CN117368889A

CN117368889A - Work area detection device, cleaning robot, and work area detection method

Info

Publication number: CN117368889A
Application number: CN202311133418.5A
Authority: CN
Inventors: 党亮
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2023-09-04
Filing date: 2023-09-04
Publication date: 2024-01-09

Abstract

The embodiment of the invention discloses a working area detection device, a cleaning robot and a detection method of a working area thereof, wherein the working area detection device comprises a signal transmitting module and a signal receiving module; the signal transmitting module comprises a light transmitting 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 transmitting part; the first light path changing part is used for converting the emergent light beam of the light emitting part into at least two converted light beams in different directions, the signal receiving module is used for receiving the reflected light beams at least partially reflected by each converted light beam through the operation area, so that the processing module obtains detection results corresponding to different detection types of the operation area according to the light intensity of each received reflected light beam, and therefore the detection of different detection types can be carried out on the operation area through the light emitting module and the light receiving module, multiple sensors are not needed to be configured, the cost is reduced, and the complexity of assembly is also reduced.

Description

Work area detection device, cleaning robot, and work area detection method

Technical Field

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

Background

Along with the continuous improvement of the living standard of substances and the scientific and technical level, more and more families of users begin to use robots to provide corresponding services for people at present, and especially use cleaning robots to replace people to clean home environments or large places in person, so that the working pressure of people can be reduced, and the cleaning efficiency can be improved.

In order for a robot to work better, the perception of the robot's surroundings is particularly important. For example, cleaning robots are often provided with special sensor devices to detect for a working area at the bottom of the cleaning robot, to stop travelling when a cliff is encountered, or to shut down the water pump in case of carpeting of the working area, etc. Currently, in order to achieve the above detection, a cliff sensor for detecting cliffs and an ultrasonic sensor for detecting materials are required to be configured on the cleaning robot, but configuring a plurality of sensors not only increases the cost but also increases the complexity of assembly.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and 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 operation area detection device, including a signal transmitting module and a signal receiving module; the signal transmitting module comprises a light transmitting 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 transmitting part;

the first light path changing part is used for converting the emergent light beam of the light emitting part into at least two converted light beams in different directions, and the signal receiving module is used for receiving the reflected light beams at least partially reflected by each converted light beam through the operation area, so that the processing module obtains detection results corresponding to different detection types of the operation area according to the light intensity of each received reflected light beam.

Optionally, the first light path changing part includes a first light path conversion member; the first light path conversion piece is used for converting an emergent light beam of the light emitting part into a first converted light beam, and the first converted light beam is approximately parallel light inclined at a first angle to the direction of the signal receiving module;

The signal receiving module comprises a first light receiving part corresponding to the light emitting part, and the first light receiving part is used for receiving at least part of first reflected light beams, so that the processing module obtains a detection result of the surface material of the operation area according to the light intensity of the received first reflected light beams, wherein the first reflected light beams are reflected light beams after the first converted light beams are reflected by the surface of the operation area.

Optionally, the first light path changing part further includes a second light path conversion member; the second light path conversion element is used for converting the emergent light beam of the light emitting part into a second converted light beam, and the second converted light beam is approximately parallel light inclined at a second angle towards the direction of the signal receiving module;

the signal receiving module comprises a second light receiving part corresponding to the light emitting part, and the second light receiving part is used for receiving at least part of second reflected light beams, so that the processing module obtains a detection result of cliff detection of the operation area according to the light intensity of the received second reflected light beams, and the second reflected light beams are reflected light beams after the second converted light beams are reflected by the surface of the operation area.

Optionally, the first light path conversion member is connected to the second light path conversion member, and the first light path conversion member is located at a side of the second light path conversion member away from the corresponding first light receiving portion;

the second light receiving part corresponding to the light emitting part is positioned between the light emitting part and the first light receiving part corresponding to the light emitting part.

Optionally, the first light path conversion member and the second light path conversion member are integrally formed.

Optionally, a third light path conversion element is arranged on the receiving light path of the first light receiving part; the third light path conversion member is configured to convert the received first reflected light beam into a first focused light beam focused toward the first light receiving part to be received by the first light receiving part.

