CN113854900B

CN113854900B - Self-moving robot

Info

Publication number: CN113854900B
Application number: CN202111142228.0A
Authority: CN
Inventors: 党亮
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-09-28
Filing date: 2021-09-28
Publication date: 2023-01-03
Anticipated expiration: 2041-09-28
Also published as: CN113854900A

Abstract

The embodiment of the invention discloses a self-moving robot, which comprises: the ground detection device is arranged at the bottom of the self-moving robot and comprises a transmitting part and a receiving part, wherein the transmitting part and the receiving part have downward view fields; the transmitting part comprises a first transmitting part and a second transmitting part, and the receiving field of view of the receiving part at least partially overlaps with the transmitting field of view of the first transmitting part within a first preset range; in a second preset range, the receiving field of view of the receiving part is at least partially overlapped with the transmitting field of view of the first transmitting part and the transmitting field of view of the second transmitting part respectively, so that the signal intensity value detected by the receiving part is the difference value between the signal intensity value sent by the first transmitting part and reflected by the reflecting surface and the signal intensity value sent by the second transmitting part and reflected by the reflecting surface, when the cliff is made of a high-reflectivity material, the signal intensity detected by the receiving part is still weak, the cliff can be accurately identified, and the situation that the cliff is mistaken for the ground to fall from the mobile robot to cause damage is avoided.

Description

Self-moving robot

Technical Field

The invention relates to the field of self-moving robots, in particular to a self-moving robot.

Background

The self-moving robot is a robot, such as a cleaning robot, the body of which is provided with various sensors and controllers, and can independently complete preset tasks under the condition of no external human information input and control in the operation process.

The cliff sensor is an important component of the self-moving robot and is used for sensing whether the plane around the self-moving robot is obviously lowered or not and preventing the self-moving robot from falling off to cause machine damage.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

The embodiment of the invention provides a self-moving robot, which is suitable for moving on the ground and comprises: the ground detection device is arranged at the bottom of the self-moving robot and comprises a transmitting part and a receiving part, wherein the transmitting part and the receiving part have downward view fields;

wherein the transmitting part comprises a first transmitting part and a second transmitting part, and the receiving field of view of the receiving part at least partially overlaps with the transmitting field of view of the first transmitting part within a first preset range;

in a second preset range, the receiving field of view of the receiving part at least partially overlaps with the transmitting field of view of the first transmitting part and the transmitting field of view of the second transmitting part respectively.

Optionally, a distance between a vertex of the second preset range and the bottom of the self-moving robot is greater than or equal to a distance between the ground and the bottom of the self-moving robot.

Optionally, the first and second transmission portions are periodically activated.

Optionally, the angle of the emission field of view of the first emission portion to the ground is smaller than the angle of the emission field of view of the second emission portion to the ground.

Optionally, the first transmitting portion and the second transmitting portion are arranged side by side, and the receiving portion is arranged between the first transmitting portion and the second transmitting portion.

Optionally, the first emitting portion and the second emitting portion include a light collimating portion.

Optionally, the first emitting portion and the second emitting portion are infrared emitters or laser emitters.

Optionally, the self-moving robot comprises a plurality of ground detection devices.

Optionally, the plurality of ground detection devices are distributed at the bottom edge of the self-moving robot.

Optionally, the transmission portion of the plurality of ground detection devices is periodically activated.

Optionally, the self-moving robot further includes a control module, and the control module controls a motion state of the driving device according to a detection result of the ground detection device.

According to the self-moving robot provided by the embodiment of the invention, in the second preset range, the receiving visual field of the receiving part is at least partially overlapped with the transmitting visual field of the first transmitting part and the transmitting visual field of the second transmitting part respectively, so that the signal intensity value detected by the receiving part is the difference value of the signal intensity value emitted by the first transmitting part and reflected by the reflecting surface and the signal intensity value emitted by the second transmitting part and reflected by the reflecting surface, when the cliff is made of a high-reflectivity material, the signal intensity detected by the receiving part is still very weak, the cliff can be accurately identified, the detection accuracy is improved, and the situation that the cliff is mistaken for the ground to fall from the self-moving robot to cause damage is avoided.

