CN115590408A

CN115590408A - Working area surface detection device and cleaning robot

Info

Publication number: CN115590408A
Application number: CN202211309171.3A
Authority: CN
Inventors: 党亮
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-10-25
Filing date: 2022-10-25
Publication date: 2023-01-13

Abstract

The embodiment of the invention discloses a working area surface detection device and a cleaning robot, wherein the working area surface detection device comprises a signal transmitting module and a signal receiving module; the signal transmitting module comprises a light emitting part and a first light path changing part, wherein the first light path changing part is arranged on a transmitting light path of the light emitting part and used for converting light rays transmitted by the light emitting part into first light rays, and the first light rays are approximately parallel light rays inclined to the direction of the signal receiving module by a first angle; the signal receiving module comprises a light receiving part, and a preset distance is arranged between the light emitting part and the light receiving part so that the light receiving part receives at least part of second light rays which are the light rays reflected by the surface of the operation area; the light intensity of at least part of the second light is used for determining the material of the surface of the working area.

Description

Working area surface detection device and cleaning robot

Technical Field

The invention relates to the technical field of robots, in particular to a working area surface detection device and a cleaning robot.

Background

Along with the continuous improvement of the living standard and the scientific and technical standard of the material, more and more families of users use robots to provide corresponding services for people, and particularly, the cleaning robots are used for replacing the people to clean the family environment or large places in person, so that the working pressure of the people can be relieved, and the cleaning efficiency can be improved.

Currently, cleaning robots are usually provided with a special sensor device to detect the surface to be cleaned, for example, using ultrasonic waves to identify whether the surface to be cleaned is a carpet or not, so as to avoid wetting the carpet, but the ultrasonic sensors are bulky, costly and slow in response speed.

Disclosure of Invention

A series of concepts in a simplified form are introduced in the summary section, which is described in further detail in the detailed description section. The 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.

In a first aspect, an embodiment of the present invention provides an apparatus for detecting a surface of an operation area, including a signal transmitting module and a signal receiving module;

the signal transmitting module comprises a light emitting part and a first light path changing part, wherein the first light path changing part is arranged on a transmitting light path of the light emitting part and is used for converting light rays transmitted by the light emitting part into first light rays, and the first light rays are approximately parallel light which inclines to the direction of the signal receiving module by a first angle;

the signal receiving module comprises a light receiving part, a preset distance is reserved between the light emitting part and the light receiving part, the light receiving part receives at least part of second light, and the second light is the light of the first light reflected by the surface of the operation area; the light intensity of at least part of the second light rays is used for determining the material of the surface of the operation area.

Optionally, the signal transmitting module and the signal receiving module are independent of each other.

Optionally, the first light path changing portion includes a first convex lens, a thickness of the first convex lens increases gradually in a direction from a first side of the first convex lens to a second side of the first convex lens, the first side of the first convex lens is a side of the first convex lens away from the second light path changing portion, and the second side of the first convex lens is a side of the first convex lens close to the second light path changing portion.

Optionally, a first total reflection portion is disposed on the second side of the first convex lens, and the first total reflection portion is configured to perform total reflection on the light that is incident on the second side of the first convex lens in the first convex lens, so as to form approximately parallel outgoing light that is inclined by a second angle toward the direction close to the signal receiving module.

Optionally, the first total reflection portion includes a first plane inclined gradually toward a first side away from the first convex lens from a first end to a second end, where the first end is an end of the first plane close to the light emitting portion, and the second end is an end of the first plane far away from the light emitting portion.

Optionally, the second optical path changing unit is further provided on the receiving optical path of the light receiving unit; the second light path changing part is configured to convert the received second light into a third light to be received by the light receiving part, and the third light is a light that is obtained by converting the second light into a light that converges toward the light receiving part.

Optionally, the second light path changing portion includes a second convex lens, a thickness of the second convex lens increases gradually in a direction from the first side of the second convex lens to the second side of the second convex lens, the first side of the second convex lens is a side of the second convex lens away from the first light path changing portion, and the second side of the second convex lens is a side of the second convex lens close to the first light path changing portion.

