CN111948661A

CN111948661A - Self-moving equipment and detection device

Info

Publication number: CN111948661A
Application number: CN201910361990.4A
Authority: CN
Inventors: 任玉斌; 吕广亮
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-11-17

Abstract

The application provides a self-moving device, including: the mobile equipment comprises at least one detection device and an identification module, wherein the detection device is installed on a self-mobile equipment body; the detection device includes: the light emitting module, the first light receiving module and the second light receiving module are arranged on one side of the light emitting module. The application provides a from mobile device, other module detects the distance of waiting to detect the object according to the reverberation that first identification module received, combines to detect the material of waiting to detect the object according to the reverberation that first identification module received and the reverberation that second identification module received. This combine the identification module in the mobile device, realize both surveying the distance of treating the detection object, survey the detection device who treats the material function of detection object again, be not by the equipment that only can the detection distance and the device that two kinds of detection equipment assembly that only can survey the material form. Therefore, the detection device of the self-moving equipment is simple in structure, high in robustness and high in comprehensive cost performance.

Description

Self-moving equipment and detection device

Technical Field

The application relates to the field of self-moving equipment, and particularly provides self-moving equipment provided with a detection device; the application also provides a detection device.

Background

With the development of science and technology and the increasing quality of life of people, more and more self-moving devices are manufactured to replace manpower, such as: more and more families abandon traditional manpower to clean the instrument, and use the robot of sweeping the floor to clean the ground instead. Furthermore, with the popularization of sweeping robots, sweeping robots have also been developed for sweeping and mopping floor integrated sweeping robots, since the sweeping robots originally only have a single sweeping function. In order to better work, the sweeping robot with the sweeping integrated type can detect the distance and the household ground material when working. The detection distance is used for distinguishing whether the sweeping robot meets a cliff exceeding the working height of the sweeping robot in front of the movement of the sweeping robot so as to avoid falling or tipping; the home floor material is detected to select whether to perform wet cleaning or dry cleaning according to the home floor material.

In the prior art, there is no detection device that can detect both distance and material. In order to make self-moving equipment such as robot of sweeping the floor can possess the function of detection distance and material simultaneously, then need assemble only two kinds of detection equipment that can detection distance and only can detect the material, form the detecting device of equipment, install on self-moving equipment, if: the bottom of the sweeping robot. This increases the cost of the detection range and material, and thus the cost of the mobile device. Moreover, two types of detection equipment which can only detect distance and materials are assembled, and then the assembled detection device is combined with the identification module to be installed on the self-moving equipment, so that the problems of complex structure, low robustness and low comprehensive cost of the detection device of the self-moving equipment exist.

Disclosure of Invention

The application provides a from mobile device has solved current from mobile device and need rely on the detection device that the equipment formed to realize treating the detection object the distance and the detection of material, leads to current from mobile device's detection device structure complicacy, and the robustness is low, and comprehensive cost is than lower problem.

The application provides a self-moving device, including: the mobile equipment comprises at least one detection device and an identification module, wherein the detection device is installed on a self-mobile equipment body;

the detection device includes: the light emitting module, the first light receiving module and the second light receiving module are arranged on one side of the light emitting module;

a first convex lens is arranged below the light emitting module and is biased to the first light receiving module, and light emitted by the light emitting module forms reflected light on the surface of an object to be detected after passing through the first convex lens;

a first shielding piece and a second shielding piece are respectively arranged between the first light receiving module and the light emitting module and between the first light receiving module and the second light receiving module, and the first light receiving module is used for receiving the reflected light;

a second convex lens is arranged below the second light receiving module and is biased to the first light receiving module, and the second light receiving module is used for reflecting light passing through the second convex lens;

the identification module is electrically connected with the first light receiving module and the second light receiving module and is used for detecting the distance of the object to be detected according to the output of the first light receiving module; and the detection module is used for detecting the material of the object to be detected according to the output of the first light receiving module and the second light receiving module.

Optionally, the identification module includes a distance identification submodule;

the identification module is used for detecting the distance of the object to be detected according to the output of the first light receiving module, and comprises:

the distance identification submodule is used for detecting whether the distance of the object to be detected is within a first preset range according to the output of the first light receiving module.

Optionally, the identification module further includes a material identification submodule;

the identification module is used for detecting the material of the object to be detected according to the output of the first light receiving module and the second light receiving module, and comprises:

the distance identification submodule is used for detecting whether the distance of the object to be detected is within a second preset range according to the output of the first light receiving module; and if so, the material identification submodule detects the type of the material of the object to be detected according to the output of the first light receiving module and the second light receiving module.

Optionally, the identification module is configured to detect a distance of the object to be detected according to an output of the first light receiving module, and specifically includes:

comparing the output of the first light receiving module with a first distance threshold and a second distance threshold respectively, wherein if the output of the first light receiving module is within the range of the first distance threshold, the distance of the object to be detected is within the first preset distance; if the output of the first light receiving module is within the second distance threshold range, the distance of the object to be detected is within the second preset distance; the second preset distance is smaller than the first preset distance.

Optionally, the material identification sub-module detects the type of the material of the object to be detected according to the outputs of the first light receiving module and the second light receiving module, and includes:

comparing the output of the second light receiving module with the material threshold, wherein if the output of the second light receiving module is greater than the material threshold, the material of the object to be detected is a first class material;

and if the output of the second light receiving module is smaller than the material threshold, the material of the object to be detected is a second type of material.

Optionally, if the output of the second light receiving module is equal to the material threshold, the material of the object to be detected is an undetermined material;

the material identification submodule detects the type of the material of the object to be detected according to the output of the first light receiving module and the second light receiving module, and further comprises:

obtaining the ratio of the output of the second light receiving module and the output of the first light receiving module of the undetermined material, matching the ratio of the output of the second light receiving module and the output of the first light receiving module of the undetermined material with the ratio of the output of the first light receiving module and the output of the first light receiving module of the first material, the output of the second light receiving module of the second material and the output of the first light receiving module, and detecting that the undetermined material is originally the first material or the second material.

