CN114355938A - Obstacle measuring method of sweeping robot and sweeping robot - Google Patents
Obstacle measuring method of sweeping robot and sweeping robot Download PDFInfo
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- CN114355938A CN114355938A CN202111676396.8A CN202111676396A CN114355938A CN 114355938 A CN114355938 A CN 114355938A CN 202111676396 A CN202111676396 A CN 202111676396A CN 114355938 A CN114355938 A CN 114355938A
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Abstract
The invention relates to a sweeping robot obstacle measuring method and a sweeping robot, wherein the sweeping robot is provided with a laser emitting assembly and an image acquisition instrument, a beam splitter in the laser emitting assembly is positioned right in front of a light emitting end of a laser emitter, and the sweeping robot comprises the following steps: projecting a horizontal laser line in a target area; simultaneously acquiring at least two target area images containing laser lines; calculating the linear distance Z from each projection point P of the laser line to the image acquisition instrument based on the target area image; and calculating the vertical height H of each projection point of the laser line on the barrier and the horizontal distance L from the robot according to the target area image and the straight line distance Z. Vertical height and the horizontal distance apart from robot of sweeping the floor of the projection point that lies in on the barrier through calculating the laser line to carry out the multiple spot to the barrier and measure, accurate acquisition barrier height, and then improve the intelligent degree of robot of sweeping the floor.
Description
Technical Field
The invention relates to the technical field of intelligent equipment, in particular to a sweeping robot and an obstacle measuring method thereof.
Background
With the development of information technology and the continuous improvement of the requirements of people on the quality of life, more and more intelligent devices are gradually applied to the daily life of people. The sweeping robot is used as an automatic cleaning device, and can replace manual cleaning work, so that the sweeping robot is applied to different places such as office areas, families and the like. Due to the environmental particularity of some use places, such as a home environment, the working environment of the sweeping robot is complex, and the sweeping robot needs to deal with various conditions in the working process, such as an obstacle in the running process.
The existing sweeping robot in the market is usually provided with an infrared sensor on a shell, and emits infrared light to a set range of a working area through the infrared sensor so as to detect whether an obstacle exists. However, by adopting the method for detecting obstacles, the height of the obstacle cannot be accurately obtained, and the sweeping robot cannot accurately execute obstacle crossing or obstacle avoidance actions according to the detection result, so that the intelligent degree of the sweeping robot is low, and the manual intervention cost is increased.
Disclosure of Invention
Therefore, it is necessary to provide a method for detecting obstacles of a sweeping robot and the sweeping robot, aiming at the problem of improving the intelligence degree and the working efficiency of the sweeping robot.
The utility model provides a robot of sweeping floor surveys barrier method, the robot of sweeping floor is equipped with laser emission subassembly and image acquisition appearance, the laser emission subassembly includes laser emitter and beam splitter, beam splitter is located the dead ahead of laser emitter's light-emitting end, includes following step:
projecting a horizontal laser line in a target area;
simultaneously acquiring at least two target area images containing the laser lines;
calculating the linear distance Z from each projection point P of the laser line to the image acquisition instrument based on the target area image;
and calculating the vertical height H of each projection point of the laser line on the barrier and the horizontal distance L from the robot according to the target area image and the straight line distance Z.
In one embodiment, before calculating the vertical height H of each projection point of the laser line on the obstacle and the horizontal distance L from the robot, the method further comprises:
comparing the linear distance Z with the length threshold Z of the laser line0If the linear distance Z is less than the length threshold Z of the laser line0Judging that the projection point P is positioned on the barrier; if the linear distance Z is equal to the length threshold value Z of the laser line0And judging that the projection point P is not positioned on the barrier.
In one embodiment, the projection point P is based on the straight-line distance Z and the length threshold Z when the projection point P is located on the obstacle0And the emission angle theta of the laser line, and calculating the vertical height H of the projection point P and the horizontal distance L from the projection point P to the robot.
In one embodiment, the length threshold Z0Comprises the following steps: and when no obstacle exists in the target area, measuring the vertical distance from the projection point P to the image acquisition instrument.