Optionally, a second side of the second convex lens is provided with a second total reflection portion, and the second total reflection portion is configured to perform total reflection on the light that is inside the second convex lens and that is emitted to the second side of the second convex lens, so as to form a converged light that converges towards the light receiving portion.

Optionally, the second total reflection portion includes a second plane gradually inclined toward a first side direction away from the second convex lens from a third end to a fourth end, where the third end is an end of the second plane close to the light receiving portion, and the fourth end is an end of the second plane away from the light receiving portion.

Optionally, inner walls of the light emitting portion and the light receiving portion are made of non-reflective materials.

Optionally, the step of determining the material of the surface of the working area by using the light intensity of at least part of the second light rays comprises: and when the light intensity of at least part of the second light rays is smaller than the preset light intensity, determining that the surface of the operation area is made of a first material.

Optionally, when the light intensity of at least part of the second light is greater than the preset light intensity, the surface of the working area is determined to be made of a second material.

Optionally, the first material is a rough surface; the second material is a smooth surface.

Optionally, the rough surface is a carpet; the smooth surface is a floor or a tile.

In a second aspect, an embodiment of the present invention provides a cleaning robot, including the above work area surface detection apparatus.

According to the working area surface detection device and the cleaning robot provided by the embodiment of the invention, the first light path changing part is used for converting the light emitted by the light emitting part into the first light beam, and the light receiving part can receive at least part of the second light beam, wherein the first light beam is approximately parallel light inclined towards the signal receiving module by a first angle, and the second light beam is the light beam of the first light beam reflected by the working area surface, so that the light intensity of at least part of the second light beam can be used for determining the material of the working area surface, and the optical element is used for detection, so that the volume and the cost of the detection device are reduced, and the detection speed is improved.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention as a part of the examples. 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 perspective view of a cleaning robot in accordance with an alternate embodiment of the present invention;

FIG. 2 is a bottom view of a cleaning robot in accordance with an alternative embodiment of the present invention;

fig. 3 is a perspective view of a wet cleaning system according to an alternative embodiment of the present invention;

FIG. 4 is an optical diagram of a work area surface inspection device according to an alternative embodiment of the present invention;

fig. 5 is an optical path diagram of a work area surface inspection device according to another alternative embodiment of the present invention.

Description of the reference numerals:

10-a cleaning robot; 110-a body; 111-a forward portion; 112-a rearward portion; 120-a perception system; 121-position determining means; 122-a buffer; 130-a control module; 140-a travelling mechanism; 150-a cleaning system; 151-dry cleaning system; 152-side brushing; 153-wet cleaning system; 160-an energy system; 170-human-computer interaction system; 20-a signal transmitting module; 201-a light emitting section; 202-a first light path changing part; 203-a first total reflection portion; 30-a signal receiving module; 301-a light receiving section; 302-a second light path changing part; 303-second total reflection portion.

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 present 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 indicates 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.

In a first aspect, as shown in fig. 4 and fig. 5, an embodiment of the invention provides an apparatus for detecting a surface of a working area, which includes a signal transmitting module 20 and a signal receiving module 30; the signal transmitting module 20 includes a light emitting portion 201 and a first light path changing portion 202, the first light path changing portion 202 is disposed on a transmitting light path of the light emitting portion 201, and is configured to convert light emitted by the light emitting portion 201 into first light, where the first light is approximately parallel light inclined by a first angle α toward the signal receiving module; the signal receiving module 30 includes a light receiving portion 301, and a distance of a preset distance is set between the light emitting portion 201 and the light receiving portion 301, so that the light receiving portion receives at least a part of a second light, which is a light reflected by the surface of the working area from the first light; the light intensity of at least part of the second light is used for determining the material of the surface of the working area. In some embodiments, the working area surface detection device or the signal receiving module includes a processing module, and the processing module is configured to determine a material of the working area surface according to the light intensity of the at least part of the second light. In some embodiments, the processing module is not included in the work area surface detection device, and the operation of determining the material of the work area surface based on the light intensity of the at least part of the second light is performed by a controller independent of the work area surface detection device.

