CN112965070A - Sweeper and method for detecting foreign matters on surface of sweeper - Google Patents
Sweeper and method for detecting foreign matters on surface of sweeper Download PDFInfo
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- CN112965070A CN112965070A CN202110135882.2A CN202110135882A CN112965070A CN 112965070 A CN112965070 A CN 112965070A CN 202110135882 A CN202110135882 A CN 202110135882A CN 112965070 A CN112965070 A CN 112965070A
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- sweeper
- photoelectric conversion
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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
- G01S17/04—Systems determining the presence of a target
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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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
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention relates to the technical field of intelligent sweeping devices, and particularly discloses a sweeper and a method for detecting foreign matters on the surface of the sweeper. The sweeper comprises a machine shell, a perspective structure, a TOF camera module and a photoelectric conversion device. An installation cavity is arranged in the shell, and a through hole communicated with the installation cavity is formed in the shell; the perspective structure is covered and arranged at the through hole; the TOF camera module is arranged in the mounting cavity and comprises a transmitting end, a receiving end and a control main board, and the transmitting end and the receiving end are electrically connected with the control main board and used for transmitting light waves from the through hole to the outside of the machine shell; the photoelectric conversion device is arranged in the mounting cavity and electrically connected with the control mainboard, and is used for receiving the reflected light waves and converting the intensity information of the reflected light waves into current values. By adopting the sweeper provided by the invention, whether foreign matters exist on the surface of the perspective structure can be detected, so that a user can be reminded of cleaning the foreign matters on the surface of the perspective structure in time, and the influence on the normal work of the sweeper is avoided.
Description
Technical Field
The invention relates to the technical field of intelligent sweeping devices, in particular to a sweeper and a method for detecting foreign matters on the surface of the sweeper.
Background
Along with the development of society, people's life rhythm is faster and faster, and intelligent machine of sweeping floor is more and more liked by people, and intelligent machine of sweeping floor has intelligent computer system, automatic identification system, can measure the room, every corner in self-cleaning room.
However, in the process of operation and use of the sweeper, if foreign matters such as paper, cloth or excessive dust are attached to the surface of a TOF (Time of Flight) device of the sweeper, the sweeper cannot accurately distinguish the obstacle, and the obstacle avoidance function of the sweeper is easily affected.
Disclosure of Invention
The invention discloses a sweeper and a method for detecting foreign matters on the surface of the sweeper, which can accurately distinguish whether foreign matters exist on the surface of a TOF device of the sweeper and are convenient for improving the obstacle avoidance control precision of the sweeper.
In order to achieve the above object, an embodiment of the present invention discloses a sweeper, including:
the device comprises a shell, a first connecting piece and a second connecting piece, wherein an installation cavity is formed in the shell, and a through hole communicated with the installation cavity is formed in the shell;
the perspective structure is arranged at the through hole in a covering manner;
the TOF camera module is mounted in the mounting cavity and comprises a transmitting end, a receiving end and a control main board, and the transmitting end and the receiving end are both electrically connected with the control main board and used for transmitting light waves from the through hole to the outside of the machine shell; and
the photoelectric conversion device is arranged in the mounting cavity and electrically connected with the control mainboard, and is used for receiving the reflected light waves and converting the intensity information of the reflected light waves into current values;
wherein if the current value exceeds a predetermined value for a predetermined time, it is determined that foreign matter is attached to the surface of the see-through structure.
The invention can judge whether foreign matters exist on the surface of the perspective structure or not through the duration of the intensity of the current value converted by the photoelectric conversion device. Specifically, when the returned light energy is increased due to the attachment of the foreign matter, the light energy still cannot be decreased after the sweeper turns, so that the detected current value of the photoelectric conversion device is not less than the preset value and lasts for a long time, and therefore, the fact that the foreign matter is attached to the surface of the perspective structure of the sweeper can be judged.
In summary, the sweeper provided by the invention can detect whether foreign matters exist on the surface of the perspective structure, so that a user can be reminded of cleaning the foreign matters on the surface of the perspective structure in time, and the obstacle avoidance function of the sweeper is not easily affected.
As an optional implementation manner, in an embodiment of the present invention, after the current value exceeds a predetermined value, the control main board controls the sweeper to change a movement direction, and as the sweeper changes the movement direction, if the current value decreases, it is determined that an obstacle is in front of the sweeper. Specifically, when the light energy returned by the front obstacle of the sweeper becomes strong, the current value detected by the photoelectric conversion device becomes large, and when the current value is larger than the preset value, the control main board of the sweeper controls the sweeper to automatically turn to avoid, so that the current value is reduced to be lower than the preset value, the front obstacle of the sweeper can be judged to be present, and the operation is simple, fast and rapid.