Drawings

The following drawings of the present disclosure are included to provide an understanding of the invention as part of the embodiments of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

In the drawings:

FIG. 1 is a state diagram of a ground detection assembly according to an alternative embodiment of the present invention;

FIG. 2 is a schematic view of the angle of the field of view of the emission of the first emission portion to the ground and the angle of the field of view of the emission of the second emission portion to the ground;

FIG. 3 is a perspective view of a cleaning robot according to an alternative embodiment of the present invention;

FIG. 4 is a schematic bottom view of FIG. 3;

fig. 5 is an activation timing diagram of a first transmitting section and a second transmitting section according to an alternative embodiment of the present invention.

Description of reference numerals:

10-a cleaning robot; 110-a machine body; 111-a forward portion; 112-a rearward portion; 120-a perception system; 121-position determination means; 122-a buffer; 130-a control module; 140-a drive system; 141-driving wheel module; 142-a driven wheel; 150-a cleaning system; 151-dry cleaning system; 152-side brush; 153-wet cleaning system; 160-an energy system; 170-human-computer interaction system; 180-ground detection means; 181-first emitting section; 182-a receiving section; 183-second emitting portion; 184-light collimation section.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

As shown in fig. 1, 2 and 4, a self-moving robot adapted to move on the ground, includes: the ground detection device 180 is arranged at the bottom of the self-moving robot, and the ground detection device 180 comprises a downward transmitting part with a view field and a downward receiving part 182; wherein the transmitting part comprises a first transmitting part 181 and a second transmitting part 183, and within a first preset range, the receiving field of view of the receiving part 182 at least partially overlaps with the transmitting field of view of the first transmitting part 181 only; within a second preset range, the field of view of reception of the receiving portion 182 at least partially overlaps with the field of view of emission of the first and second emitting

portions

181 and 183, respectively.

In the disclosed embodiment, the self-moving robot may be a cleaning robot 10, such as a sweeper, a mopping machine, a sweeping all-in-one machine, or the like. In addition, the self-moving robot may be an automatic food delivery machine, a storage robot, or the like. As shown in fig. 3 and 4, the embodiment of the present disclosure takes the cleaning robot 10 as an example to describe the technical solution related to the present disclosure. The cleaning robot 10 in the disclosed embodiment may include a robot body 110, a sensing system 120, a control module 130, a driving system 140, a cleaning system 150, an energy system 160, and a human-machine interaction system 170. It is understood that the cleaning robot 10 may be a self-moving cleaning robot 10 or other cleaning robot 10 that meets the requirements. The self-moving cleaning robot 10 is a device that automatically performs a cleaning operation in a certain area to be cleaned without a user's operation.

As shown in fig. 3, the machine body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (circular front and rear), and may have other shapes including, but not limited to, an approximately D-shape with a front and rear circle, and a rectangular or square shape with a front and a rear.

As shown in fig. 3, the sensing system 120 includes a position determining device 121 located on the machine body 110, a collision sensor and a proximity sensor provided on a bumper 122 of the forward portion 111 of the machine body 110, a ground detecting device 180 provided at a lower portion of the machine body 110, and a sensing device such as a magnetometer, an accelerometer, a gyroscope, and an odometer provided inside the machine body 110, for providing various position information and motion state information of the machine to the control module 130. The position determining device 121 includes, but is not limited to, a camera, a Laser Distance Sensor (LDS).

As shown in fig. 3 and 4, the forward portion 111 of the machine body 110 may carry a bumper 122, the bumper 122 may detect one or more events in a travel path of the cleaning robot 10 via a sensor system, such as an infrared sensor, provided thereon when the driving wheel module 141 propels the cleaning robot 10 to walk on the floor during cleaning, and the cleaning robot 10 may control the driving wheel module 141 to make the cleaning robot 10 respond to the event, such as to get away from an obstacle, by the event detected by the bumper 122, such as an obstacle, a wall.