Optionally, when a difference between a ratio of the output of the second light receiving module to the output of the first light receiving module made of the material to be determined and a ratio of the output of the second light receiving module to the output of the first light receiving module made of the first type of material is within a specified range, the material to be determined is the first type of material; otherwise, the undetermined material is the second type material.

Optionally, the first light receiving module outputs a first electrical signal generated by the first light receiving module according to the light intensity of the received reflected light, and the first electrical signal is in direct proportion to the light intensity of the reflected light received by the first light receiving module.

Optionally, the second light receiving module outputs a second electrical signal generated by the second light receiving module according to the light intensity of the received reflected light, and the second electrical signal is in direct proportion to the reflected light received by the second light receiving module.

Optionally, the first blocking piece extends from the edge of the first convex lens on the side close to the first light receiving module to the edge of the first light receiving module on the side close to the first convex lens;

the second shielding piece extends from the edge of the first light receiving module close to one side of the second convex lens to the edge of the second convex lens close to one side of the first light receiving module.

Optionally, the first light receiving module and the second light receiving module are sequentially disposed on one side of the light emitting module.

Optionally, the light emitting module, the first light receiving module and the second light receiving module are located on the same straight line.

The present application additionally provides a detection apparatus comprising: the light emitting module, the first light receiving module and the second light receiving module are arranged on one side of the light emitting module;

and a second convex lens is arranged below the second light receiving module and deviated to the position of the first light receiving module, and the second light receiving module is used for reflecting light passing through the second convex lens.

Compared with the prior art, the method has the following advantages:

the application provides a from mobile device installs at least one detecting device and identification module on from mobile device body. The application provides a from mobile device, identification module detects the distance of waiting to detect the object according to the reverberation that first identification module received, combines to detect the material of waiting to detect the object according to the reverberation that first identification module received and the focusing light that second identification module received. This combine the identification module in the mobile device, realize both surveying the distance of treating the detection object, survey the detection device who treats the material function of detection object again, be not by the equipment that only can the detection distance and the device that two kinds of detection equipment assembly that only can survey the material form. Therefore, the detection device of the self-moving equipment has the advantages of simple structure, low robustness and high comprehensive cost performance.

Drawings

Fig. 1 is a schematic view of a detecting device of a sweeping robot according to an embodiment of the present application.

Fig. 2 is a schematic view of a blanking member according to an embodiment of the present disclosure.

Fig. 3 is a schematic view of a detection mode of the cleaning robot according to an embodiment of the present application.

Fig. 4 is a schematic view of a detection apparatus provided with a housing according to an embodiment of the present application.

Fig. 5 is a schematic diagram of an identification module according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a detection range according to an embodiment of the present application.

Fig. 7 is a flowchart of a robot working mode according to an embodiment of the present application.

Fig. 8 is a schematic installation diagram of a detection apparatus according to a second embodiment of the present application.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The embodiment of the application provides a self-moving device and a detection device, wherein the self-moving device comprises at least one detection device arranged on a self-moving device body.

Example one

The specific embodiment of the self-moving device provided by the application is as follows:

a self-moving device according to a first embodiment of the present application is described in detail below with reference to fig. 1 to 7.

In the first embodiment of the present application, the self-moving device provided in the present application is specifically described in detail by taking the sweeping robot as an example, when the self-moving device is a device of another type, the working principle is similar to that of the sweeping robot, and the category of the self-moving device is not specifically limited herein. Self-moving devices that are common in life also include: automatic spraying equipment, self-walking lifting equipment, self-moving garbage crushers and the like.

Referring to fig. 1, a schematic view of a detecting device of a sweeping robot according to an embodiment of the present application is shown. The robot of sweeping floor that this application embodiment one provided includes: at least one detecting device 12 arranged on the sweeping robot body 11 and an identification module 13. Wherein the detection device 12 comprises: a light emitting module 121, a first light receiving module 122 and a second light receiving module 123 disposed at one side of the light emitting module 121.

A first convex lens 124 is arranged below the light emitting module 121 and is biased to the first light receiving module 122, and light emitted by the light emitting module 121 passes through the first convex lens 124 to form reflected light on the surface of the object 14 to be detected; a first shielding member 124 and a second shielding member 125 are respectively arranged between the first light receiving module 122 and the light emitting module 121 and between the first light receiving module 122 and the second light receiving module 123, and the first light receiving module 122 is used for receiving reflected light; a second convex lens 127 is arranged below the second light receiving module 123 and is biased to the first light receiving module 122, and the second light receiving module 123 is used for receiving reflected light which passes through the second convex lens 127; the identification module 13 is electrically connected to the first light receiving module 122 and the second light receiving module 123, and is configured to detect a distance of the object 14 to be detected according to an output of the first light receiving module 122; for detecting the material of the object 14 to be detected based on the outputs of the first light receiving module 122 and the second light receiving module 123. Specifically, the first light receiving module 122 outputs a first electrical signal generated by the first light receiving module 122 according to the light intensity of the received reflected light, and the first electrical signal is proportional to the light intensity of the reflected light received by the first light receiving module 122. The second light receiving module 123 outputs a second electrical signal generated by the second light receiving module 123 according to the light intensity of the received reflected light, and the second electrical signal is proportional to the reflected light received by the second light receiving module.

The sweeping robot provided by the embodiment of the application is provided with at least one detection device 12 and an identification module 13 on a sweeping robot body 1. In the sweeping robot provided by the present application, the recognition module 13 detects the distance of the object 14 to be detected according to the received output of the first light receiving module 122, and detects the material of the object 14 to be detected according to the combination of the received output of the first light receiving module 122 and the received output of the second light receiving module 123. The recognition module 13 is combined in the sweeping robot, so that the detection device 12 which can detect the distance of an object to be detected and the material function of the object to be detected is realized, and the robot is not a device formed by assembling equipment only capable of detecting the distance and two types of detection equipment only capable of detecting the material. Therefore, the detection device 12 has a simple structure, high robustness and high comprehensive cost performance.