As an alternative implementation manner, in the embodiment of the present invention, the light wave reflected by the foreign object is irradiated into a first region of the installation cavity along the see-through structure, and the light wave reflected by the obstacle is irradiated into a second region of the installation cavity along the see-through structure, wherein the second region is located inside the first region, and the first region has an outer region located outside the second region;
the photoelectric conversion devices are multiple, one part of the photoelectric conversion devices is arranged in the first area, and the other part of the photoelectric conversion devices is arranged in the outer area;
wherein when the current value of the photoelectric conversion device in the second region and the current value of the photoelectric conversion device in the outer region increase to the predetermined value, it is determined that foreign matter is attached to the surface of the see-through structure;
when the current value of the photoelectric conversion device in the second area is increased to the preset value, it is determined that an obstacle exists in front of the sweeper.
According to the invention, the plurality of photoelectric conversion devices are arranged in the sweeper, when the current values of the photoelectric conversion devices in the second area and the external area exceed the preset value, the fact that foreign matters are attached to the surface of the perspective structure is indicated, and if only the current value of the photoelectric conversion device in the second area exceeds the preset value, the fact that an obstacle exists in front of the sweeper is indicated, namely, whether the foreign matters or the obstacle exists on the surface of the sweeper can be judged only through the strong and weak signals of the current values of the photoelectric conversion devices in the second area and the external area, so that the foreign matters can be rapidly detected.
As an alternative implementation, in an embodiment of the invention, the photoelectric conversion device includes a photodiode. Photodiode has the function of detecting illumination intensity, consequently can utilize this principle, if the surface attachment of the transparent configuration of machine of sweeping the floor has foreign matter or the place ahead when having the barrier, the light that the transmitting terminal sent will reflect closely, and the light intensity can be very strong, leads to photodiode's current value to increase, is convenient for detect the foreign matter or the barrier on machine surface of sweeping the floor, and simple structure is convenient for realize.
As an optional implementation manner, in the embodiment of the present invention, the emitting end and the photoelectric conversion device are both disposed on the control motherboard, and the emitting end is disposed close to the photoelectric conversion device, so that the integration degree is higher, the assembly process of the sweeper is simplified, the photoelectric conversion device can be ensured to receive reflected light waves as much as possible, the photoelectric conversion efficiency of the photoelectric conversion device can be improved, and whether a foreign object or an obstacle exists on the surface of the sweeper is detected accurately.
On the other hand, the embodiment of the invention also discloses a method for detecting foreign matters on the surface of the sweeper, which is executed by adopting the sweeper and comprises the following steps:
emitting light waves from the through hole toward the outside of the case using the emitting end;
receiving the reflected light wave by the photoelectric conversion device and converting the reflected light wave into a current value;
and judging whether the intensity of the current value exceeds a preset value, if so, controlling the sweeper to change the motion by using the control main board, changing the motion direction along with the sweeper, if the current value is reduced, determining that an obstacle is in front of the sweeper, and if the current value exceeds the preset value and lasts for a preset time, determining that foreign matters are attached to the surface of the perspective structure.
The invention can judge whether the surface of the perspective structure has foreign matters or obstacles in front by the duration time of the intensity of the current value converted by the photoelectric conversion device. When the current value of the photoelectric conversion device exceeds the preset value and continues for a preset time, the fact that foreign matters are attached to the surface of the perspective structure is indicated, and if the current value of the photoelectric conversion device is reduced after exceeding the preset value, the fact that an obstacle exists in front of the perspective structure is indicated, and obstacle avoidance control accuracy of the sweeper can be improved.
As an optional implementation manner, in an embodiment of the invention, the predetermined value is 70% to 90% of a magnitude of a current value detected by the photoelectric conversion device when there is an obstacle in front of the sweeper. The predetermined value does in this application is when there is the barrier in sweeper place ahead 70% to 90% of the current value size that photoelectric conversion device detected can remind the user to clean again after foreign matters such as dust on the surface of sweeper reach certain degree, and need not frequently clean the surface of sweeper.
As an alternative implementation manner, in the embodiment of the present invention, the predetermined time is not less than 20 s. The preset time is set to be not less than 20s, so that the situation that the current value is increased when the front of the sweeper is an obstacle can be effectively eliminated.
As an optional implementation manner, in an embodiment of the present invention, when the current value exceeds the predetermined value for the predetermined time, the control main board controls the warning element of the sweeper to send a warning signal, so as to prompt a user to clean a surface of the sweeper, that is, a surface of the see-through structure.