In the specific application, the signal transmitting module 20 and the signal receiving module 30 are disposed side by side, that is, the vertical distance from the signal transmitting module 20 to the surface of the working area is the same as the vertical distance from the signal receiving module 30 to the surface of the working area. The vertical distance between the signal emitting module 20 and the working area surface and the vertical distance between the signal receiving module 30 and the working area surface can be set by the type of the cleaning robot, for example, the cleaning robot is a sweeping robot, and the vertical distance between the signal emitting module 20 and the working area surface and the vertical distance between the signal receiving module 30 and the working area surface are 1cm.

The first angle is determined by the vertical distance between the light emitting portion 201 and the surface of the working area and the distance between the light emitting portion 201 and the light receiving portion 301. The worker may determine the first angle value by obtaining a vertical distance between the light emitting part 201 and the surface of the work area and a distance between the light emitting part 201 and the light receiving part 301 according to the installation positions of the light emitting part 201 and the light receiving part 301.

In a specific application, the first included angle α of each light ray composing the first light ray inclining towards the signal receiving module 30 may be within a predetermined range, that is, the inclination angle of a part of the light rays in the first light ray may be different from the inclination angles of other light rays, but may be within the predetermined range. The preset range may be set by a worker according to an actual situation, and is not strictly limited in this embodiment.

The light emitting part 201 can adopt an infrared emitter, the light receiving part 301 can adopt an infrared receiver, and the infrared emitter and the infrared receiver have the advantages of long service life, small volume and strong anti-interference performance.

Specifically, light irradiation on the surface of a reflecting object causes specular reflection or diffuse reflection. The principle of specular reflection is that a light beam irradiated onto the surface of a reflector at a certain incident angle is reflected by the surface of the reflector along the direction of the reflection angle, that is, the light beam irradiated by the surface of the reflector after being reflected is also emitted at the same reflection angle as the incident angle, and the specular reflection occurs on a smooth or polished surface (e.g., a glossy surface or a metal surface). The principle of diffuse reflection is that light irradiated on the surface of a reflector is reflected in various directions, and diffuse reflection occurs on a rough surface (e.g., a fiber surface).

Based on the above-described principle of diffuse reflection and specular reflection, in the present embodiment, the light emitting portion 201 emits light toward the surface of the work area, and then the light emitted from the light emitting portion 201 is converted into first light by the first light path changing portion 202, the first light is reflected by the surface of the work area, and the reflection may be diffuse reflection or specular reflection, that is, the second light may be approximately parallel light or divergent light reflected in various directions, and if the second light is approximately parallel light, the light receiving portion 301 may receive at least part of the second light. As shown in fig. 5, if the second line is divergent light emitted in all directions, a small portion of the reflected light is received by the light receiving portion 301, and thus the controller can determine whether the first light is specularly or diffusely reflected on the surface of the working area by judging the intensity of the light received by the light receiving portion 301, thereby determining whether the working area is a rough surface, i.e., if the intensity of the light signal received by the light receiving portion 301 is greater than a predetermined intensity, it is determined that the first light is specularly reflected on the surface of the working area, thereby determining that the surface of the working area is a smooth surface, and thus determining that the working area is not a carpet; if the intensity of the light signal received by the light receiving portion 301 is less than the predetermined intensity, it is determined that the first light is diffusely reflected on the surface of the working area, so that it is determined that the surface of the working area is a rough surface, and thus it is determined that the working area is a carpet, and thus it is possible to accurately identify whether the working area is a carpet.

In this embodiment, the first light path changing portion is used to convert the light emitted from the light emitting portion into a first light, and the light receiving portion is capable of receiving at least a portion of a second light, wherein the first light is approximately parallel light inclined to the signal receiving module by a first angle, and the second light is light reflected by the surface of the operation area, so that the material of the surface of the operation area can be determined according to the light intensity of the at least a portion of the second light received by the light receiving portion, and the detection is performed by using an optical element, thereby not only reducing the volume and cost of the detection apparatus, but also improving the detection speed.

Specifically, determining the material of the surface of the working area according to the light intensity of the light receiving part 301 receiving at least part of the second light includes: when the light intensity of at least part of the second light received by the light receiving part 301 is less than the preset light intensity, the surface of the operation area is determined to be the first material. When the light intensity of at least part of the second light received by the light receiving part 301 is greater than the preset light intensity, the surface of the working area is determined to be made of the second material.