Optionally, a fourth light path conversion element is arranged on the receiving light path of the second light receiving part; the fourth light path conversion member is configured to convert the received second reflected light beam into a second condensed light beam condensed to the second light receiving part to be received by the second light receiving part.

Optionally, the number of the light emitting parts and the signal receiving modules is at least two, the second light emitting part is located between the first light receiving part and the second light receiving part corresponding to the first light emitting part, the second light emitting part is any one of the at least two light emitting parts, and the first light emitting part is any one of the rest light emitting parts;

The first light receiving portion corresponding to the first light emitting portion and the second light receiving portion corresponding to the second light emitting portion are the same light receiving member.

Optionally, a third light path conversion member on each of the light receiving parts is connected to the fourth light path conversion member, and the third light path conversion member is located on a side of the fourth light path conversion member away from the corresponding light emitting part.

Optionally, the third light path conversion member and the fourth light path conversion member are integrally formed.

Optionally, the first optical path conversion element 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 corresponding signal receiving module, and the second side of the first convex lens is a side of the first convex lens close to the corresponding signal receiving module.

Optionally, the second light path conversion member includes a second convex lens; a partition board is arranged between the light emitting part and the corresponding second light receiving part;

the part, close to the partition board, of the second convex lens is provided with a first total reflection part, the first total reflection part is used for carrying out total reflection on part of light rays, which are emitted to the partition board, in the second convex lens so as to form approximately parallel emergent light which is inclined to a direction close to the signal receiving module group by a fourth angle, and the second angle and the fourth angle are in a first preset angle range.

Optionally, the first total reflection part includes a first plane, the first plane is located in an area of the first convex lens, which is close to the partition board, the first plane is gradually inclined from a first end to a second end, which is an end of the first plane, which is far away from the corresponding light emission part, to a direction away from the partition board, and the second end is an end of the first plane, which is close to the corresponding light emission part.

Optionally, the third light path conversion member includes a third convex lens, the thickness of the third convex lens gradually increases along a direction from a first side of the third convex lens to a second side of the third convex lens, the first side of the second convex lens being a side of the second convex lens away from the corresponding light emitting portion, the second side of the second convex lens being a side of the second convex lens close to the corresponding light emitting portion.

Optionally, a second total reflection part is arranged on the second side of the third convex lens, and the second total reflection part is used for carrying out total reflection on the first light; the first light is emitted by the first light emitting part and is emitted to the partition board in the third convex lens.

Optionally, the second total reflection part includes a second plane with a third end gradually inclined to a first side direction away from the third convex lens to a fourth end, the third end is one end of the second plane close to the corresponding first light receiving part, and the fourth end is one end of the second plane away from the corresponding first light receiving part.

Optionally, the fourth light path conversion member includes a fourth convex lens; and a third total reflection part is arranged on the part, close to the partition board, of the fourth convex lens, and is used for carrying out total reflection on second light rays, so that the second light rays are received by the light receiving part, wherein the second light rays are part of the light rays which are emitted from the second convex lens, reflected into the fourth convex lens by the surface of the working area and are emitted to the partition board.

Optionally, the third total reflection portion includes a third plane, the third plane is located in an area on the exit surface of the fourth convex lens, where the area is close to the separator, the third plane gradually inclines from a fifth end to a sixth end, where the fifth end is an end of the third plane, where the end is away from the corresponding second light receiving portion, and the sixth end is an end of the third plane, where the end is close to the corresponding second light receiving portion.

Optionally, the operation area detection device includes a housing, an accommodating cavity is provided in the housing, and the light emitting part, the corresponding second light receiving part, the first light path conversion element, the second light path conversion element, the third light path conversion element, the fourth light path conversion element and the partition board are all disposed in the accommodating cavity;

the first light path conversion piece, the second light path conversion piece, the third light path conversion piece and the fourth light path conversion piece are arranged on the bearing wall surface of the shell, and the bearing wall surface is a light-transmitting wall surface; the bearing wall surface is a wall surface of the shell, facing the emergent light beam of the light emitting part, and passing through the incident light of the second light receiving part.