As an optional implementation manner, in the embodiment of the present invention, when the current value exceeds the predetermined value for the predetermined time, the control main board controls the communication module of the sweeper to send a signal to the mobile terminal to prompt the user to clean the foreign object, so that the structure is simple and the user experience is good.
Compared with the prior art, the sweeper and the method for detecting the foreign matters on the surface of the sweeper have the following beneficial effects that:
the invention can judge whether foreign matters exist on the surface of the perspective structure or not through the duration time of the current value obtained by conversion of the photoelectric conversion device. When the current value is larger than the preset value, the control main board of the sweeper can control the sweeper to automatically turn to avoid, so that the current value can be reduced to be lower than the preset value; however, if the returned light energy is increased due to the attachment of the foreign matters, the light energy still cannot be decreased after the sweeper turns, so that the detected current value of the photoelectric conversion device is not less than the preset value and lasts for a long time, and the condition that the foreign matters are attached to the surface of the perspective structure of the sweeper can be judged.
In conclusion, the sweeper provided by the invention can detect whether raised dust exists on the surface of the perspective structure, is convenient for reminding a user of cleaning foreign matters on the surface of the perspective structure in time, and is not easy to influence the obstacle avoidance function of the sweeper.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of a sweeper according to a first embodiment of the present invention;
fig. 2 is a light wave propagation diagram of the sweeper disclosed by the first embodiment of the invention when no foreign matters exist on the surface;
fig. 3 is a light wave travel diagram when the raised dust is attached to the surface of the sweeper disclosed by the first embodiment of the invention;
fig. 4 is a light wave traveling diagram when the surface of the sweeper disclosed by the first embodiment of the invention is adhered with raised dust and meets an obstacle;
fig. 5 is a graph showing a relationship between current and time when the sweeper disclosed in the first embodiment of the invention normally works;
fig. 6 is a graph showing a relationship between current and time when a foreign object is attached to a surface of a sweeper according to a first embodiment of the present invention;
fig. 7 is a schematic view of a sweeper provided with two sweeping devices according to a first embodiment of the present invention;
fig. 8 shows a flowchart of a method for detecting foreign matter on the surface of the sweeper according to the second embodiment of the invention.
Icon: 1. a sweeper; 10. a housing; 11. a control button; 12. a through hole; 13. a see-through structure; 20. a TOF camera module; 21. a control main board; 22. a transmitting end; 24. a receiving end; 40. a photoelectric conversion device; 41. a first photoelectric conversion device; 42. a second photoelectric conversion device; 50. a warning element; 60. an obstacle; 100. a second region; 200. a first region.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish one device, element, or component from another (the particular nature and configuration of which may be the same or different, and not intended to indicate or imply the relative importance or importance of the indicated device, element, or component.
The following detailed description is made with reference to the accompanying drawings.
Referring to fig. 1 to 4, according to an embodiment of the present invention, a sweeper 1 is provided. The sweeper 1 comprises a machine shell 10, a perspective structure 13, a TOF camera module 20 and a photoelectric conversion device 40. It is understood that the perspective structure in this embodiment may be a cover glass or a transparent plastic plate located in front of the TOF camera module 20, or may be a cover glass or a transparent plastic plate integrally provided with the TOF camera module 20.
Specifically, an installation cavity is arranged inside the casing 10, and a through hole 12 communicated with the installation cavity is arranged on the peripheral side wall of the casing 10; the perspective structure 13 is covered and arranged at the through hole 12; the TOF camera module 20 is mounted in the mounting cavity, and the TOF camera module 20 includes an emitting end 22, a receiving end 24, a control main board 21 and a perspective structure 13, wherein the emitting end 22 is electrically connected with the control main board 21, and the emitting end 22 is used for emitting light waves from the through hole 12 toward the outside of the housing 10; the photoelectric conversion device 40 is disposed in the mounting cavity and electrically connected to the control motherboard 21, and the photoelectric conversion device 40 is configured to receive a reflected light wave of the light wave emitted from the emitting end 22 and convert the reflected light wave into a current value. In actual use, the more reflected light waves the photoelectric conversion device 40 receives, the stronger the current value.