The preset light intensity can be determined by the staff according to the performance of the light emitting part, and the embodiment is not strictly limited.

In a specific application, if the intensity of the optical signal received by the light receiving portion 301 is greater than the preset intensity, it is determined that the first light ray is specularly reflected on the working area surface, so that it can be determined that the working area surface is a smooth surface; thereby determining that the working area surface is of a first material capable of specular reflection.

If the intensity of the optical signal received by the light receiving part 301 is smaller than the preset intensity, it is determined that the first light ray is diffusely reflected on the surface of the working area, so that it can be determined that the surface of the working area is made of the second material capable of diffusely reflecting, and thus, the detection of the material of the surface of the working area can be realized through the optical element, which not only reduces the volume and cost of the detection device, but also improves the detection speed.

Furthermore, the first material is a rough surface; the second material is a smooth surface.

In some implementations, the rough surface is a carpet; the second material is floor or ceramic tile to make the equipment that loads the operation area surface detection device of this application can accurately discern whether operation area surface is the carpet, or floor or ceramic tile, thereby can carry out corresponding tactics to different materials.

Further, as shown in fig. 4 and 5, the signal transmitting module 20 and the signal receiving module are independent of each other.

The signal transmitting module 20 and the signal receiving module 30 are independent from each other, which means that there is no connection relationship between the signal transmitting module 20 and the signal receiving module 30, and they are separate pieces, so that the signal transmitting module 20 and the signal receiving module 30 can be manufactured, installed and maintained separately.

Further, the first optical path changing part 202 includes a first convex lens, the thickness of the first convex lens gradually increases along a direction from a first side of the first convex lens to a second side of the first convex lens, the first side of the first convex lens is a side of the first convex lens away from the second optical path changing part 302, and the second side of the first convex lens is a side of the first convex lens close to the second optical path changing part 302.

In a specific application, the first convex lens may be a lens in which the incident surface protrudes toward the light emitting portion 201, and the exit surface is a plane, as shown in fig. 4 and 5.

The thickness of the first convex lens is gradually increased along the direction from the first side of the first convex lens to the second side of the first convex lens, that is, the thickness of the second side of the first convex lens is greater than that of the first side, so that the first convex lens forms a convex lens with an asymmetric structure.

Further, as shown in fig. 4 and 5, a first total reflection portion 203 is disposed on a second side of the first convex lens, and the first total reflection portion 203 is configured to perform total reflection on the light beam incident on the second side of the first convex lens in the first convex lens to form an approximately parallel outgoing light beam inclined by a second angle γ toward the signal receiving module 30. The second angle γ of each light ray composing the emergent light ray inclining towards the direction of the signal receiving module is within a preset range, that is, the inclination angle of a part of the light rays in the second light ray may be different from the inclination angles of other light rays, but is within the preset range. It should be noted that the predetermined ranges of the first angle α and the second angle γ are the same predetermined range.

The light rays emitted to the second side of the first convex lens in the first convex lens are totally reflected by the first total reflection part 203, so that approximately parallel emergent light with a second angle gamma inclined towards the direction close to the signal receiving module 30 is formed and formed, the intensity of stray light is reduced, the intensity of the first light rays is increased, the light intensity of the second light rays is increased when the first light rays are subjected to mirror reflection on the surface of an operation area, the light intensity of the second light rays received by the light receiving part 301 is increased, the accuracy of comparison judgment of the light signal intensity and the preset intensity of a subsequent controller is improved, and the detection accuracy of the surface detection device of the operation area is also improved.

Specifically, as shown in fig. 4 and 5, the first total reflection portion 203 includes a first plane inclined gradually toward a first side away from the first convex lens from a first end to a second end, the first end is an end of the first plane close to the light emitting portion 201, and the second end is an end of the first plane away from the light emitting portion 201.

One side of the first plane is made of the material of the first convex lens, namely, an optically dense medium, and the medium on the other side is air, namely, an optically sparse medium, so that the first plane forms a total reflection surface, and the first plane can realize the total reflection of light rays which are emitted to the second side of the first convex lens in the first convex lens to form emergent light which inclines to the direction close to the signal receiving module 30 by a third angle gamma.