As shown in fig. 4, the control module 130 is disposed on a circuit board in the machine body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, and a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor uses a positioning algorithm, such as a Simultaneous Localization And Mapping (SLAM), to map the environment where the cleaning robot 10 is located according to the obstacle information fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the buffer 122 are combined to comprehensively judge the current working state and position of the cleaning robot 10, the current pose of the cleaning robot 10 is judged, for example, when the cleaning robot passes a threshold, a carpet is put on the carpet, the carpet is clamped at the position of the cliff, the upper side or the lower side of the cleaning robot is clamped, the dust box is full, the cleaning robot is taken up and the like, and specific next action strategies can be given according to different conditions, so that the cleaning robot 10 has better cleaning performance and user experience.

As shown in fig. 4, drive system 140 may steer machine body 110 across the ground based on drive commands having distance and angle information (e.g., x, y, and θ components). The drive system 140 includes a drive wheel module 141, and the drive wheel module 141 can control both the left and right wheels, and in order to more precisely control the motion of the machine, the drive wheel module 141 preferably includes a left drive wheel module 141 and a right drive wheel module 141, respectively. The left and right drive wheel modules 141 are disposed along a transverse axis defined by the machine body 110. In order for the cleaning robot 10 to be able to move more stably or with greater mobility on the floor surface, the cleaning robot 10 may include one or more driven wheels 142, the driven wheels 142 including, but not limited to, universal wheels. The driving wheel module 141 includes a road wheel and a driving motor and a control circuit for controlling the driving motor, and the driving wheel module 141 may further be connected with a circuit for measuring a driving current and an odometer. The drive wheel may have a biased drop-type suspension system, be movably secured, such as rotatably attached to the machine body 110, and receive a spring bias that is biased downward and away from the machine body 110. The spring bias allows the drive wheels to maintain contact and traction with the floor with a certain landing force while the cleaning elements of the cleaning robot 10 also contact the floor with a certain pressure.

As shown in fig. 4, the cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153. As the dry cleaning system 151, a main cleaning function is derived from a sweeping system composed of a roll brush, a dust box, a fan, an air outlet, and connecting members between the four. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dry cleaning system 151 may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.

As shown in fig. 4, energy source system 160 includes rechargeable batteries, such as hydrogen-storage batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.

As shown in FIG. 3, the human-computer interaction system 170 includes keys on the panel of the host computer for the user to select functions; the machine control system can also comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection items of the machine to a user; a sub-machine client program may also be included. For the path navigation type automatic cleaning equipment, the map of the environment where the equipment is located and the position of the machine can be displayed to a user by a machine client, and richer and more humanized function items can be provided for the user.

In the embodiment of the present disclosure, the ground detection device 180 includes a first emitting portion 181 and a second emitting portion 183, and a receiving portion 182, wherein the first emitting portion 181 and the second emitting portion 183 are configured to emit light downward, the light irradiates the ground, and a receiving field of view of the receiving portion 182 faces the ground, so that the reflected light signal can be received. The emission field of view is the maximum range that the light emitted by the emission portion can illuminate, and the reception field of view is the maximum range that the reception portion 182 can detect the reflected light signal. The field of view of the first emission portion 181 and the field of view of the second emission portion 183 may be the same or different, and the present application is not limited thereto.

In the disclosed embodiment, the first and second transmitting

portions

181 and 183 are activated periodically for a period of time. Specifically, as shown in fig. 5, wherein a thin solid line curve positioned at the upper side is an activation timing curve of the first emission portion 181, and a thick solid line curve positioned at the lower side is an activation timing curve of the second emission portion 183, activation of the first emission portion 181 and the second emission portion 183 can be performed at the timing shown in fig. 5. As can be seen from fig. 5, the first emitting portion 181 is at a high level (i.e. V1 in fig. 5) for a part of the time period from 0 to t1, that is, the first emitting portion 181 is excited to emit the optical signal, and the second emitting portion 183 is at a low level for the time period from 0 to t1, that is, the second emitting portion 183 is not excited to emit the optical signal; similarly, the first emitting part 181 does not emit light signals during the time periods t1-t2, t3-t4 and t5-t6, and the first emitting part 181 emits light signals during a part of the time periods t2-t3 and t4-t 5; the second emitting portion 183 emits the optical signal during the time periods t1-t2, t3-t4, and t5-t6, and the second emitting portion 183 does not emit the optical signal during a part of the time periods t2-t3 and t4-t 5. In the present embodiment, when the cleaning robot 10 runs on a flat ground, the receiving part 182 can receive only the light signal emitted from the first emitting part 181. When the cleaning robot 10 travels to the vicinity of the cliff, the receiving part 182 may receive the light signals emitted from the first and second emitting