Because the emitting end 22 and the photoelectric conversion device 40 are arranged in the sweeper 1 in this embodiment, in the actual use process, the emitting end 22 can continuously emit light waves outwards from the through hole 12, the light waves can be subjected to diffuse reflection when encountering foreign matters such as dust and paper or obstacles 60, and the light waves emitted by the emitting end 22 can be reflected, in the process, the more the obstacles 60 and the foreign matters in front of the perspective structure 13 are, the more the light waves are reflected, the stronger the light energy is, the more the reflected light waves are received by the photoelectric conversion device 40, and the stronger the current value is.
In the process of actually using the sweeper 1, whether the obstacle 60 exists in front of the perspective structure 13 needs to be distinguished, when the sweeper 1 normally works and meets the obstacle 60, the control main board 21 controls the sweeper 1 to automatically turn, reflected light received by the photoelectric conversion device 40 is reduced after the turning, a current value is correspondingly reduced (as shown in fig. 5), and if the current value of the photoelectric conversion device 40 does not change within a period of time (as shown in fig. 6), diffuse reflection of the sweeper 1 after the turning is still not reduced, and at this time, foreign matters are attached to the surface of the perspective structure 13. That is, after the current value of the photoelectric conversion device 40 exceeds a predetermined value, the control main board 21 controls the sweeper 1 to change the moving direction, and as the sweeper 1 changes the moving direction, if the current value decreases, it is determined that the obstacle 60 is in front of the sweeper 1, and if the current value exceeds the predetermined value and continues for a predetermined time, it is determined that foreign matter is attached to the surface of the see-through structure 13. Therefore, the present invention can determine whether or not foreign matter exists on the surface of the see-through structure 13 by the duration of the intensity of the duration of the current value converted by the photoelectric conversion device 40.
When the returned light energy is increased due to the obstacle 60 in front of the sweeper 1, the current detected by the photoelectric conversion device 40 is increased, and when the current value is greater than the preset value, the control main board 21 of the sweeper 1 controls the sweeper 1 to automatically turn to avoid, so that the current value is reduced to be lower than the preset value; however, if the returned light energy is increased due to the adhesion of the foreign matter, the light energy cannot be decreased even after the sweeper 1 turns, so that the detected current value of the photoelectric conversion device 40 is not less than the predetermined value and lasts for a long time, and therefore, the fact that the foreign matter is adhered to the surface of the see-through structure 13 of the sweeper 1 can be judged.
In summary, the sweeper 1 of the present invention can detect whether foreign objects exist on the surface of the perspective structure 13, so as to prompt the user to clean the foreign objects on the surface of the perspective structure 13 in time, and the obstacle avoidance function of the sweeper is not easily affected.
The housing 10 in this embodiment is provided in a columnar shape, and the housing 10 is provided in a columnar structure, so that other structures of the sweeper 1, such as the TOF camera module 20 and the photoelectric conversion device 40, can be conveniently installed. Alternatively, the housing 10 may be cylindrical, prismatic, elliptical or other shaped cylindrical arrangement. In a preferred embodiment of the present invention, the casing 10 is configured to be cylindrical, and at this time, the periphery of the casing 10 has no protruding edge, so that the indoor environment or the indoor user is not easily damaged in the process of steering the sweeper 1, and the user experience of the sweeper 1 can be improved.
In order to facilitate the operation and control of the sweeper 1, the housing 10 in this embodiment is provided with a control button 11, the control button 11 is electrically connected to the control main board 21, and when the control button 11 is controlled, a control program on the control main board 21 can be controlled. Alternatively, the control buttons 11 may be push-button buttons, touch buttons, or the like.
Further, the sweeper 1 further comprises a warning element 50, the warning element 50 is electrically connected with the control main board 21, and the warning element 50 is used for sending a warning signal when the current value on the photoelectric conversion device 40 exceeds a preset value for a preset time. When the warning element 50 generates a warning signal, it can prompt the user that foreign matters and/or dust exist on the surface of the see-through structure 13 and need to be cleaned.
Alternatively, the warning element 50 in this embodiment may be a speaker, a warning signal lamp, or the like. When the warning element 50 is configured as a speaker, the speaker can be disposed inside the housing 10 to prevent the external environment from interfering with the speaker. When the warning member 50 is provided as a warning signal lamp, the warning signal lamp may be provided on the upper surface of the casing 10 or on the peripheral side surface of the casing 10 as long as it is convenient for the user to view.