In this embodiment, the first total reflection portion 203 has a simpler structure and is easier to process because the occurrence of stray light can be reduced by providing the inclined first plane.

Further, as shown in fig. 4, a second light path changing portion 302 is further disposed on the receiving light path of the light receiving portion 301, the second light path changing portion 302 is configured to convert the received second light into a third light to be received by the light receiving portion 301, and the third light is a light that converts the second light into a light gathered toward the light receiving portion 301.

As shown in fig. 4, the second light irradiates the second light path changing portion 302, and then the reflected light is converted into a converged light (i.e., a third light) converged toward the light receiving portion 301 by the second light path changing portion 302, and then the third light is received by the light receiving portion 301, so that the intensity of the light received by the light receiving portion 301 is increased, and the detection result is more accurate. Further, as shown in fig. 4 and 5, the second optical path changing part 302 includes a second convex lens, the thickness of the second convex lens gradually increases along a direction from a first side of the second convex lens to a second side of the second convex lens, the first side of the second convex lens is a side of the second convex lens away from the first optical path changing part 202, and the second side of the second convex lens is a side of the second convex lens close to the first optical path changing part 202.

In a specific application, the second convex lens may be a lens in which the exit surface protrudes toward the light emitting portion 201, and the incident surface is a plane, as shown in fig. 4 and 5.

The thickness of the second convex lens is gradually increased along the direction from the first side of the second convex lens to the second side of the second convex lens, namely the thickness of the second side of the second convex lens is larger than that of the first side, so that the second convex lens forms a convex lens with an asymmetric structure.

Further, as shown in fig. 4 and 5, a second side of the second convex lens is provided with a second total reflection portion 303, and the second total reflection portion 303 is configured to totally reflect the light emitted from the second convex lens to the second side of the second convex lens, so as to form a converged light converging towards the light receiving portion 301.

The light rays emitted to the second side of the second convex lens in the second convex lens are totally reflected by the second total reflection part 303, so that the light rays emitted to the second side of the second convex lens in the second convex lens are totally reflected to form converged light rays gathered to the light receiving part 301, the intensity of stray light is reduced, the intensity of optical signals received by the light receiving part 301 is further increased, the accuracy of comparison judgment of the optical signal intensity and preset intensity by a subsequent controller is further improved, and the detection accuracy of the surface detection device of the operation area is further improved.

Specifically, as shown in fig. 4 and 5, the second total reflection portion 303 includes a second plane gradually inclined toward the first side away from the second convex lens from a third end to a fourth end, the third end being an end of the second plane close to the light receiving portion 301, and the fourth end being an end of the second plane away from the light receiving portion 301.

One side of the second plane is made of a material of the second convex lens, namely, an optically dense medium, while the medium on the other side is air, namely, an optically sparse medium, so that the second plane forms a full-emitting surface, thereby realizing the total reflection of the light rays which are emitted to the second side of the second convex lens in the second convex lens to form converged light rays which are converged to the light receiving part 301.

In this embodiment, the second plane is inclined, so that stray light is reduced, and the second total reflection portion 303 has a simpler structure and is easy to process.

Further, the inner walls of the light emitting portion 201 and the light receiving portion 301 are made of non-reflective materials, which can prevent interference caused by light reflection generated on the inner walls of the light emitting portion 201 and the light receiving portion 301.

The non-reflective material may be made of black Acrylonitrile-Styrene-Butadiene (ABS) material.

In a second aspect, an embodiment of the present invention provides a cleaning robot, including the above-mentioned work area surface detection apparatus.

The specific structure of the operation area surface detection apparatus in this embodiment refers to the above embodiments, and since the cleaning robot adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and details are not repeated here.

The cleaning robot of the present embodiment may be a sweeping robot 10, a mopping robot, a floor polishing robot, or a weeding robot. For convenience of description, the embodiment takes the sweeping robot 10 as an example to describe the technical solution of the present disclosure.

