflecting surface;
receiving light reflected by an external reflecting surface, and converting a light intensity signal of the light into an electric signal;
carrying out operation processing on the electric signal and sending out an output signal;
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.
16. The method for detecting the walking road condition of the floor sweeping robot as claimed in claim 15, wherein the walking road surface is judged to be flat or an obstacle is detected according to the fact that the distance value between the detection assembly and the external reflection surface is within the range of a preset threshold value; and judging whether the walking road surface is uneven or no obstacle is detected according to the condition that the distance value between the detection assembly and the external reflecting surface is not within the range of a preset threshold value.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910186507.3A CN111766589A (en) | 2019-03-12 | 2019-03-12 | Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot |
| PCT/CN2019/112730 WO2020181772A1 (en) | 2019-03-11 | 2019-10-23 | Detection assembly, robotic vacuum cleaner, and walking floor status detection method and control method for robotic vacuum cleaner |
| US17/435,403 US20220142438A1 (en) | 2019-03-11 | 2019-10-23 | Detection assembly, robotic vacuum cleaner, and walking floor status detection method and control method for robotic vacuum cleaner |
| EP19918837.6A EP3926365A4 (en) | 2019-03-11 | 2019-10-23 | Detection assembly, robotic vacuum cleaner, and walking floor status detection method and control method for robotic vacuum cleaner |
| JP2021555025A JP7221416B2 (en) | 2019-03-11 | 2019-10-23 | ROBOT VACUUM CLEANER AND METHOD OF DETECTING AND CONTROLLING ROBOT PATH CONDITION THEREOF |
| KR1020217031150A KR20210126775A (en) | 2019-03-11 | 2019-10-23 | Detection assembly, cleaning robot, driving road condition detection method and control method of cleaning robot |
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| CN201910186507.3A CN111766589A (en) | 2019-03-12 | 2019-03-12 | Detection assembly, floor sweeping robot and method and system for detecting walking road conditions of floor sweeping robot |
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