When the first floor sweeping robot provided in the embodiment of the present application installs the detecting device 12 and the identifying module 13 on the floor sweeping robot body 11, the detecting device 12 generally needs to be installed on the front side of the bottom of the floor sweeping robot body 11. When the sweeping robot performs sweeping work, the distance of the object 14 to be detected is detected to distinguish whether the front moving part of the sweeping robot meets a cliff exceeding the working height of the sweeping robot, so as to avoid falling or tipping, therefore, the detection device 12 is installed on the front side of the bottom of the sweeping robot body 11 to be more matched with the moving state (such as advancing, retreating, turning, stopping and the like) of the sweeping robot. When the shape of the sweeping robot body 11 or other special requirements are imposed on the sweeping robot, the detecting device 12 may also be installed at other positions of the sweeping robot body 11, which is not specifically limited in the embodiment of the present application. When the self-moving apparatus is another type of apparatus, the detecting device 12 may be installed at a suitable position on the self-moving apparatus body.

The sweeping robot provided by the embodiment of the application can only install one detection device 12 on the sweeping robot body 11 to match with the identification module 13 to realize the detection of the distance of the object to be detected 14 and detect the material of the object to be detected 14. Sometimes, in order to enhance the accuracy of the detection result (averaging the detection results of the plurality of detection devices 12, and assisting detection according to the average value, etc.), more than one detection device 12 may be mounted on the sweeping robot body 1 to cooperate with the identification module 13 to implement the function of detecting the distance of the object 14 to be detected and the material of the object 14 to be detected by the sweeping robot. In the first embodiment of the present application, a description is specifically given of an example in which one detecting device 12 is installed, to illustrate the sweeping robot provided in the first embodiment of the present application.

The sweeping robot provided by the first embodiment of the present application can install the light emitting module 121, the first light receiving module 122, and the second light receiving module 123 on the circuit board by setting and installing, so that the need of relying on a large number of wires when connecting these modules can be avoided, and the problem that the quality of the detecting device 12 is increased due to the trouble of connecting a large number of wires and having a large number of wires in the detecting device 12 can be solved. In the first embodiment of the present application, the light emitting module 121, the first light receiving module 122, and the second light receiving module 123 are specifically mounted on a PCB 128. In order to ensure structural consistency of the light emitting module 121 and the light receiving module, and to more conveniently confirm and adjust the arrangement distance between the light emitting module 121 and the light receiving module, when the sweeping robot provided in the first embodiment of the present application is installed and set up the detecting device 12 of the sweeping robot, the first light receiving module 122 and the second light receiving module 123 may be sequentially set on one side of the light emitting module 121, and the three are located on the same straight line, and sequentially correspond to the light emitting module 121, the first light receiving module 122, and the second light receiving module 123.

Referring to fig. 2, a schematic diagram of a detection mode of a cleaning robot according to an embodiment of the present application is shown. In order to prevent the reflected light received by the first light receiving module 122 and the second light receiving module 123 from being affected by the light emitted by the light emitting module 121, and thereby to cause a change in light intensity according to the light intensity of the reflected light received by the first light receiving module 122 and the light intensity of the reflected light received by the second light receiving module 123, a first shielding member 125 and a second shielding member 126 are provided between the first light receiving module 122 and the light emitting module 121, the second light receiving module 123, respectively. In the first embodiment of the present application, the first shielding element 125 extends from the edge of the first convex lens 124 on the side close to the first light receiving module 122 to the edge of the first light receiving module 122 on the side close to the first convex lens 124, and the second shielding element 126 extends from the edge of the first light receiving module 122 on the side close to the second convex lens 127 to the edge of the second convex lens 127 on the side close to the first light receiving module 122. When the light emitting module 121 and the first light receiving module 122, the first convex lens 124, and the second convex lens 127 are all disposed on the PCB, the connection lines between the light emitting module 121 and the two sides of the first convex lens, the connection lines between the first light receiving module 122 and the two sides of the first convex lens 124, the two sides of the second convex lens 127, and the connection lines between the second light receiving module 123 and the two sides of the second convex lens 127 may be further disposed as shielding members. That is, in the first embodiment of the present application, the shapes 126 of the first and

second shutters

125 and 126 of the detection device 12 are not particularly limited.

Referring to fig. 1 again, the distances between the light emitting module 121 and the first light receiving module 122, between the first light receiving module 122 and between the second light receiving module 123 are LI and L2, respectively, and the specific arrangement distance is given by optical design. When the arrangement distance is determined, it is necessary to simulate a determination value between LI and L2 through optical design according to requirements, and then sequentially arrange the light emitting module 121, the first light receiving module 122, and the second light receiving module 123 on the same straight line according to the determined distance. After the three modules are installed, the first convex lens 124 and the second convex lens 127 may be installed correspondingly. In order to ensure the stability of the whole detecting device 12, a positioning post 128-1 and a structural member 128-2 may be disposed on the PCB 128, and then the detecting device 12 is positioned by the cooperation of the positioning post 128-1 and the structural member 128-2.