parts

181 and 183. And since the first and second transmitting

parts

181 and 183 are activated at different timings, the receiving part 182 may receive signals transmitted from the first and second transmitting

parts

181 and 183 at different times. Therefore, the receiving part 182 may preliminarily determine that the cleaning robot 10 is near the cliff. Further, the receiving part 182 may perform a subtraction operation on the optical signal emitted from the first emitting part 181 and the optical signal emitted from the second emitting part 183 after receiving them, so as to further distinguish the intensity of the optical signal received by the receiving part 182 when the cleaning robot 10 operates on a flat floor. In other embodiments of the present disclosure, the frequency of the light emitted by the first emitting portion 181 may be different from the frequency of the light emitted by the second emitting portion 183, so that the receiving portion 182 can accurately distinguish whether the reflected light signal is the light emitted by the first emitting portion 181 or the light emitted by the second emitting portion 183, and make a subsequent similarity determination.

It is understood that when the cleaning robot 10 runs on a flat ground, the first and second emitting

parts

181 and 183 emit directional light beams downward, and the receiving part 182 can receive only the light emitted from the first emitting part 181 and reflected back through the ground. Specifically, as shown in fig. 1, a shaded portion B in fig. 1 is a region where the receiving field of view of the receiver overlaps with the transmitting field of view of the first transmitting portion 181, i.e., a first preset range, and the first preset range is above the ground. In the first preset range, the receiving field only partially overlaps with the transmitting field of the first transmitting part 181, so the receiving part 182 can detect the optical signal emitted by the first transmitting end, and obtain the intensity of the received optical signal, i.e. the intensity of the first signal, which is emitted by the first transmitting part 181 and reflected by the reflecting surface, because the distance between the installation position of the ground detection device 180 and the ground is fixed, the intensity of the first signal detected by the receiving part 182 is also fixed, and the installation position of the ground detection device 180 is closer to the ground, the intensity of the first signal is also larger. As shown in fig. 1, a shaded portion C in fig. 1 is a region where the receiving field of view of the receiver overlaps with the transmitting field of view of the first transmitting portion 181 and the transmitting field of view of the second transmitting portion 183, respectively, i.e., a second predetermined range, and the second predetermined range is below the ground. In a second predetermined range, the receiving fields at least partially overlap with the transmitting fields of the first and second transmitting portions 181 and 183, respectively, such that the receiving portion 182 can detect a second signal intensity value, which is a difference between the signal intensity value emitted from the first transmitting portion 181 and reflected by the reflecting surface and the signal intensity value emitted from the second transmitting portion 183 and reflected by the reflecting surface, such that even if the reflecting surface of the cliff is made of a highly reflective material, the signal intensity values emitted from the first and second transmitting portions 181 and 183 and reflected by the reflecting surface are both large, but after the difference, the signal intensity value is greatly reduced, such that the controller determines whether the reflecting surface is the ground or the cliff according to the magnitude of the signal intensity value detected by the receiving portion 182, such that the cleaning robot 10 is controlled to move continuously and perform a cleaning operation, i.e., if the signal intensity value is greater than the predetermined value, the cleaning robot 10 is controlled to continue to move and perform a cleaning operation; if the signal intensity value is less than the preset value, the reflecting surface is determined to be a cliff, and the cleaning robot 10 is controlled to avoid, for example, by bypassing the cliff or returning, so that the detection accuracy can be improved without being limited by the material of the reflecting surface. In addition, the local area detection device 180 only uses one receiving unit 182, so that the structure is more compact, only one resource of the analog-to-digital converter is occupied, the calculation amount is reduced, and the hardware requirement on the analog-to-digital converter is reduced.