Optionally, the incident surfaces of the first convex lens and the second convex lens are protruded in a direction approaching to the corresponding light emitting part, and the emergent surfaces of the first convex lens and the second convex lens are planes.

Optionally, the third convex lens protrudes towards the direction of the corresponding first receiving component, the exit surface of the fourth convex lens protrudes towards the direction of the corresponding second receiving component, and the incident surfaces of the third convex lens and the fourth convex lens are planes.

Optionally, a connector for external connection is further arranged in the accommodating cavity, and the connector is respectively connected with the light emitting part and the corresponding second light receiving part.

Optionally, a first opening is further provided on the housing at a position corresponding to the plugging end of the connector, the connector is located at the first opening, and an outer edge of the connector is flush with an edge of the first opening.

Optionally, a connecting wire is arranged on the connector, a second opening is arranged on the housing at a position corresponding to the connection position of the connector and the connecting wire, the connecting wire penetrates out of the second opening, and a plugging piece is arranged at the second opening to seal the second opening.

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

In a second aspect, an embodiment of the present invention provides a cleaning robot, including a machine body and a working area detection device as described above, where the working area detection device is disposed at a bottom of the machine body.

In a third aspect, an embodiment of the present invention provides a method for detecting a working area of a cleaning robot, including:

controlling a first light path changing part to emit an outgoing light beam so that the outgoing light beam is converted into at least two converted light beams in different directions through the first light changing part;

acquiring the light intensity of the reflected light beams, at least part of which are reflected by the operation area by the signal receiving module;

And obtaining detection results corresponding to different detection types of the operation area according to the received light intensity of each reflected light beam.

Optionally, the outgoing beam is converted into a first converted beam by the first light path changing part, and the first converted beam is approximately parallel light inclined to the direction of the signal receiving module by a first angle; the obtaining the light intensity of the reflected light beam, which is at least partially reflected by each converted light beam through the operation area, by the signal receiving module comprises:

acquiring the light intensity of the reflected light beam received by the signal receiving module after the first converted light beam is reflected by the operation;

and obtaining detection results corresponding to different detection types of the operation area according to the received light intensity of each reflected light beam, wherein the detection results comprise:

and obtaining a detection result of the surface material of the operation area according to the light intensity.

Optionally, the obtaining a detection result of the surface material of the working area according to the light intensity includes:

judging whether the light intensity is smaller than a first preset light intensity, if so, determining that the surface material of the operation area is a first material; if not, determining the surface material of the operation area as a second material.

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

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

Optionally, the outgoing beam is converted into a second converted beam by the first light path changing part, and the second converted beam is approximately parallel light inclined to the direction of the signal receiving module by a second angle; the obtaining the light intensity of the reflected light beam, which is at least partially reflected by each converted light beam through the operation area, by the signal receiving module comprises:

acquiring the light intensity of the reflected light beam received by the signal receiving module after the second converted light beam is reflected by the operation;

and obtaining a detection result of cliff detection of the working area according to the light intensity.

Optionally, the obtaining a detection result of cliff detection of the working area according to the light intensity includes:

judging whether the light intensity is smaller than a second preset light intensity, if so, determining that the working area has cliffs, and if not, determining that the working area has no cliffs.

According to the working area detection device, the cleaning robot and the working area detection method thereof provided by the embodiment of the invention, the emergent light beams of the light emitting part are converted into at least two converted light beams in different directions through the first light path changing part, then the reflected light beams at least partially reflected by the converted light beams through the working area are received through the signal receiving module, and the processing module obtains detection results corresponding to different detection types of the working area according to the light intensity of the received reflected light beams, so that the detection of different detection types of the working area can be carried out through the light emitting module and the light receiving module, a plurality of sensors are not required to be configured, the cost is reduced, and the complexity of assembly is also reduced.

Drawings

The following drawings of the present invention are included as part of the description of embodiments of the invention. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.