It should be noted that the specific operation of positioning the detecting device 12 by the positioning column 128-1 and the structural member 128-2 is to mount the light emitting module 121, the first light receiving module 122, and the second light receiving module 123 on a PCB 128 in a patch manner, and to make the light emitting module 121 and the light receiving module and the PCB 128 on which the light emitting module 121 and the light receiving module are mounted be on the same horizontal plane. When the light emitting module 121 and the light receiving module are mounted, the positioning posts 128-1 on the PCB 128 are first melted by high temperature to protrude the surface of the positioning posts 128-1 of the PCB 128, and then the light emitting module 121, the first light receiving module 122, and the second light receiving module 123 are mounted in the protruding positioning posts 128-1 for permanent positioning. When the first convex lens 124 and the second convex lens 127 are installed, the installation positions of the first convex lens 124 and the second convex lens 127 are determined, then the structural member 128-2 to be provided with the circular hole is arranged on the PCB 128 according to the installation positions, and finally the first convex lens 124 and the second convex lens 127 are installed in the corresponding circular hole of the structural member 128-2. Since the light emitting module 121 and the light receiving module are mounted on the PCB 128 in a surface mount manner, the angle and position cannot be changed after the mounting and setting are completed. In order to detect objects to be detected at different distances and to ensure that the light intensity received by the light emitting module 121 and the light receiving module is adjusted when detecting the objects to be detected, the first convex lens 124 and the second convex lens 127 are required to be angularly adjustable. In addition, the circular hole design can ensure that the light emitted by the light emitting module 121 and the reflected light formed on the surface of the object 14 to be detected can pass through the first convex lens 124 or the second convex lens 127. The stability of the detecting device 12 can be ensured by the above installation method, so that the overall stability of the sweeping robot provided in the first embodiment of the present application is further ensured. Referring to fig. 3, a schematic diagram of a detection mode of a sweeping robot according to a first embodiment of the present application is shown. In order to facilitate the cooperation with the detecting device 12 and reduce the complexity of the connection between the detecting device 12 and the identification module 13, the cleaning robot provided in the first embodiment of the present application preferably inlays the identification module 13 inside the bottom of the cleaning robot body 11. The robot of sweeping floor that provides in this application embodiment one, when installing identification module 13 and including light emitting module 121, set up the detection device 12 of first light receiving module 122 and the second light receiving module 123 in light emitting module 121 one side, this robot of sweeping floor can accomplish alone and treat the detection of surveying object 14 distance and material. It is also possible to install the recognition module 13, the detection device 12 including only the light emitting module 121, and the first light receiving module 122 disposed at one side of the light emitting module 121, as a sweeping robot for detecting only the distance to the object to be measured. It should be noted that when the sweeping robots need to implement different functions, the specific functions of the identification module 13 need to be changed accordingly. The recognition module 13 is used for detecting the distance of the object 14 to be detected according to the output of the first light receiving module 122 in the first case; for detecting the material of the object 14 to be detected based on the outputs of the first light receiving module 122 and the second light receiving module 123. In the second case, the recognition module 13 is used only to detect the distance of the object 14 to be detected from the output of the first light receiving module 122.

Referring to fig. 4, a schematic diagram of a detection apparatus provided with a housing according to an embodiment of the present disclosure is shown. After the installation of the detecting device 12 in the sweeping robot provided in the first embodiment of the present application is completed, the housing 31 can be further sleeved outside the PCB 128 and installed in front of the bottom of the sweeping robot body 11. The object 14 to be detected is generally a ground to be cleaned, and the sweeping robot may also be used to clean other objects, such as a wall surface and a surface of a large mechanical device. At this time, the distance of the object 14 to be detected is the height between the detection device 12 and the ground. The sweeping robot can distinguish the distance between the ground in front and the bottom of the robot, namely the height H1 of the loading machine, and distinguish whether the front meets a cliff according to the height of the loading machine, so that the robot is prevented from falling or tipping. The sweeping robot is also used for distinguishing the material of the ground in front, so that the sweeping robot can select the cleaning mode to be wet cleaning or dry cleaning according to the material of the ground. In order to enable the light emitted from the light emitting module 121 to be well irradiated onto the surface of the object 14 to be detected (the ground to be cleaned) to form reflected light, and to ensure that the first light receiving module 122 and the second light receiving module 123 can better receive the reflected light and reduce the interference of external light, the bottom material of the housing may be set as a housing bottom made of a transparent acrylic material, and other portions may be set as opaque materials.

Referring to fig. 1 again, in the sweeping robot provided in the first embodiment of the present application, the first convex lens 124 is disposed below the light emitting module 121 and biased to the first light receiving module 122, so that a main optical axis of the first convex lens 124 is not on the same axis as a center of the light emitting module 121, and thus, light emitted by the light emitting module 121 passes through the convex lens 124 and then forms oblique light that is inclined toward the first light receiving module 122 below the light emitting module 121, the oblique light is determined by a degree that the convex lens 124 is biased to the first light receiving module 122, and the oblique light irradiates the ground and generates light spots to form reflected light. The farther the detection device 12 is from the object 14 to be detected, the weaker the intensity of the reflected light is, so that it is possible to realize that the recognition module 13 is used to detect the distance of the object 14 to be detected based on the output of the first light receiving module 122 corresponding to the intensity of the reflected light. That is, the distance (installed height H1) between the object to be detected 14 and the detection device 12 is reversely deduced from the output of the first light receiving module 122.

Referring to fig. 5, a schematic diagram of an identification module according to an embodiment of the present application is shown. The identification module 13 of the detecting device 12 in the sweeping robot provided in the first embodiment of the present application may be a chip with a specific program embedded therein, the identification module 13 includes a material identification submodule 131, the identification module 13 is configured to detect the distance of the object 14 to be detected according to the light intensity of the reflected light, and the specific operations are as follows: the material identification sub-module 131 is configured to detect whether the distance of the object 14 to be detected is within a first preset range according to the output of the first light receiving module 122, and is configured to detect that the distance of the object 14 to be detected is within a second preset range according to the output of the first light receiving module 122. Wherein the distance of the object 14 to be detected is not within a first predetermined range, i.e. the sweeping robot encounters the cliff in front of it. Specifically, a preset first distance threshold is stored in the material identification submodule 131, and at this time, the material identification submodule 131 is configured to detect the distance of the object 14 to be detected according to the output of the first light receiving module 122, and specifically, the operations are: the output of the first light receiving module 122 is compared with the first distance threshold and the second distance threshold, respectively, and if the output of the first light receiving module 122 is within the first distance threshold range, the distance of the object 14 to be detected is within the first preset distance. Since the first light receiving module outputs the first electrical signal generated by the first light receiving module 122 according to the light intensity of the received reflected light, and the first electrical signal is in direct proportion to the light intensity of the reflected light received by the first light receiving module, when the value of the first electrical signal received by the material identification submodule 131 is within the preset first distance threshold range, the distance of the object 14 to be detected is within the first preset distance.