In one embodiment, the step of calculating the vertical height H of the projection point P and the horizontal distance L from the projection point P to the robot comprises:
the vertical height H of the projection point P is obtained by calculation by using the following formula:
H＝(Z0-Z)*sin(θ)；
calculating and obtaining the horizontal distance L from the projection point P to the robot by using the following formula:
L＝Z*cos(θ)；
theta is the emission angle of the laser line, Z0Is the length threshold of the laser line.
In one embodiment, the image acquiring instrument comprises a first image acquiring instrument and a second image acquiring instrument, and the first image acquiring instrument and the second image acquiring instrument are arranged on two sides of the laser emitting assembly in an axial symmetry mode.
In one embodiment, the laser line is a linear speckle pattern.
A sweeping robot, comprising: a body; the laser emission assembly is positioned on the body and comprises a laser emitter and a beam splitter, and the beam splitter is positioned right in front of the light emergent end of the laser emitter; and the two image acquisition instruments are positioned on two sides of the laser emission assembly and are used for acquiring the target area image.
In one embodiment, the laser emitting assembly is located at the front end of the body.
In one embodiment, two of the image acquisition instruments are disposed in axial symmetry about the laser emitting assembly.
According to the obstacle measuring method of the sweeping robot and the sweeping robot, the vertical height of the projection point on the obstacle on the laser line and the horizontal distance from the sweeping robot are calculated to perform multi-point measurement on the obstacle, the height of the obstacle is accurately obtained, and the intelligent degree of the sweeping robot is further improved.
Drawings
Fig. 1 is a schematic view of an overall structure of a sweeping robot according to an embodiment of the present invention.
Fig. 2 is a schematic composition diagram of an information acquisition module of the cleaning robot according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for detecting obstacles by a sweeping robot according to an embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a principle of calculating a linear distance from a projection point to an image capturing device according to an embodiment of the present invention.
Fig. 5 is a schematic view illustrating a projection state of a laser beam emitted by the sweeping robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, the terms "vertical", "horizontal", "upper", "lower", "left", "right", "center", "longitudinal", "lateral", "length", and the like are used to indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for the convenience of description of the present invention and for simplicity of description. The first feature may be directly on or directly under the second feature or may be indirectly on or directly under the second feature via intervening media. The first feature may be coincident with the centerline of the second feature at a "positive leading end" of the second feature. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" or "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," "secured," "positioned," and the like are to be construed broadly and may mean that an element is directly on another element or intervening elements may also be present.
Referring to fig. 1, fig. 1 is a schematic view of an overall structure of a sweeping robot in an embodiment of the present invention, and the sweeping robot provided in an embodiment of the present invention is used for including a body 100 and an information obtaining module 200, where the information obtaining module 200 is disposed on the body 100. The information acquisition module 200 is used for acquiring environmental information of an environment where the sweeping robot is located, and the body 100 is used for processing the information acquired by the information acquisition module 200.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating an information obtaining module 200 in the sweeping robot according to an embodiment of the present invention. The information acquisition module 200 includes a laser emitting assembly 210 and an image acquirer 230. The laser emitting assembly 210 is used to emit a laser line having a set emission angle θ to a target area in a working environment. The image acquiring instrument 230 is used for acquiring an image in the target area to provide the target area image to the body 100.
Referring to fig. 2, the laser emitting assembly 210 includes a laser emitter 211 and a beam splitter 213, and the beam splitter 213 is located on a light emitting path of the laser emitter 211. The beam splitter 213 has a plurality of closely spaced apertures, and in this embodiment, the beam splitter 213 faces the light emitting position of the laser emitter 211. The beam splitter 213 is located right in front of the laser emitter 211, so that a laser line emitted by the laser emitter 211 is split into a plurality of laser lines after passing through the beam splitter 213, so as to obtain a linear speckle pattern. The emission angle theta of the plurality of laser lines is the same as the emission angle theta of the corresponding laser line before being split. The beam splitter 213 may be replaced by other devices for scattering laser light into a plurality of linear scattered spots.