It is understood that the predetermined value of the current value of the photoelectric conversion device 40 in the present embodiment can be determined by testing the sweeper 1. In some embodiments of the present invention, the predetermined value is 70% to 90%, for example 70%, 75%, 80%, 85%, or 90%, of the magnitude of the current value detected by the photoelectric conversion device 40 when there is the obstacle 60 in front of the sweeper 1, and the predetermined value is set to 70% to 90% of the magnitude of the current value detected by the photoelectric conversion device 40 when there is the obstacle 60 in front of the sweeper 1, so that the user can be prompted to clean the surface of the TOF camera module 20 (the outer wall surface of the see-through structure 13) after a certain degree of foreign matter such as dust on the surface of the TOF camera module reaches a certain degree, without frequently cleaning the surface of the sweeper 1. The preset time is not less than 20s, for example, 21s, 23s, 25s, 27s and the like, and the preset time is set to be not less than 20s, so that the situation that the current value is increased when the front of the sweeper 1 is the obstacle 60 can be effectively eliminated, the sweeper 1 has enough time to rotate over the obstacle 60, and the accuracy of distinguishing the foreign matters by the sweeper 1 is improved.
In some embodiments of the present invention, the control main board 21 is provided with a communication module, which is used for being connected with the mobile terminal in a communication manner, and when the current value of the photoelectric conversion device 40 exceeds a predetermined value for a predetermined time in actual use, the communication module can transmit a communication signal to the mobile terminal to prompt a user that dust and/or foreign matter exists on the surface of the see-through structure 13 and cleaning is needed.
Optionally, the mobile terminal in this embodiment can be APP on the mobile phone, and if there is dust and/or foreign matter on the surface of the see-through structure 13, related voice broadcast can be sent remotely through the mobile phone APP to remind the user to perform cleaning, so that the surface cleanliness of the sweeper 1 can be monitored, and the user experience of the sweeper 1 is further improved.
In some embodiments of the present invention, the photoelectric conversion device 40 is a PD (protective devices) device, which is a human eye safety device and is a photodiode. Optionally, the transmitting terminal 22 is an infrared light wave transmitter, after the transmitting terminal 22 emits infrared light, diffuse reflection occurs when the infrared light encounters a foreign object or an obstacle 60, and the photodiode has a function of detecting illumination intensity, so that the current value of the photodiode can be increased if foreign objects such as dust on the surface of the sweeper 1 are too much, the detection of the foreign objects or the obstacle 60 on the surface of the sweeper 1 is facilitated, the structure is simple, and the realization is facilitated. The photoelectric conversion device 40 of the present invention is not necessarily a PD device, and may be a light guide or the like, and any other modification within the concept of the present invention is within the scope of the present invention.
During actual installation, the emitting end 22 and the photoelectric conversion device 40 in this embodiment are both disposed on the control main board 21, so that the integration degree is higher, and the assembly process of the sweeper 1 is simplified. Alternatively, the emitting end 22 is disposed close to the photoelectric conversion device 40. It is understood that the meaning of the emitting end 22 being disposed close to the photoelectric conversion device 40 in this embodiment means that, when the space allows, the photoelectric conversion device 40 is disposed close to the emitting end 22 as much as possible, so as to ensure that the photoelectric conversion device 40 can receive as much reflected light waves as possible, improve the photoelectric conversion efficiency of the photoelectric conversion device 40, and facilitate accurately detecting whether foreign matters exist on the surface of the sweeper 1.
Of course, in other embodiments of the present invention, the photoelectric conversion device 40 may be disposed inside the emitting end 22, and may also be disposed at the outer periphery or inside the receiving end 24.
It should be noted that the surface of the sweeper 1 described in this embodiment is the surface of the see-through structure 13.
Optionally, the receiving end 24 of the TOF camera module 20 in this embodiment may be a receiving end RX commonly used in the TOF camera module 20, and the receiving end 24 may be configured to receive light rays emitted by the emitting end 22 and reflected by other objects so as to detect the distance between the obstacle 60, the foreign object, and the like and the sweeper 1.
Further, the see-through structure 13 in the present invention may be a transparent glass sheet, and may also be a transparent plastic sheet. Preferentially set up perspective structure 13 into transparent plastic piece in this application, so set up, can guarantee perspective structure 13's light transmissivity, in addition, for transparent glass piece, transparent plastic piece's fragility is lower, and the quality is lighter, is convenient for improve perspective structure 13's structural strength, reduces the weight of machine of sweeping the floor 1. Of course, in other embodiments of the present invention, the see-through structure 13 may be a transparent plastic film or the like.
In one embodiment of the present invention, one or more photoelectric conversion devices 40 may be provided, and when a plurality of photoelectric conversion devices 40 are provided, two or more photoelectric conversion devices 40 are provided. It can be understood that the one or more photoelectric conversion devices 40 can receive not only the light waves reflected by the foreign objects but also the light waves reflected by the obstacles in front of the sweeper 1. When the photoelectric conversion devices 40 are provided in plurality, the light waves reflected by the foreign matters and the obstacles 60 in each direction can be comprehensively received, and the detection accuracy of the sweeper 1 for the obstacles 60 and the foreign matters can be further improved.