The sweeping robot provided in the first embodiment of the present application can detect the distance of the object 14 to be detected according to the output of the first light receiving module 122, so that when the sweeping robot works, whether the sweeping robot encounters a cliff can be detected, and the movement direction and the movement state of the sweeping robot can be adjusted, so that the sweeping robot is more intelligent. In addition, when the sweeping robot detects whether the front is a cliff or not, the sweeping robot is not influenced by the type of the ground material, and the applicable scenes of the sweeping robot are greatly increased.

Since there is a difference in light reflection characteristics between different materials, such as a black and gray carpet and a high-gloss white tile, the light reflection characteristics are greatly different, and when the installation height H1 exceeds a specified distance range, the reflected light from the black and gray carpet is already weak, and the reflected light from the high-gloss white tile is still strong, so that the recognition module 13 is caused to make a false judgment when it is used to detect the distance to the object 14 to be detected based on the output of the first light receiving module 122 corresponding to the light intensity of the reflected light. The recognition module 13 determines that the front of the sweeping robot is the cliff because the light intensity of the reflected light of the black and gray carpet is small, and the output of the corresponding first light receiving module 122 is also large because the installed height H1 does not exceed the specified distance range, and the problem that the sweeping robot tips because the installed height H1 exceeds the specified distance range but the front of the sweeping robot is still determined to be a non-cliff is caused. Referring to fig. 6, in the first embodiment of the present application, due to the existence of the second shielding structure, when the installed height H1 of the detecting device exceeds a certain range, the first optical connection module 122 can still receive the reflected light, but the received reflected light is significantly less than the reflected light received by the first optical connection module when the installed height H1 of the detecting device 12 is within the first preset distance. Therefore, the first electrical signal output by the first light receiving module 22 is rapidly weakened and is not within the preset first distance threshold range. In this way, the sweeping robot provided in the first embodiment of the present application is not affected by the type of the material of the object to be detected 14 when detecting the distance of the object to be detected 14 according to the output of the first light receiving module 122. Receiving fig. 5 and fig. 6, referring to fig. 5 again, the identification module 13 in the sweeping robot provided in the first embodiment of the present application includes a material identification sub-module 132, and the material identification sub-module 132 is further capable of detecting the type of the material of the object 14 to be detected according to the outputs of the first light receiving module 122 and the second light receiving module 123 when the distance of the object 14 to be detected is within the preset range. Since the output of the second light receiving module 123 is a second electrical signal generated by the second light receiving module 123 according to the light intensity of the received reflected light, and the second electrical signal is proportional to the reflected light received by the second light receiving module 123, in the first embodiment of the present application, the output of the second light receiving module 123 is directly referred to as the second electrical signal. When the installed height H1 is within the first preset distance, and the sweeping robot determines that the ground in front is a non-cliff, although the light intensity of the reflected light that the detection device 12 can receive is large, when the installed height H1 is small or close to the first preset distance, because the installed height H1 is small, the light intensity of the reflected light formed by different materials is large, and the corresponding first electrical signals are also large. The detecting device 12 is difficult to distinguish the material of the ground to be detected according to the first electrical signal, and when the installation height H1 is close to the first preset distance, although the first electrical signals formed by different materials are larger than the first distance threshold, the difference of the first electrical signals formed by different materials of the same type of ground is larger, so that the type of the ground material is easily misjudged.

As can be known from optical simulation and optical mechanism design, a second convex lens 127 is disposed below the second light receiving module 123 and is biased to the first light receiving module 122, so that the light received by the second light receiving module 123 is reflected light formed by the reflected light passing through the second convex lens 127 and passing through the second convex lens 127, that is, the reflected light received by the second light receiving module 123. And the reflected light received by the second light receiving module 123 is the reflected light formed on the surface of the object 14 to be detected when the distance from the detection device 12 is within a specific distance range. At this time, the reflected light received by the second light receiving module 123 after passing through the second convex lens 127 can be collected by the convex lens, so that the light intensity of the reflected light passing through the second convex lens 127 is strong, the light intensity is substantially consistent, the uniformity of the light intensity is greater than 70%, and the correspondingly formed second electrical signal is suitable for distinguishing the material of the object 14 to be detected. In the first embodiment of the present application, the specific distance ranges are within the height ranges H3 and H4. After receiving the reflected light passing through the second convex lens 127, the material identification sub-module 132 can detect the material of the object 14 to be detected according to the first electrical signal and the second electrical signal.

The identification module 13 is used for detecting the material of the object 14 to be detected according to the output of the first light receiving module 122 and the second light receiving module 123, and includes: the distance identifying sub-module 131 is configured to detect whether the distance of the object 14 to be detected is within a second preset range according to the output of the first light receiving module 122; if so, the material identification sub-module 131 detects the type of the material of the object 14 to be detected based on the outputs (the first electrical signal and the second electrical signal) of the first light receiving module 122 and the second light receiving module 123. At this time, the identification module 13 is configured to detect the distance of the object 14 to be detected according to the light intensity of the reflected light, and the material identification submodule 131 compares the first electrical signal with the second distance threshold, and if the first electrical signal is within the second distance threshold, the distance of the object 14 to be detected is within the second preset distance. In general, the identification module 13 is used for detecting the distance of the object 14 to be detected according to the light intensity of the reflected light, and comprises: comparing the value of the first electrical signal with a first distance threshold and a second distance threshold respectively, wherein if the first electrical signal is within the range of the first distance threshold, the distance of the object to be detected 14 is within a first preset distance; if the first electrical signal is within the second distance threshold range, the distance of the object 14 to be detected is within a second preset distance; wherein the second preset distance is smaller than the first preset distance.