The laser emitting assembly 210 is formed by packaging the laser emitter 211 and the beam splitter 213, and has the advantages of simple assembly process, stable performance and difficult damage. In the process of mounting the laser emitting assembly 210 formed after the encapsulation to the body 100, since the laser emitting assembly 210 is used as an encapsulation element, the mounting operation is simple and convenient.
In the present embodiment, the laser emitting assembly 210 is located at the front end of the body 100. The front end of the body 100 refers to the traveling direction of the sweeping robot. In the traveling direction of the sweeping robot, the laser emitting assembly 210 emits a plurality of laser lines and forms linear scattered spots in the target area. When the target area has no obstacle, the scattered spots are projected on the ground; when an obstacle exists in the target area, the speckle points are at least partially projected onto the obstacle.
Referring to fig. 2, the image acquirer 230 includes a first image acquirer 231 and a second image acquirer 233. The first image acquiring instrument 231 and the second image acquiring instrument 233 are disposed on both sides of the laser emitting assembly 210 in axial symmetry. In the orientation shown in fig. 2, the first image acquirer 231 and the second image acquirer 233 are respectively located on the left and right sides of the laser emitting assembly 210. The first image acquirer 231 and the second image acquirer 233 may be disposed to be aligned with the laser emitting assembly 210.
In a specific embodiment, the specific positional relationship between the first image acquirer 231 and the second image acquirer 233 and the laser emitting assembly 210 is set as: the first image acquiring device 231, the second image acquiring device 233 and the laser emitting assembly 210 are sequentially connected to form an isosceles triangle, and the laser emitting assembly 210 is located at the vertex of the isosceles triangle. With this arrangement, the length of the space occupied by the image acquiring instrument 230 and the laser emitting module 210 can be reduced compared to when the first image acquiring instrument 231, the second image acquiring instrument 233, and the laser emitting module 210 are arranged on the same line.
The first image acquiring instrument 231 and the second image acquiring instrument 233 both adopt cameras, and the performance, the specification and other parameters of the first image acquiring instrument 231 and the second image acquiring instrument 233 are consistent.
The laser emission component 210 and the image acquisition instrument 230 are arranged on the sweeping robot, the first image acquisition instrument 231 and the second image acquisition instrument 233 are arranged on two sides of the laser emission component 210, in the moving process of the sweeping robot, the laser emission component 210 emits laser lines to a target area, the image acquisition instrument 230 photographs the target area in real time to acquire a target area image, and the body 100 receives the target area image and then processes the target area image.
The sweeping robot is also internally provided with a processor, a controller and the like, wherein the controller is used for controlling the laser emitting component 210 to emit laser lines, controlling the image acquiring instrument 230 to photograph a target area to acquire images, and controlling the sweeping robot to execute corresponding actions according to the processing result of the processor. The processor is used for processing the image information of the target area, judging the calculation result and the like, and the processed result is transmitted to the controller to generate a corresponding instruction.
In the working process of the sweeping robot, the operation of the sweeping robot is hindered due to obstacles existing in the working environment of the sweeping robot, and therefore, the obstacle measuring method of the sweeping robot is provided, so that the sweeping robot can obtain information parameters of the obstacles. The information parameters comprise the height of the obstacle, the distance between the obstacle and the sweeping robot and the like.
Referring to fig. 3, fig. 3 provides a flowchart of a method for detecting obstacles of a sweeping robot, which mainly includes the following steps:
and S1, emitting laser lines to the target area.
The sweeping robot emits laser lines to a target area through a laser emitting assembly 210 arranged on the body 100. The laser line has a set divergence angle with respect to the horizontal plane, which is defined as the emission angle θ. The laser beam emitted from the laser emitter 211 of the laser emitting assembly 210 is projected to the target area through the beam splitter 213.
Since beam splitter 213 has a plurality of closely spaced apertures, the laser line projected from laser emitting assembly 210 to the target area is linearly defocused. As shown in the dotted line in fig. 1, the distribution of the linear speckle points is schematically shown when there is no obstacle in the target region.
And S2, simultaneously acquiring at least two target area images containing the laser lines.
The sweeping robot acquires the target area image through the image acquiring instrument 230 provided on the body 100.