Further, as shown in fig. 1 and 2, the sweeping robot 10 may include a robot body 110, a sensing module 120, a controller, a driving module, a cleaning system 150, an energy system, and a human-machine interaction module 130. As shown in fig. 1, 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. 1, the sensing module 120 includes a position determining device 121 located on the machine body 110, a collision sensor disposed on a front collision structure 122 of the forward portion 111 of the machine body 110, a proximity sensor (wall sensor) located at a side of the machine, a work area surface detecting device disposed at a lower portion of the machine body 110, and a sensing device such as a magnetometer, an accelerometer, a gyroscope, and an odometer disposed inside the machine body 110, for providing various position information and motion state information of the machine to the controller. The position determining device 121 includes, but is not limited to, a camera, a Laser Distance Sensor (LDS). In some preferred implementations, the position determining device 121 (e.g., a camera, a laser sensor) is located at the front side of the main body 110, i.e., the foremost end of the forward portion 111, so as to more accurately sense the environment in front of the cleaning robot and achieve precise positioning.

As shown in fig. 1, the forward portion 111 of the machine body 110 may carry a front collision structure 122, the front collision structure 122 may detect one or more events in a traveling path of the cleaning robot 10 via a sensor system, such as a collision sensor or a proximity sensor (infrared sensor), provided thereon, when the cleaning robot 10 is propelled by the driving wheel module 141 to walk on the ground during cleaning, and the cleaning robot 10 may control the driving module to make the cleaning robot 10 respond to the event, such as performing an obstacle avoidance operation away from an obstacle, or the like, by the event detected by the front collision structure 122, such as an obstacle, a wall, or the like.

The controller 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 an environment in which 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, the working area surface detection device, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices arranged on the front collision structure 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 and the like, such as passing a threshold, putting a carpet, being full of dust boxes, being taken up and the like, and specific next-step action strategies are provided according to different conditions, so that the cleaning robot 10 has better cleaning performance and user experience.

As shown in fig. 2, the drive module may steer the machine body 110 across the ground based on the drive command with distance and angle information. The drive modules comprise main drive wheel modules that can control the left wheel 140 and the right wheel 141, preferably including left and right drive wheel modules, respectively, for more precise control of the motion of the machine. The left and right drive wheel modules 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 main driving wheel module comprises a driving motor and a control circuit for controlling the driving motor, and the main driving wheel module can also be connected with a circuit for measuring driving current and a milemeter. And the left and right wheels 140, 141 may have biased drop-type suspension systems, be movably secured, such as rotatably attached to the machine body 110, and receive spring biases 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.

Energy systems include rechargeable batteries, such as nickel metal hydride 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 charging pile through setting up charging electrode 160 in fuselage side or below and charges.

The man-machine interaction module 130 comprises keys on a host panel, and the keys are used for a user to select functions; the machine control system can further 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 mode or function selection item of the current machine to a user; and a mobile phone client program can be further included. For the path navigation type automatic cleaning robot 10, a map of the environment where the equipment is located and the position of the machine can be displayed to the user at the mobile phone client, so that richer and more humanized function items can be provided for the user. Specifically, the cleaning robot has various modes, such as a working mode, a self-cleaning mode, and the like. The working mode is a mode in which the cleaning robot performs an automatic cleaning operation, and the self-cleaning mode is a mode in which the cleaning robot removes dirt from the roller brush and the edge brush 152 on the base, automatically collects the dirt, and/or automatically cleans and dries the mop.

The cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153.

As shown in fig. 2, the dry cleaning system 151 provided in the embodiment of the present disclosure may include a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps and winds the garbage on the ground to the front of a dust suction opening between the rolling brush and the dust box, and then the air which is generated by the fan and passes through the dust box and has suction force is sucked into the dust box. 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. 2 and 3, a wet cleaning system 153 provided by an embodiment of the present disclosure may include: a cleaning head 1531, a driving unit 1532, a water supply mechanism, a liquid storage tank, and the like. Wherein, the cleaning head 1531 can be disposed below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transferred to the cleaning head 1531 through the water feeding mechanism, so that the cleaning head 1531 performs wet cleaning on the plane to be cleaned. In other embodiments of this disclosure, the inside cleaning solution of liquid reserve tank also can directly spray to treating clean the plane, and cleaning head 1531 is through scribbling the cleaning solution evenly realize the cleanness to the plane.