In order to obtain the reflected light passing through the second convex lens 127, the light emitting module 121 and the first convex lens 124, and the second light receiving module 123 and the second convex lens 127 need to be arranged approximately symmetrically with respect to the same vertical plane, so that it can be ensured that the inclined light path formed by the light emitted by the light emitting module 121 passing through the first convex lens 124 and the reflected light path formed by the reflected light passing through the second convex lens 127 are approximately symmetrical with respect to the vertical axis where the reference point is located. Thus, it is ensured that the intensity of the reflected light passing through the second convex lens 127 is strong, and that the intensity of the reflected light passing through the second convex lens 127 is substantially uniform, and the uniformity of the intensity of the reflected light can be greater than 70%.

For example, when the installed height H1 is within H3 to H4, the difference between the second electrical signals corresponding to the light intensity of the reflected light received by the second light receiving module 123 for different types of floor materials is large through multiple measurements and data arrangement, so that after the light intensity of the reflected light received by the second light receiving module 123 is obtained, the light reflection characteristics of the floor materials can be further obtained, and the type of the floor materials can be inferred according to the light reflection characteristics of the floor materials. In the first embodiment of the present application, the material identification submodule 132 is further configured to generate a second electrical signal according to the light intensity of the reflected light received by the second light receiving module 123, and when the distance to the object 14 to be detected is within a second preset range, the material identification submodule 132 detects the type of the material of the object to be detected according to the outputs of the first light receiving module and the second light receiving module, including: comparing the second electrical signal with a material threshold value, wherein if the second electrical signal is greater than the material threshold value, the material of the object to be detected is a first type of material; if the light intensity of the second electrical signal is smaller than the material threshold, the material of the object to be detected 14 is a second material; if the light intensity of the second electrical signal is equal to the material threshold, the material of the object to be detected 14 is the undetermined material. The material threshold is a value calibrated by a relevant person after performing data acquisition and data analysis on a second electrical signal formed by the material of a large number of different objects to be detected 14 and the intensity of the reflected light received by the second light receiving module 123 corresponding to the material. The sweeping robot provided in the first embodiment of the application can also automatically adjust the material threshold according to the data obtained by the recognition module 13, or the user can automatically define the material threshold.

The different types of objects 14 to be detected have different surface characteristics such as roughness and undulation, in addition to the light emission characteristics. Due to differences in surface characteristics of the different types of objects to be detected 14, the intensity ratio of the specularly reflected light to the diffusely reflected light received by the different types of objects to be detected 14 is different. Since the reflection light path and the inclined light path corresponding to the reflection light received by the second light receiving module 123 and passing through the second convex lens 127 are symmetrical light paths, the reflection light passing through the second convex lens 127 is equivalent to the reflection light of the specular reflection received by the object to be detected 14, and the reflection light received by the first light receiving module 122 is mostly the reflection light of the diffuse reflection. If the light intensity of the second electrical signal is equal to the material threshold, when the material of the object to be detected 14 is the undetermined material, the ratio of the second electrical signal to the first electrical signal can be introduced to further determine whether the undetermined material corresponds to the first material or the second material.

The material identification submodule 132 detects the type of the material of the object 14 to be detected according to the first electrical signal and the second electrical signal, and further includes: and obtaining the ratio of the second electrical signal to the first electrical signal of the undetermined material, matching the ratio of the undetermined material with the ratio of the first type of material, the second electrical signal of the second type of material and the first electrical signal respectively, and detecting that the undetermined material is originally the first type of material or the second type of material.

In the first embodiment of the application, it is set that the first kind of material in the ground material is a wood board and tile material, the second kind of material is a carpet material, the material threshold for distinguishing the material kind is M-N (M < N), when the sweeping robot works, the reflected light passing through the second convex lens 127 is obtained, then the material identification sub-module 132 forms a second electrical signal according to the light intensity of the reflected light received by the second light receiving module 123, and finally the material identification sub-module 132 compares the second electrical signal with the material threshold, if the second electrical signal is smaller than M, the ground material is a carpet material; if the second electric signal is larger than N, the ground is made of wood boards and ceramic tiles; if the second electrical signal is just between M-N, the material of the ground is an undetermined material, if the material of the ground is further determined to be a carpet material or a wood tile material, the first electrical signal needs to be introduced firstly, then the intensity ratio of the second electrical signal to the first electrical signal is obtained, finally the ratio of the undetermined material is respectively matched with the ratio of the first material, the second electrical signal of the second material and the first electrical signal, if the ratio of the undetermined material is matched with the ratio of the second electrical signal to the first electrical signal of the carpet material, the undetermined material is the carpet material, the ratio of the undetermined material is matched with the ratio of the second electrical signal to the first electrical signal of the wood tile material, and the undetermined material is the wood tile material.

The ground material is divided into two major material types: the wood board, ceramic tile and carpet materials can sufficiently support the sweeping robot to select whether dry sweeping or wet sweeping is carried out. And (4) selecting wet cleaning for the wood board and tile materials, or else, selecting wet cleaning. The ground material variety that the robot that sweeps floor needs the discernment is various, but the surface characteristic of different materials is similar and is in near probability of a certain material threshold value very little, so, if the robot that sweeps floor needs to treat the material of surveying object 14 and carry out more detailed differentiation, can set up a plurality of material threshold values, then match the second signal of telecommunication with a plurality of material threshold values respectively, each material threshold value corresponds a material category. When the second electrical signal is within a certain material threshold, the material of the object to be detected 13 is the material type corresponding to the material threshold. In the first embodiment of the present application, a preset correspondence table between the material threshold and the material category needs to be stored in the identification module 13 of the sweeping robot, and when the second electrical signal is obtained, the correspondence table needs to be obtained at the same time, so that the material identification sub-module 132 detects the material of the object to be detected according to the second electrical signal.