Referring to fig. 1 and 7, in another embodiment of the present invention, in the process of actually designing the sweeper 1, the light waves reflected by the foreign objects (such as dust) are irradiated into the first area 200 of the mounting cavity of the sweeper 1 along the see-through structure 13, and the light waves reflected by the obstacle 60 are correspondingly irradiated into the second area 100 of the mounting cavity of the sweeper 1 along the see-through structure 13, and it can be known from the reflection rule of the light path that the second area 100 is located inside the first area 200, and at this time, the first area 200 has an outer area located outside the second area 100 (an annular area between the outer second area 100 and the first area in fig. 7). In the present embodiment, the photoelectric conversion device 40 is provided in plurality, that is, the photoelectric conversion device 40 is provided in two or more, and fig. 7 shows a case where the photoelectric conversion device 40 is provided in two, and for the sake of convenience of distinction, the two photoelectric conversion devices 40 described above are respectively identified as a first photoelectric conversion device 41 and a second photoelectric conversion device 42. Here, the first photoelectric conversion device 41 is disposed in the second region 100, and the second photoelectric conversion device 42 is disposed in the outer region. With this arrangement, not only can the intensity and duration of the current value of the first photoelectric conversion device 41 be used to determine whether the surface of the sweeper 1 has foreign matters, but also the magnitude of the current values of the first photoelectric conversion device 41 and the second photoelectric conversion device 42 can be used to determine whether the surface of the sweeper 1 has foreign matters.
Specifically, since the obstacle 60 is in front of the sweeper 1, and the distance from the see-through structure 13 of the sweeper 1 to the see-through structure 13 is longer than the distance from the foreign matter on the surface of the see-through structure 13 to the see-through structure 13, the light wave emitted by the emitting end 22 can only be reflected into the second area 100, but not to the outer area outside the second area 100, and only when the foreign matter is adhered to the surface of the see-through structure 13, the area outside the second area 100 can receive the guided and reflected light wave. That is, when the current value of the first photoelectric conversion device 41 in the second region 100 and the current value of the second photoelectric conversion device 42 in the outer region both rise to predetermined values, it can be determined that foreign matter is attached to the surface of the see-through structure 13; correspondingly, when only the current value of the first photoelectric conversion device 41 in the second area 100 rises to the predetermined value, it can be determined that there is an obstacle 60 in front of the sweeper 1.
Of course, in other embodiments of the present invention, a plurality of photoelectric conversion devices 40 may be disposed in the second area 100 and the area other than the second area 100 illustrated in fig. 7, so as to receive the obstacle 60 and the reflected light waves of the foreign object comprehensively, thereby improving the accuracy of the sweeper 1 in determining the foreign object and the obstacle 60.
As can be seen, in the present invention, by providing a plurality of photoelectric conversion devices 40 in the sweeper 1, when the current values of the photoelectric conversion devices 40 in the second area 100 and the outer area both exceed the predetermined value, it is indicated that foreign matter is attached to the surface of the see-through structure 13, and if only the current value of the photoelectric conversion device 40 in the second area 100 exceeds the predetermined value, it is indicated that an obstacle 60 is in front of the sweeper 1. That is, in the present embodiment, it can be determined whether there is a foreign object or an obstacle 60 on the surface of the sweeper 1 only by the strong and weak signals of the current values of the photoelectric conversion devices 40 in the second area 100 and the external area, so that the foreign object or the obstacle 60 can be detected quickly.
In summary, the present invention can determine whether there is a foreign object on the surface of the see-through structure 13 according to the intensity and duration of the current value converted by the photoelectric conversion device 40. If the current value of the photoelectric conversion device 40 exceeds the predetermined value and continues for a predetermined time, it indicates that foreign matter is attached to the surface of the see-through structure 13, and if the current value of the photoelectric conversion device 40 exceeds the predetermined value and then decreases, it indicates that an obstacle 60 exists in front of the see-through structure 13.
That is to say, by adopting the sweeper 1 of the present invention, whether raised dust exists on the surface of the see-through structure 13 can be detected, which is convenient for reminding a user to clean the foreign matter on the surface of the see-through structure 13 in time, and the obstacle avoidance function of the sweeper 1 is not easily affected.
Example two
Referring to fig. 1, 2, and 4 to 8, the method for detecting foreign objects on the surface of the sweeper in the first embodiment is implemented by using the sweeper 1 in the first embodiment.