The first image acquirer 231 and the second image acquirer 233 in the image acquirer 230 acquire target area images at the same time. The target area image contains several laser lines formed between all the linear speckle points and the laser emitter 211.
And S3, calculating the linear distance Z from each projection point P of the laser line to the image acquisition instrument based on the target area image.
The projection point P, that is, the linear scattered spots projected by the light emitting assembly 210, takes one of the linear scattered spots as an example to illustrate the obstacle measuring method of the sweeping robot.
The processor arranged in the sweeping robot receives the target area images acquired by the image acquirer 230 and calculates the linear distance Z between the projection point P and the image acquirer 230 based on the two target area images. The linear distance Z between the projection point P and the image acquirer 230 is: the projection point P is the distance between the center of light of the first image acquirer 231 and the midpoint of the connecting line of the center of light of the second image acquirer 233.
Referring to fig. 4, fig. 4 illustrates a method of calculating a linear distance Z from a projection point P of a laser line to the image acquirer 230 according to a target area image. In the figure, point P is a projection point in the target region, point P1 is an imaging point of the projection point P on the first image acquirer 231, and point P2 is an imaging point of the projection point P on the second image acquirer 233. f is the focal length, and the focal lengths of the first image acquirer 231 and the second image acquirer 233 are the same. OT is the optical center of the first image acquirer 231 and OR is the optical center of the second image acquirer 233. XT is the distance of the imaging point p1 from the left edge of the image taken by the first image acquirer 231 in pixels; XR is the distance of the imaging point p2 in pixels from the left edge of the image taken by the second image acquirer 233.
The size of the image captured by the first image capturing device 231 and the size of the image captured by the second image capturing device 233 are equal and defined as the image width S, and when the optical axes of the first image capturing device 231 and the second image capturing device 233 are parallel, then:
x3＝XR-S/2 (1)；
x4＝S/2–XT (2)；
the formula (1) is added to the formula (2) to obtain: x3+ x 4-XR-XT;
x1+x2＝b1；
b-b 1-x 3+ x 4-XR-XT, available as b 1-b-XR + XT (3);
according to the similar triangle principle:
Z/(Z-f)＝b/b1 (4)；
according to the formula (3) and the formula (4):
Z/(Z-f)＝b/(b-XR+XT) (5)；
obtaining the product by the formula (5) after finishing:
Z＝fb/(XR-XT) (6)。
the linear distance Z from the projection point P of the laser line to the image acquirer 230 is obtained according to equation (6).
During the traveling process of the sweeping robot, the linear scattered spots emitted by the laser emission assembly 210 are projected at different positions according to whether an obstacle exists in the target area. For example, when there is no obstacle in the target area, the linear scattered spot emitted by the laser emitting assembly 210 in real time is projected on the ground; when an obstacle exists in the target area, the linear speckle points emitted by the laser emitting component 210 in real time are at least partially projected on the obstacle. The linear distance Z from the linear scatterers projected at different positions to the image acquiring device 230 can be calculated by the formula (6).
And S4, calculating the vertical height H of each projection point of the laser line on the obstacle and the horizontal distance L from the robot according to the target area image and the straight line distance Z.
Referring to fig. 5 (a), fig. 5 (a) shows an illustration of the laser line emitted from the laser emitting assembly 210 of the sweeping robot projected on the floor when the target area has no obstacleThe projected point P of the laser line is shown on the ground. Theta shown in (a) in FIG. 5 is the emission angle of the laser line, Z0When there is no obstacle in the target area, the linear distance from the projection point P on the laser line on the ground to the image acquiring instrument 230 is defined as the length threshold Z0。
Before the sweeping robot runs, the length threshold value Z can be obtained through calculation according to the formula (6)0。
In the moving process of the sweeper robot, the laser emitting assembly 210 continuously emits laser lines, the image acquiring instrument 230 acquires a target area image in real time, transmits the target area image to the processor for processing, and calculates the linear distance Z from the projection point P to the image acquiring instrument 230 in real time.