In the accompanying drawings:

fig. 1 is a perspective view of a cleaning robot according to an alternative embodiment of the present invention;

FIG. 2 is a bottom view of a cleaning robot according to 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 a schematic view of a construction of a work area detection apparatus according to an alternative embodiment of the present invention;

FIG. 5 is a light path diagram of a second convex lens in the prior art;

FIG. 6 is an optical path diagram of a second convex lens and a fourth convex lens according to an alternative embodiment of the present invention;

FIG. 7 is an optical path diagram of a first convex lens and a third convex lens according to an alternative embodiment of the present invention;

FIG. 8 is an optical path diagram of a first convex lens according to another alternative embodiment of the present invention;

FIG. 9 is a schematic view of a construction of a work area detection apparatus according to an alternative embodiment of the present invention;

FIG. 10 is a cross-sectional view of a work area detection device according to yet another alternative embodiment of the present invention;

FIG. 11 is a block diagram of a first housing, a second housing and a connector of a work area detection device according to an alternative embodiment of the present invention;

fig. 12 is a perspective view of the work area detection device of fig. 10;

FIG. 13 is a top view of FIG. 12;

FIG. 14 is a cross-sectional view of a work area detection device according to yet another alternative embodiment of the present invention;

fig. 15 is a perspective view of the work area detection device of fig. 14;

FIG. 16 is a top view of FIG. 15;

FIG. 17 is a flow chart of a method of cleaning robot work area detection in accordance with an alternative embodiment of the present invention;

FIG. 18 is a flow chart of acquiring the light intensity of the reflected light beam received by the signal receiving module at least partially by each converted light beam after being reflected by the work area according to an alternative embodiment of the present invention;

FIG. 19 is a flow chart of acquiring the light intensity of the reflected light beam received by the signal receiving module at least partially by each converted light beam after being reflected by the work area according to an alternative embodiment of the present invention.

Reference numerals illustrate:

10-cleaning robot; 110-a body; 111-forward portion; 112-a rearward portion; 120-perception system; 121-position determining means; 122-a buffer; 130-a control module; 140-a travelling mechanism; 150-cleaning system; 151-a dry cleaning system; 152-side brushing; 153-wet cleaning system; the device comprises a 20-signal transmitting module, a 210-light emitting part, a 220-first light path changing part, a 221-first convex lens, a 222-second convex lens, a 2221-first plane, a 30-signal receiving module, a 310-first light receiving part, a 320-second light receiving part, a 330-third convex lens, a 331-second plane, a 340-fourth convex lens, a 341-third plane, a 40-partition plate, a 50-shell, a 510-first shell, a 520-second shell, a 521-first sub-shell, a 522-second sub-shell, a 530-bearing wall surface, a 60-connector, a 610-connecting wire, a 70-first opening, an 80-accommodating cavity, a 810-first cavity, a 820-second cavity, a 90-second opening and a 100-blocking piece.

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 invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.

It is 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 present invention. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, 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 should be appreciated 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. 6 to fig. 9, an embodiment of the present invention provides an operation area detection device, which includes a signal transmitting module 20 and a signal receiving module 30; the signal transmitting module 20 includes a light transmitting portion 210 and a first light path changing portion 220, where the first light path changing portion 220 is disposed on a transmitting light path of the light transmitting portion 210; the first light path changing unit 220 is configured to convert the outgoing light beam of the light emitting unit 210 into at least two converted light beams with different directions, and the signal receiving module 30 is configured to receive the reflected light beams at least partially reflected by each converted light beam through the operation area, so that the processing module obtains detection results corresponding to different detection types of the operation area according to the light intensity of each received reflected light beam.

In some embodiments, the operation area detecting device or the signal receiving module 30 includes a processing module, in some embodiments, the operation area detecting device does not include a processing module, and according to the received light intensity of each reflected light beam, the detection results corresponding to different detection types of the operation area are executed by the processing module independent of the operation area detecting device.

In a specific application, the signal transmitting module 20 and the signal receiving module 30 are arranged side by side, i.e. 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 transmitting module 20 and the surface of the working area and the vertical distance between the signal receiving module 30 and the surface of the working area can be set by the type of cleaning robot, for example, the cleaning robot is a sweeping robot, and the vertical distance between the signal transmitting module and the surface of the working area and the vertical distance between the signal receiving module 30 and the surface of the working area are 20mm.