Specifically, the detection method comprises the following steps:
101. the light waves are emitted from the through-hole 12 toward the outside of the housing 10 by the emitting end 22.
In this step, when the sweeper 1 is started to work, the control main board 21 controls the emitting end 22 to emit light waves, and the light waves emitted by the emitting end 22 can be transmitted from the through hole 12 to the outside of the housing 10. When the light wave is transmitted to the see-through structure 13 in front of the through hole 12, if there is no dust or foreign matter on the surface of the see-through structure 13, the transmission direction of the light wave will not change substantially (see fig. 2), and if there is foreign matter on the surface of the see-through structure 13 or there is an obstacle 60 in front of the see-through structure 13, the light wave will be slowly reflected on the surface of the dust and/or foreign matter (see fig. 4), and the reflected light wave generated by the reflection of the foreign matter will be transmitted toward the inside of the through hole 12.
102. The reflected light waves are received by the photoelectric conversion means 40 and converted into current values.
In this step, when the photoelectric conversion device 40 receives the reflected light wave, the reflected light wave is converted into a current value. In this process, the more the obstacle 60 and the foreign object in front of the see-through structure 13 are, the more the reflected light waves are received by the photoelectric conversion device 40, and the stronger the current value is after being processed by the photoelectric conversion device 40. In the process, whether the obstacle 60 exists in front of the perspective structure 13 needs to be distinguished, when the sweeper 1 normally works, the main board 21 can automatically control the sweeper 1 to turn when encountering the obstacle, the reflected light received by the photoelectric conversion device 40 can be reduced after the sweeper turns, the current value can be reduced (as shown in fig. 5), and if the current value of the photoelectric conversion device 40 cannot be changed within a period of time (as shown in fig. 6), the diffuse reflection of the sweeper 1 can still not be reduced after the sweeper turns, and at this time, it can be shown that raised dust and/or foreign matters are attached to the surface of the perspective structure 13. Therefore, the present invention can determine whether dust and/or foreign matter exists on the surface of the see-through structure 13 by the current value converted by the photoelectric conversion device 40.
103. And judging whether the current value of the photoelectric conversion device 40 exceeds a preset value or not, if so, controlling the sweeper 1 to change the motion by using the control main board 21, changing the motion direction along with the sweeper 1, if the current value of the photoelectric conversion device 40 is reduced, determining that an obstacle is in front of the sweeper 1, and if the current value of the photoelectric conversion device 40 exceeds the preset value and lasts for a preset time, determining that foreign matters are adhered to the surface of the see-through structure 13.
That is, if the value of the current converted by the photoelectric conversion device 40 exceeds a predetermined value for a predetermined time, it is interpreted that foreign matter is attached to the surface of the see-through structure 13. If the value of the current converted by the photoelectric conversion device 40 does not have a predetermined value for a predetermined time, it indicates that there is no foreign matter such as dust on the surface of the see-through structure 13. It is understood that, in the embodiment, there is no dust, which means that there is less dust on the surface of the see-through structure 13, rather than absolutely no dust, and how much dust is attached can be adjusted and controlled according to the magnitude of the current intensity, which is not limited in this application.
In this step, the predetermined value is 70% to 90%, for example, 70%, 75%, 80%, 85%, or 9%, of the magnitude of the current value detected by the photoelectric conversion device when there is an obstacle in front of the sweeper 1, and the predetermined value is set to 70% to 90% of the magnitude of the current value detected by the photoelectric conversion device 40 when there is an obstacle 60 in front of the sweeper 1, so that the user can be prompted to clean the surface of the sweeper 1 (the surface of the see-through structure 13) after foreign matters such as dust reach a certain degree, instead of frequently cleaning the surface of the sweeper 1.
Further, the predetermined time in the embodiment is not less than 20s, for example, 21s, 23s, 25s, 27s, etc., and the predetermined time is set to be not less than 20s, so that the current value increase caused by the obstacle 60 in front of the sweeper 1 can be effectively eliminated.
In some embodiments of the present invention, when the current value exceeds the predetermined value for a predetermined time, the control main board 21 controls the warning element 50 to send a warning signal, so as to prompt the user to clean the surface of the sweeper 1, i.e. the surface of the see-through structure 13.
Of course, in other embodiments of the present invention, when the current value exceeds the predetermined value for a predetermined time, the main board 21 may be further controlled to control the communication module box mobile terminal to send a signal to prompt the user to perform dust emission and/or foreign object cleaning.