Referring to fig. 5 (b), fig. 5 (b) shows a schematic diagram of a laser line emitted by the laser emitting assembly 210 on the sweeping robot when an obstacle exists in the target area, the laser line is projected on the obstacle, and the projection point P of the laser line is located on the obstacle. θ shown in (b) in fig. 5 is the emission angle of the laser line, which is the same as the emission angle shown in (a) in fig. 5. Z is a linear distance from the projection point P on the obstacle on the laser line to the image acquirer 230.
When the processor processes the image of the target area in real time to obtain a linear distance Z smaller than a length threshold value Z0And then, calculating and obtaining the vertical height H of the projection point P and the horizontal distance L from the projection point P to the robot by utilizing a trigonometric function formula, wherein the method specifically comprises the following steps:
the vertical height H of the projected point P is,
H＝(Z0-Z)*sin(θ) (7)
the horizontal distance L from the projection point P to the robot is,
L＝Z*cos(θ) (8)
wherein Z is0The threshold value of the length of the laser line is θ, the emitting angle of the laser line is θ, and the linear distance from the projection point on the obstacle on the laser line to the image acquiring instrument 230 is Z.
In the step S4, the vertical height H and the distance from the robot are calculated for each projection point of the laser line on the obstacleBefore the horizontal distance L, further comprising: comparing the linear distance Z with a laser line length threshold Z0If the linear distance Z is less than the length threshold Z of the laser line0Judging that the projection point P is positioned on the barrier; if the linear distance Z is equal to the length threshold Z of the laser line0And judging that the projection point P is not positioned on the barrier.
When the projection point P is positioned on the barrier, based on the linear distance Z and the length threshold value Z0And the emission angle theta of the laser line, and calculating the vertical height H of the projection point P and the horizontal distance L from the projection point P to the robot. Compared with the real-time calculation of the vertical heights H of all the projection points and the horizontal distances L from the projection points P to the robot, the method has the advantages that whether the projection points P are located on the obstacle or not is judged firstly, then the vertical heights H of the projection points P located on the obstacle and the horizontal distances L from the projection points P to the robot are calculated, and the operation processing process can be reduced.
According to the obstacle measuring method for the sweeping robot, the laser emitting assembly 210 is used for emitting the linear scattered spots, the first image acquiring instrument 231 and the second image acquiring instrument 233 are used for acquiring the target area image, the height of an obstacle and the distance of the sweeping robot can be acquired by acquiring the target area image once in a static or moving state of the sweeping robot, and compared with the situation that the sweeping robot needs to be in a moving state to acquire multiple images continuously, the method is high in applicability and processing efficiency.
The linear scattered spots emitted by the laser emitting component 210 can obtain the linear distance Z 'from each scattered spot to the image obtaining instrument 230, and further the linear distance Z' and the length threshold Z are obtained0And comparing, and acquiring the information parameters of the obstacles according to the comparison result. The environmental information around the sweeping robot can be effectively acquired, so that the sweeping robot can work normally.
A sweeping robot obstacle avoidance method is provided with the laser emission assembly 210 and the image acquisition instrument 230, and mainly comprises the following steps:
and S10, emitting laser lines in the target area.
The laser emitting assembly 210 emits a laser line toward the target area, the laser line having a set divergence angle θ with respect to a horizontal plane. By arranging the beam splitter 213 on the light emitting path of the laser emitter 211, the laser line is scattered into a linear scattered spot after passing through the beam splitter 213 and projected into the target area where the sweeping robot operates, so as to form a projection point.
And S20, acquiring the target area image.
The first image acquirer 231 and the second image acquirer 233 are used to acquire an image of a target area, which contains a plurality of laser lines formed between all the linear speckle points and the laser emitter 211.
And S30, calculating the linear distance Z from the projection point P of the laser line to the image acquisition instrument based on the target area image.
The processor processes and calculates the obtained target area image to obtain the length value of the laser line, i.e. the linear distance Z between the projection point and the image obtaining instrument 230.
S40, length threshold value Z based on straight line distance Z and laser line0And the emission angle theta, and the vertical height H of the projection point P is calculated.
Length threshold value Z of laser line0When there is no obstacle in the target area, the linear distance from the projection point on the laser line on the ground to the image acquiring instrument 230 is understood to be less than the length threshold Z when the projection point is on the obstacle0。
The processor calls the above formula (6) to calculate the vertical height H of the projection point P, i.e. the height of the obstacle.