In summary, according to the self-moving robot provided by the embodiment of the present invention, in the second preset range, the receiving field of view of the receiving unit 182 at least partially overlaps with the transmitting field of view of the first transmitting unit 181 and the transmitting field of view of the second transmitting unit 183, respectively, so that the signal intensity value detected by the receiving unit 182 is the difference between the signal intensity value emitted by the first transmitting unit 181 and reflected by the reflecting surface and the signal intensity value emitted by the second transmitting unit 183 and reflected by the reflecting surface, when the cliff is made of a high-reflection material, the signal intensity detected by the receiving unit 182 is still weak, thereby accurately identifying the cliff, improving the detection accuracy, and avoiding the cliff being mistakenly judged as the ground and falling from the self-moving robot to cause damage.

In the above embodiment, the distance between the vertex of the second preset range and the bottom of the self-moving robot is greater than or equal to the distance between the ground and the bottom of the self-moving robot, that is, as shown in fig. 1, the distance d between the ground and the vertex a of the second preset range is greater than or equal to zero. In specific application, the value of d is larger than 0, so that the problem that when some robots can pass through small recesses, the self-moving robot carries out obstacle avoidance action to influence the operation of the self-moving robot can be avoided. And the first preset range is an area between the ground and the bottom of the self-moving robot, specifically, an area B shown in fig. 1.

Further, as shown in fig. 2, the angle α of the field of view of the emission of the first emission portion 181 to the ground is smaller than the angle β of the field of view of the emission of the second emission portion 183 to the ground, so that it can be achieved that within a first preset range, the field of view of the reception portion 182 overlaps with the field of view of the emission of the first emission portion 181, the field of view of the emission of the second emission portion 183 does not overlap with the field of view of the reception portion 182, and within a second preset range, a portion of the field of view of the reception portion 182 overlaps with the field of view of the emission of the first emission portion 181 and the field of view of the emission of the second emission portion 183. In other embodiments of the present disclosure, the first and second transmitting

portions

181 and 183 may have different fields of emission, thereby forming a first range in which the receiving portion 182 can overlap only with the field of emission of the first transmitting portion 181, and a second range in which the receiving portion 182 can overlap with the fields of emission of the first and second transmitting

portions

181 and 183.

In some embodiments, as shown in fig. 1 and 2, the first and second emitting

portions

181 and 183 are disposed side by side, and the receiving portion 182 is disposed between the first and second emitting

portions

181 and 183. In other embodiments of the present disclosure, the first transmitting unit 181, the second transmitting unit 183, and the receiving unit 182 may be arranged in other manners, which is not limited by the present disclosure.

The first emitting portion 181 and the second emitting portion 183 are arranged side by side, so that the size of the ground detection device 180 can be reduced, and the occupied space can be reduced.

The receiving portion 182 is disposed between the first transmitting portion 181 and the second transmitting portion 183 so as to adjust an overlapping area between a receiving field of view of the receiving portion 182 and an transmitting field of view of the first transmitting portion 181 and an transmitting field of view of the second transmitting portion 183 to achieve that the receiving field of view of the receiving portion 182 at least partially overlaps only the transmitting field of view of the first transmitting portion 181 within a first preset range; within a second preset range, the field of view of reception of the receiving portion 182 at least partially overlaps with the field of view of emission of the first and second emitting

portions

181 and 183, respectively.

In some embodiments, as shown in fig. 1 and 2, the first emission part 181 and the second emission part 183 include a light collimation part 184 to improve the collimation of light, thereby improving the detection accuracy. Further, the light collimating part 184 is a collimating lens. Specifically, the first emission part 181 and the second emission part 183 are respectively provided with a single collimating lens having a small area, or a common collimating lens having a large area may be provided, so as to reduce complexity of assembly and improve assembly efficiency.

Further, the first and second emitting

portions

181 and 183 are infrared emitters or laser emitters. Wherein, the infrared transmitter has the advantages of simple installation and low cost; the laser emitter has the advantages of high beam quality and accurate detection, and workers can adopt corresponding emitters according to actual requirements without strict limitation. It is understood that, in the case where the first and second transmitting

portions

181 and 183 are infrared transmitters, the receiving portion 182 is suitably an infrared receiver; when the first and

second transmitters

181 and 183 are laser transmitters, the receiver 182 is a laser receiver.

In other embodiments, the self-moving robot includes a plurality of ground detection devices 180.