In this embodiment, the first light path changing unit 220 converts the outgoing light beam of the light emitting unit 210 into at least two converted light beams with different directions, then the signal receiving module 30 receives the reflected light beams at least partially reflected by each converted light beam through the operation area, and the processing module obtains the detection results corresponding to different detection types of the operation area according to the light intensity of each received reflected light beam, so that the detection of different detection types of the operation area can be performed through the light emitting module and the light receiving module, thereby avoiding the need of configuring multiple sensors, reducing the cost and the complexity of assembly.

The detection device of the present application can detect a material of a surface of a work area, and specifically, as shown in fig. 4, 7, 8, 9, 10, and 14, the first light path changing portion 220 includes a first light path conversion member; the first light path conversion element is configured to convert the outgoing light beam of the light emitting portion 210 into a first converted light beam, where the first converted light beam is approximately parallel light inclined at a first angle toward the signal receiving module 30; the signal receiving module 30 includes a first light receiving portion 310 corresponding to the light emitting portion 210, where the first light receiving portion is configured to receive at least a portion of the first reflected light beam, so that the processing module obtains a detection result of the surface material of the working area according to the light intensity of the received first reflected light beam, where the first reflected light beam is a reflected light beam after the first converted light beam is reflected by the surface of the working area.

The first angle α is determined by the vertical distance between the light emitting portion 210 and the surface of the work area and the distance between the light emitting portion 210 and the first light receiving portion 310. The worker can determine the first angle value by obtaining the vertical distance between the light emitting part 210 and the surface of the work area and the distance between the light emitting part 210 and the first light receiving part 310 according to the installation positions of the light emitting part 210 and the first light receiving part 310.

In a specific application, the first angle α of each light ray forming the first converted beam to tilt toward the signal receiving module 30 is within a second predetermined angle range, that is, the tilt angle of some light rays in the first converted beam may be different from the tilt angle of other light rays, but may be within the second predetermined angle range. The second preset angle range may be set by a worker according to actual situations, and is not strictly limited in this embodiment.

Specifically, the light irradiates the surface of the reflector to generate specular or diffuse reflection. The principle of specular reflection is that light rays irradiated to the surface of a reflector at a certain incident angle are reflected by the surface of the reflector along the direction of the reflection angle, that is, the light rays reflected by the surface of the reflector are emitted at the same reflection angle as the incident angle, and specular reflection occurs on a smooth or polished surface (e.g., a glossy surface or a metal surface, etc.). The principle of diffuse reflection is that light irradiated to the surface of a reflector is reflected in various directions, and diffuse reflection occurs on a rough surface (e.g., a fiber surface, etc.).

Based on the principle of diffuse reflection and specular reflection described above, in the present embodiment, the light emitting portion 210 emits an outgoing light beam toward the surface of the work area, and then the outgoing light beam emitted by the light emitting portion 210 is converted into a first converted light beam by the first light path conversion member, the first converted light beam being reflected by the surface of the work area, and the reflection may be diffuse reflection or specular reflection, that is, the first reflected light beam may be approximately parallel light or divergent light reflected toward various directions, as shown in fig. 7, and the first light receiving portion 310 may receive at least part of the first reflected light beam if the first reflected light beam is approximately parallel light. As shown in fig. 8, if the first emission light beam is divergent light emitted in various directions, a part of the reflected light is received by the first light receiving part 310, whereby the processing module can determine whether the first conversion light beam is specularly reflected or diffusely reflected at the surface of the operation region by judging the light intensity of at least a part of the first light receiving part 310 received by the first light receiving part 310, thereby determining whether the operation region is a rough surface, that is, if the light intensity of the second reflection light beam received by the first light receiving part 310 is greater than a first preset light intensity, it is determined that the first conversion light beam is specularly reflected at the surface of the operation region, thereby determining that the surface of the operation region is a smooth surface, and further determining that the operation region determines that the surface of the operation region is a smooth surface; thereby determining the surface of the working area as a first material capable of specular reflection. If the light intensity of the second reflected light beam received by the first light receiving portion 310 is greater than or equal to the first preset light intensity, it is determined that diffuse reflection occurs on the surface of the operation area by the first converted light beam, so that it can be determined that the surface of the operation area is made of the second material capable of performing diffuse reflection, and therefore detection of the material on the surface of the operation area can be achieved through the optical element, not only is the size and cost of the detection device reduced, but also the detection speed is improved.