No matter the robot of sweeping floor that provides in this application implementation one is treating the distance of surveying object 14 according to first electric signal detection, still according to first electric signal, when the second electric signal detection is treating the material of surveying object 14, all carry out analysis and filtration to the electric signal data of material in advance, get rid of obvious erroneous data, and suitable delay operation, for example, ground gap causes the data that the electric signal suddenly weakens, the electric signal data of sudden change and beating that the ground binding site of different types of material leads to, the machine is emptyd, block, remove from ground or press the electric signal data of abnormal operating condition such as. The analysis and filtration of the data of the electric signals before detection can ensure the accuracy and reliability of the detection result.

The robot of sweeping floor that this application embodiment provided not only can accomplish the detection of treating the detection object and installing the detection device's on the robot body of sweeping floor distance, can also realize the detection to the object material that awaits measuring when treating the detection object and installing the detection device's on the robot body of sweeping floor distance in certain distance. Therefore, the sweeping robot can select the working mode according to the ground material. The application provides a robot of sweeping floor, need not rely on will only can the detection distance and only can survey two kinds of devices of material and assemble, then combine the recognition module with the detecting device after assembling and install on from mobile device, but combine the recognition module through installing at least one detecting device on the robot body of sweeping floor, just can realize both surveying the distance of treating the detection object, survey the material of treating the detection object again, thereby make this robot of sweeping floor's detecting device simple structure, the robustness is high, it is higher to synthesize the price/performance ratio. Further, the sweeping robot can use more application scenes. The robot of sweeping floor that provides in this application implementation one needs to ensure the uniformity of the structure of detecting device 12, ensures the uniformity of this detecting device's structure, can effectively reduce the regional scope of undetermined material of treating the detection object 14, improves the degree of accuracy of material classification discernment. Specifically, dimensional tolerances of the various modules and components are tightly controlled during the machining and assembly of the sonde 12; the light emitting module 121, the first light receiving module 122 and the second light receiving module 123 are classified and selected, the power of light emitted by the light emitting module 121 is reduced, and the conversion efficiency range of the first light receiving module 122 for receiving reflected light and the second light receiving module 123 for receiving reflected light after passing through the second convex lens 127 is reduced; the light emitting module 121 is combined with the first light receiving module 122 and the second light receiving module 123 to ensure that the reflected light received under the same condition is substantially identical to the reflected light after passing through the second convex lens 127. In the detection apparatus 12 provided in the first embodiment of the present application, the light emitting module 121 is an infrared light emitting tube, the first light receiving module 122 and the second light receiving module 123 are infrared light receiving photoelectric tubes, and the wavelength of light emitted by the infrared light emitting tube is about 850 nm. Thus, the anti-interference capability of the detection device 12 can be improved, the influence of visible light on the light emitted by the detection device 12, the reflected light and the reflected light passing through the second convex lens 127 can be avoided, and the infrared light emitting tube and the receiving photoelectric tube are low in price.

The sweeping robot provided in the first embodiment of the present application needs at least one detecting device 12 when the detecting device 12 is installed at the bottom of the sweeping robot. When installing a plurality of detecting devices 12 to the bottom of the sweeping robot, the structural consistency of the plurality of detecting devices 12 needs to be ensured. The sweeping robot in the first embodiment of the application can detect a cliff on the ground, ensure the normal operation of the sweeping robot, and can also realize the classification of ground materials so as to select different sweeping modes. The working mode of the sweeping robot is as follows:

referring to fig. 7, a flowchart of a robot working mode provided in an embodiment of the present application is shown. Step S701: the first light receiving module receives the reflected light and detects the distance of the object to be detected according to the light intensity of the reflected light.

Specifically, a first light receiving module of the detection device receives the reflected light, and detects the distance to the object to be detected according to the light intensity of the reflected light received by the first light receiving module, including: whether the distance of the object to be detected is within a first preset range is detected according to the light intensity of the reflected light received by the first light receiving module, and whether the distance of the object to be detected is within a second preset range is detected according to the light intensity of the reflected light. After receiving the reflected light, the sweeping robot can generate a corresponding first electric signal according to the intensity of the reflected light. After the first electric signal is generated, the distance of the object to be detected is detected according to the light intensity of the reflected light, and the distance is as follows: comparing the value of the first electric signal with a first distance threshold value and a second distance threshold value respectively, wherein if the first electric signal is within the range of the first distance threshold value, the distance of the object to be detected is within a first preset distance; and if the first electric signal is within the second distance threshold range, the distance of the object to be detected is within a second preset distance. Wherein the second distance threshold is less than the first distance threshold.

If the first electric signal of the sweeping robot is within the first distance threshold value range, the sweeping robot executes a walking command; if the first electrical signal is not within the first distance threshold range, the sweeping robot executes a "back" or "turn" command.

Step S702: and detecting the material of the object to be detected by combining the light intensity of the reflected light received by the second light receiving module.

And if the distance of the object to be detected is within a second preset distance, detecting the type of the material of the object to be detected according to the light intensity of the reflected light and the light intensity of the reflected light received by the second light receiving module. Specifically, a second electrical signal is generated according to the light intensity of the reflected light received by the second light receiving module, then the light intensity of the second electrical signal is compared with a material threshold, and if the second electrical signal is greater than the material threshold, the material of the object to be detected is the first type of material; if the light intensity of the second electric signal is smaller than the material threshold value, the material of the object to be detected is a second type of material; and if the light intensity of the second electric signal is equal to the material threshold value, the material of the object to be detected is the undetermined material. Wherein, the first class material is plank ceramic tile class material, and the second class material is carpet class material.

If the floor material is judged to be the first type of material, the sweeping robot executes a first sweeping mode: wet cleaning; if the floor material is judged to be the second type of material, the sweeping robot executes a second type of sweeping mode: dry cleaning; and if the ground material is judged to be the undetermined material, the sweeping robot continues to judge the undetermined material, and then selects the cleaning mode to be executed according to the judgment result.