Among other things, the cleaning head 1531 is used to clean a surface to be cleaned, and the driving unit 1532 is used to drive the cleaning head 1531 to substantially reciprocate along a target surface, which is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, a mop is arranged on the surface of the contact surface of the cleaning head 1531 and the surface to be cleaned, and the driving unit 1532 drives the mop of the cleaning head 1531 to reciprocate to generate high-frequency friction with the surface to be cleaned, so that stains on the surface to be cleaned are removed; or the mop swab may be floatingly disposed to maintain contact with the cleaning surface throughout the cleaning process without the reciprocating motion of the driving unit 1532.

As shown in fig. 3, the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534, the driving platform 1533 is connected to the bottom surface of the machine body 110 for providing a driving force, and the supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531 and can be driven by the driving platform 1533 to ascend and descend.

The wet cleaning system 153 may be connected to the machine body 110 through an active lifting module. When the wet cleaning system 153 is not engaged in work for a while, for example, the cleaning robot 10 stops at a base station to clean the cleaning head 1531 of the wet cleaning system 153 and fill the liquid storage tank with water; or when a surface to be cleaned that cannot be cleaned by the wet cleaning system 153 is encountered, the wet cleaning system 153 is lifted by the active lift module.

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. The surface detection device of an operation area is characterized by comprising a signal transmitting module and a signal receiving module;

the signal transmitting module comprises a light emitting part and a first light path changing part, wherein the first light path changing part is arranged on a transmitting light path of the light emitting part and used for converting light rays transmitted by the light emitting part into first light rays, and the first light rays are approximately parallel light rays inclined to the direction of the signal receiving module by a first angle;

the signal receiving module comprises a light receiving part, a preset distance is reserved between the light emitting part and the light receiving part, the light receiving part receives at least part of second light, and the second light is the light of the first light reflected by the surface of the operation area; the light intensity of at least part of the second light is used for determining the material of the surface of the working area.

2. The work area surface inspection apparatus of claim 1 wherein the signal transmission module and the signal reception module are independent of each other.

3. The work area surface detection device according to claim 1, wherein the first optical path changing portion includes a first convex lens whose thickness gradually increases in a direction from a first side of the first convex lens to a second side of the first convex lens, the first side of the first convex lens being a side of the first convex lens that is away from the second optical path changing portion, the second side of the first convex lens being a side of the first convex lens that is closer to the second optical path changing portion.

4. The apparatus of claim 3, wherein the second side of the first convex lens is provided with a first total reflection portion for totally reflecting the light beam incident on the second side of the first convex lens in the first convex lens to form an approximately parallel outgoing light beam inclined by a second angle toward the signal receiving module.

5. The working area surface inspection device according to claim 4, wherein the first total reflection portion includes a first plane inclined gradually in a first side direction away from the first convex lens from a first end to a second end, the first end being an end of the first plane close to the light emitting portion, the second end being an end of the first plane away from the light emitting portion.

6. The work area surface detecting device according to claim 1, wherein the second light path changing portion is further provided on the receiving light path of the light receiving portion; the second light path changing part is configured to convert the received second light into a third light to be received by the light receiving part, and the third light is a light that is obtained by converting the second light into a light that converges toward the light receiving part.

7. The work area surface detection apparatus according to claim 6, wherein the second optical path changing portion includes a second convex lens whose thickness gradually increases in a direction from a first side of the second convex lens to a second side of the second convex lens, the first side of the second convex lens being a side of the second convex lens which is away from the first optical path changing portion, the second side of the second convex lens being a side of the second convex lens which is close to the first optical path changing portion.

8. The work area surface inspection device according to claim 7, wherein a second side of the second convex lens is provided with a second total reflection portion for totally reflecting the light within the second convex lens and emitted to the second side of the second convex lens to form a converged light converging toward the light receiving portion.

9. The work area surface inspection device according to claim 8, wherein the second total reflection portion includes a second plane gradually inclined in a direction away from the first side of the second convex lens from a third end, which is an end of the second plane close to the light receiving portion, to a fourth end, which is an end of the second plane away from the light receiving portion.

10. A cleaning robot comprising the working area surface detection apparatus according to any one of claims 1 to 9.