S50, according to the vertical height H and the preset height threshold H0Comparing, if the vertical height H is less than the preset height threshold value H0If so, the controller sends an instruction to the sweeping robot to enable the sweeping robot to execute the obstacle jumping action; if the vertical height H is larger than the preset height threshold value H0And the controller sends an instruction to the sweeping robot to enable the sweeping robot to execute the bypassing action so as to avoid the obstacle.
The sweeping robot can be set with a height threshold H0As a reference height value of whether or not an obstacle can be crossed. For example height threshold H0The height H is 2cm, and when the vertical height H is higher than 2cm, the controller controls the sweeping robot to perform obstacle avoidance action; and when the vertical height H is lower than 2cm, the controller controls the sweeping robot to execute the obstacle jumping action to continue running.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The robot that sweeps floor surveys barrier method, its characterized in that, the robot that sweeps floor is equipped with laser emission subassembly and image acquisition appearance, the laser emission subassembly includes laser emitter and beam splitter, beam splitter is located the dead ahead of laser emitter's light-emitting end, includes following step:
projecting a horizontal laser line in a target area;
simultaneously acquiring at least two target area images containing the laser lines;
calculating the linear distance Z from each projection point P of the laser line to the image acquisition instrument based on the target area image;
and calculating the vertical height H of each projection point of the laser line on the barrier and the horizontal distance L from the robot according to the target area image and the straight line distance Z.
2. The robot obstacle measuring method of claim 1, further comprising, before calculating a vertical height H of each projected point of the laser line on the obstacle and a horizontal distance L from the robot:
comparing the linear distance Z with the length threshold Z of the laser line0If the linear distance Z is less than the length threshold Z of the laser line0Judging that the projection point P is positioned on the barrier; if the linear distance Z is equal to the length threshold value Z of the laser line0And judging that the projection point P is not positioned on the barrier.
3. The robot obstacle measuring method according to claim 2, wherein the projection point P is based on the linear distance Z and the length threshold Z when located on an obstacle0And the emission angle theta of the laser line, and calculating the vertical height H of the projection point P and the horizontal distance L from the projection point P to the robot.
4. A robot obstacle measuring method according to claim 2, characterized in that the length threshold value Z0Comprises the following steps: and when no obstacle exists in the target area, measuring the vertical distance from the projection point P to the image acquisition instrument.
5. The robot obstacle measuring method of claim 1, wherein the step of calculating the vertical height H of the projected point P and the horizontal distance L from the projected point P to the robot comprises:
the vertical height H of the projection point P is obtained by calculation by using the following formula:
H＝(Z0-Z)*sin(θ)；
calculating and obtaining the horizontal distance L from the projection point P to the robot by using the following formula:
L＝Z*cos(θ)；
theta is the emission angle of the laser line, Z0Is the length threshold of the laser line.
6. The robotic obstacle measuring method of claim 1, wherein the image capture instruments include a first image capture instrument and a second image capture instrument, the first and second image capture instruments being axisymmetrically disposed on opposite sides of the laser emitting assembly.
7. A robot obstacle measuring method according to claim 1, wherein the laser lines are linear speckle.
8. A robot of sweeping floor, characterized in that, the robot of sweeping floor includes:
a body;
the laser emission assembly is positioned on the body and comprises a laser emitter and a beam splitter, and the beam splitter is positioned right in front of the light emergent end of the laser emitter;
and the two image acquisition instruments are positioned on two sides of the laser emission assembly and are used for acquiring the target area image.
9. The sweeping robot of claim 8, wherein the laser emitting assembly is located at a front end of the body.
10. The sweeping robot of claim 8, wherein the two image capturing devices are disposed axisymmetrically about the laser emitting assembly.
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| CN115087383A (en) * | 2021-05-08 | 2022-09-20 | 深圳甲壳虫智能有限公司 | Cleaning equipment control method and cleaning equipment |
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| CN115087383A (en) * | 2021-05-08 | 2022-09-20 | 深圳甲壳虫智能有限公司 | Cleaning equipment control method and cleaning equipment |
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