S703: and judging the type of the material to be determined according to the light intensity ratio of the second electric signal to the first electric signal.

Firstly, a first electrical signal is connected to the contact for obtaining a second electrical signal, then the light intensity ratio of the second electrical signal of the undetermined material to the first electrical signal is obtained, the light intensity ratio of the undetermined material is matched with the light intensity ratios of the first material, the second electrical signal of the second material and the first electrical signal respectively, and the material to be detected is originally the first material or the second material. When the difference between the light intensity ratio of the undetermined material and the light intensity ratio of the first class of material is within a specified range, the undetermined material is the first class of material; otherwise, the undetermined material is the second type material.

If the material to be determined is judged to be the first type of material, the sweeping robot executes a first sweeping mode: wet cleaning; if the material to be determined is judged to be the second type of material, the sweeping robot executes a second type of sweeping mode: and (4) dry cleaning.

The detection device in the sweeping robot provided by the embodiment I of the application has the advantages of simple structure, small occupied size, high robustness and higher comprehensive cost performance.

Example two

In the above embodiment, a robot cleaner is provided, which includes at least one detecting device mounted on a robot body of the robot cleaner and an identification module, and correspondingly, in the second embodiment of the present application, a detecting device is provided, since the structure of the detecting device is described in detail in the first embodiment, the description is relatively simple, and relevant points can be referred to the description of the first embodiment. The device embodiments described below are merely illustrative.

Referring to fig. 1 again, the detecting device 12 includes: a light emitting module 121, a first light receiving module 122 and a second light receiving module 123 disposed at one side of the light emitting module 121. A first convex lens is arranged below the light emitting module 121 and is biased to the first light receiving module 122, and light emitted by the light emitting module 121 passes through the first convex lens 124 to form reflected light on the surface of the object 14 to be detected; a first shielding member 124 and a second shielding member 125 are respectively arranged between the first light receiving module 122 and the light emitting module 121 and between the first light receiving module 122 and the second light receiving module 123, and the first light receiving module 122 is used for receiving reflected light; a second convex lens 127 is disposed below the second light receiving module 123 and biased to the first light receiving module 122, and the second light receiving module 123 is configured to receive the reflected light passing through the second convex lens 127.

The first light receiving module 122 and the second light receiving module 123 of the detecting device 12 are sequentially disposed at one side of the light emitting module 121. The light emitting module 121, the first light receiving module 122 and the second light receiving module 123 of the detecting device 12 are located on the same straight line. In addition, the first shade 125 of the detecting device 12 extends from the edge of the first convex lens 124 near the first light receiving module 122 to the edge of the first light receiving module 122 near the first convex lens 124, and the second shade 126 extends from the edge of the first light receiving module 122 near the second convex lens 127 to the edge of the second convex lens 127 near the first light receiving module 122.

Fig. 8 is a schematic view showing an installation of a detecting device according to a second embodiment of the present application. When there are a plurality of detecting devices 12 mounted on the sweeping robot body 11, it is necessary to ensure that the tolerance ranges of the plurality of detecting devices 12 are strictly controlled during processing and assembling, and to ensure the consistency and symmetry of the detecting devices 12. Generally, the detecting device needs to be installed in front of the bottom of the sweeping robot body 11, so that the sweeping robot can conveniently detect the ground to be cleaned by using the detecting device during sweeping. When the robot cleaner is used specifically, the mounting position of the detection device 12 on the sweeping robot body 11 can be flexibly selected and adjusted according to actual conditions and requirements.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that the scope of the present invention is not limited to the embodiments described above, and that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the present invention.

Claims

1. An autonomous mobile device, comprising: the mobile equipment comprises at least one detection device and an identification module, wherein the detection device is installed on a self-mobile equipment body;

a second convex lens is arranged below the second light receiving module and is biased to the first light receiving module, and the second light receiving module is used for receiving the reflected light passing through the second convex lens;

2. The self-moving device of claim 1, wherein the identification module comprises a distance identification sub-module;

3. The self-moving device of claim 2, wherein the identification module further comprises a material identification sub-module;

4. The self-moving device according to claim 3, wherein the identification module is configured to detect the distance to the object to be detected according to the output of the first light receiving module, and specifically includes:

5. The self-moving apparatus according to claim 3, wherein the material identification sub-module detects a category of a material of the object to be detected from outputs of the first and second light receiving modules, including:

6. The self-moving device as claimed in claim 5, wherein if the output of the second light-receiving module is equal to the material threshold, the material of the object to be detected is a material to be detected;

7. The self-propelled device of claim 6, wherein the material to be determined is the first type of material when a ratio of an output of the second optical receiver module to an output of the first optical receiver module of the material to be determined to a ratio of an output of the second optical receiver module to an output of the first optical receiver module of the first type of material is within a specified range; otherwise, the undetermined material is the second type material.

8. The self-moving device as claimed in claim 1, wherein the first light receiving module outputs a first electrical signal generated by the first light receiving module according to the received light intensity of the reflected light, and the first electrical signal is proportional to the received light intensity of the reflected light by the first light receiving module.

9. The self-moving device as claimed in claim 8, wherein the second light receiving module outputs a second electrical signal generated by the second light receiving module according to the light intensity of the received reflected light, and the second electrical signal is proportional to the reflected light received by the second light receiving module.

10. The self-moving apparatus according to claim 1, wherein the first shade extends from a rim of a side of the first convex lens close to the first light receiving module to a rim of a side of the first light receiving module close to the first convex lens;

11. The self-moving apparatus according to claim 1, wherein the first light receiving module and the second light receiving module are sequentially disposed at one side of the light emitting module.

12. The self-moving device of claim 11, wherein the light emitting module, the first light receiving module and the second light receiving module are located on a same line.

13. A probe apparatus, comprising: the light emitting module, the first light receiving module and the second light receiving module are arranged on one side of the light emitting module;