The plurality of ground detection devices 180 may be disposed at different positions of the lower portion of the mobile robot, so that the ground around the mobile robot may be comprehensively detected, and the accuracy of the detection may be further improved.

Further, the plurality of floor sensing devices 180 are distributed on the bottom edge of the self-moving robot, for example, may be disposed on the front end of the bottom of the cleaning robot 10, and the edge of the attachment of the driving wheel module 141, so that the cleaning robot 10 can detect the existence of the cliff as soon as possible when moving forward or adjusting the direction, and the cleaning robot 10 is prevented from falling from a high place, thereby damaging the cleaning robot 10.

Further, the emitting parts of the plurality of ground detection devices 180 are periodically activated, that is, under the condition that the emitting part of one part of the ground detection devices 180 emits light, the emitting part of the other part of the ground detection devices 180 does not emit light, so that the condition that the emergent light of the emitting part of the ground detection devices 180 interferes with each other to influence the detection result is avoided, the power consumption is reduced, and the energy is saved.

In still other embodiments, the self-moving robot further comprises a control module 130, control module 1

30 controls the motion state of the driving device according to the detection result of the ground detection device 180.

In the embodiment, during the working process of the self-moving robot, the controller determines whether the reflecting surface is the ground or the cliff according to the signal intensity value detected by the receiving part 182, so as to control the self-moving robot to perform corresponding movement, namely if the signal intensity value is greater than a preset value, the controller controls the self-moving robot to continue to move and perform work; and if the signal intensity value is smaller than the preset value, determining that the reflecting surface is a cliff, and controlling the self-moving robot to avoid, such as bypassing the cliff or returning.

In the above embodiments, the self-moving robot includes the automatic cleaning robot 10, the automatic mowing robot, and the automatic polishing robot.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the invention to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A self-moving robot adapted to move on a ground surface, comprising: the ground detection device is arranged at the bottom of the self-moving robot, the self-moving robot comprises a robot main body, and the ground detection device comprises a transmitting part and a receiving part, wherein the transmitting part and the receiving part have downward fields of view;

the transmitting part comprises a first transmitting part and a second transmitting part, the receiving field of view of the receiving part only at least partially overlaps with the transmitting field of view of the first transmitting part within a first preset range, and the receiving part receives a first signal intensity value which is the signal intensity emitted by the first transmitting part and reflected by a reflecting surface;

within a second preset range, the receiving field of view of the receiving part at least partially overlaps with the transmitting field of view of the first transmitting part and the transmitting field of view of the second transmitting part respectively, and the receiving part receives a second signal intensity value, wherein the second signal intensity value is a difference value between a signal intensity value transmitted by the first transmitting part and reflected by the reflecting surface and a signal intensity value transmitted by the second transmitting part and reflected by the reflecting surface;

and the distance between the vertex of the second preset range and the bottom of the self-moving robot is greater than or equal to the distance between the ground and the bottom of the self-moving robot.

2. The self-moving robot of claim 1, wherein the first transmitting portion and the second transmitting portion are activated periodically in time.

3. The self-moving robot of claim 1, wherein an angle of an emission field of view of the first emission portion to the ground is smaller than an angle of an emission field of view of the second emission portion to the ground.

4. The self-moving robot according to claim 1, wherein the first transmitting portion and the second transmitting portion are arranged side by side, and the receiving portion is arranged between the first transmitting portion and the second transmitting portion.

5. The self-moving robot of claim 1, wherein the first and second emitting portions comprise light collimating portions.

6. The self-moving robot as claimed in claim 2, wherein the first and second emitting portions are infrared emitters or laser emitters.

7. A self-moving robot as claimed in any one of claims 1 to 6, characterised in that the self-moving robot comprises a plurality of ground detection devices.

8. The self-moving robot as claimed in claim 7, wherein the plurality of ground detection devices are distributed at a bottom edge of the self-moving robot.

9. The self-moving robot as claimed in claim 8, wherein the transmitting portions of the plurality of ground detection means are periodically activated.

10. The self-moving robot according to claim 1, further comprising a control module that controls a motion state of a driving device according to a detection result of the ground detection means.

11. The self-moving robot of claim 1, wherein the self-moving robot comprises a self-cleaning robot, a self-mowing robot, a self-polishing robot.