In summary, the present invention can determine whether there is a foreign object on the surface of the see-through structure 13 according to the current value converted by the photoelectric conversion device 40. When the current value of the photoelectric conversion device 40 exceeds the predetermined value for a predetermined time, it indicates that dust and/or foreign matter are attached to the surface of the see-through structure 13, and if the current value of the photoelectric conversion device 40 exceeds the predetermined value and then decreases, it indicates that an obstacle exists in front of the see-through structure 13.
That is to say, by adopting the sweeper 1 of the present invention, whether raised dust exists on the surface of the see-through structure 13 can be detected, which is convenient for reminding a user to clean the foreign matter on the surface of the see-through structure 13 in time, and the obstacle avoidance function of the sweeper is not easily affected.
The above detailed description is made on the sweeper and the equipment of the method for detecting the foreign matters on the surface of the sweeper, and the specific examples are applied to explain the principle and the implementation mode of the invention, and the description of the above embodiments is only used for helping to understand the method for detecting the foreign matters on the surface of the sweeper and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A sweeper is characterized by comprising:
the device comprises a shell, a first connecting piece and a second connecting piece, wherein an installation cavity is formed in the shell, and a through hole communicated with the installation cavity is formed in the shell;
the perspective structure is arranged at the through hole in a covering manner;
the TOF camera module is mounted in the mounting cavity and comprises a transmitting end, a receiving end and a control main board, and the transmitting end is electrically connected with the control main board and used for transmitting light waves from the through hole to the outside of the machine shell; and
the photoelectric conversion device is arranged in the mounting cavity and electrically connected with the control mainboard, and is used for receiving the reflected light waves and converting the intensity information of the reflected light waves into current values;
wherein if the current value exceeds a predetermined value for a predetermined time, it is determined that foreign matter is attached to the surface of the see-through structure.
2. The sweeper according to claim 1, wherein the control main board controls the sweeper to change the direction of movement after the current value exceeds a predetermined value, and if the current value decreases, it is determined that an obstacle is in front of the sweeper as the sweeper changes the direction of movement.
3. The sweeper according to claim 1, wherein the foreign matter reflected light waves impinge along the see-through structure into a first region of the mounting cavity, the obstacle reflected light waves impinge along the see-through structure into a second region of the mounting cavity, the second region being located within the first region, the first region having an outer region located outside the second region;
the photoelectric conversion devices are multiple, one part of the photoelectric conversion devices is arranged in the first area, and the other part of the photoelectric conversion devices is arranged in the outer area;
wherein when both the current value of the photoelectric conversion device in the second region and the current value of the photoelectric conversion device in the outer region rise to the predetermined value, it is determined that foreign matter is attached to the surface of the see-through structure;
when the current value of the photoelectric conversion device in the second area is increased to the preset value, it is determined that an obstacle exists in front of the sweeper.
4. The sweeper of claim 1, wherein the photoelectric conversion device comprises a photodiode.
5. The sweeper according to any one of claims 1 to 4, wherein the emitting end and the photoelectric conversion device are both disposed on the control main board, and the emitting end is disposed close to the photoelectric conversion device.
6. A method for detecting foreign matters on the surface of a sweeper, which is characterized by being executed by the sweeper according to any one of claims 1 to 5, and comprises the following steps:
emitting light waves from the through hole toward the outside of the case using the emitting end;
receiving the reflected light wave by the photoelectric conversion device and converting the reflected light wave into a current value;
and judging whether the current value exceeds a preset value, if so, controlling the sweeper to change the motion by using the control main board, changing the motion direction along with the sweeper, if the current value is reduced, determining that an obstacle is in front of the sweeper, and if the current value exceeds the preset value and lasts for a preset time, determining that foreign matters are attached to the surface of the perspective structure.
7. The method for detecting the foreign matters on the surface of the sweeper according to claim 6, wherein the predetermined value is 70-90% of the magnitude of the current value detected by the photoelectric conversion device when the sweeper has an obstacle in front of the sweeper.
8. The method for detecting the foreign matters on the surface of the sweeper according to claim 6, wherein the predetermined time is not less than 20 s.
9. The method for detecting the foreign matters on the surface of the sweeper according to claim 6, wherein the control main board controls a warning element of the sweeper to send out a warning signal when the current value exceeds the predetermined value for the predetermined time.
10. The method for detecting the foreign matters on the surface of the sweeper according to claim 6, wherein when the current value exceeds the preset value for the preset time, the control main board controls the communication module of the sweeper to send a signal to a mobile terminal to prompt a user to clean the foreign matters.
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