In some implementations, the roughened surface is a carpet; the second material is a floor or a tile, so that the cleaning robot loaded with the working area surface detection device can accurately identify whether the working area surface is a carpet or a floor or a tile, and corresponding strategies can be executed for different materials.

In this embodiment, the first light path conversion member is used to convert the outgoing light beam emitted by the light emitting portion 210 into a first converted light beam, and the first light receiving portion 310 can receive at least part of the first reflected light beam, where the first converted light beam is approximately parallel light inclined by a first angle towards the direction of the signal receiving module 30, and the first reflected light beam is a reflected light beam after the first converted light beam is reflected by the surface of the working area, so that the material of the surface of the working area can be determined according to the light intensity of at least part of the first reflected light beam received by the light receiving portion, and the optical element is used to perform detection, so that not only the volume and cost of the detection device are reduced, but also the detection speed is improved.

Specifically, as shown in fig. 4, 7, 8, 9, 10 and 14, the first optical path conversion member includes a first convex lens 221, and the thickness of the first convex lens 221 increases gradually along a direction from a first side of the first convex lens 221 to a second side of the first convex lens 221, the first side of the first convex lens 221 being a side of the first convex lens 221 away from the corresponding signal receiving module 30, and the second side of the first convex lens 221 being a side of the first convex lens 221 near the corresponding signal receiving module 30.

The thickness of the first convex lens 221 gradually increases in a direction from the first side of the first convex lens 221 to the second side of the first convex lens 221, that is, the thickness of the second side of the first convex lens 221 is greater than the thickness of the first side, so that the first convex lens 221 forms a convex lens with an asymmetric structure.

As shown in fig. 4, 7, 8, 9, 10 and 14, the third optical path conversion member is provided on the receiving optical path of the first light receiving portion 310; the third light path conversion member is for converting the received first reflected light beam into a first focused light beam focused toward the first light receiving portion 310 to be received by the first light receiving portion 310.

As shown in fig. 7, the first emission beam irradiates the third light path conversion member, then the third light path conversion member converts a part of the first reflection beam reflected to the third light path conversion member into a converging beam converging toward the first light receiving portion 310 (i.e., a first converging beam), and then the first converging beam is received by the first light receiving portion 310, so that the intensity of the light received by the first light receiving portion 310 is increased, and the detection result is more accurate.

Further, as shown in fig. 4, 7, 8, 9, 10 and 14, the third light path conversion member includes a third convex lens 330, the thickness of the third convex lens 330 gradually increases in a direction from a first side of the third convex lens 330 to a second side of the third convex lens 330, the first side of the third convex lens 330 being a side of the third convex lens 330 away from the corresponding light emitting portion 210, the second side of the third convex lens 330 being a side of the third convex lens 330 close to the corresponding light emitting portion 210.

The thickness of the third convex lens 330 gradually increases in a direction from the first side of the third convex lens 330 to the second side of the third convex lens 330, that is, the thickness of the second side of the third convex lens 330 is greater than the thickness of the first side, thereby forming the third convex lens 330 into a convex lens with an asymmetric structure.

Further, as shown in fig. 4, 7, 8, 9, 10 and 14, the second side of the third convex lens 330 is provided with a second total reflection portion, and the second total reflection portion is configured to totally reflect the first light; the first light is a portion of the light emitted from the first light emitting portion 210 and directed toward the partition 40 in the third convex lens 330.

The second total reflection part is used for carrying out total reflection on the first light rays to form converging light rays converging towards the first light receiving part 310, so that the intensity of stray light is reduced, the intensity of light signals received by the first light receiving part 310 is further increased, the light intensity of first emission light beams received by the first light receiving part 310 by a subsequent processing module is further improved, the accuracy of comparing and judging the light intensity received by the first light receiving part by the subsequent processing module with the first preset light intensity is further improved, and the accuracy of detecting surface materials of an operation area is also improved.

The first preset light intensity can be set by a worker, and the embodiment is not strictly limited.

Further, as shown in fig. 4, 7, 8, 9, 10 and 14, the second total reflection portion includes a second plane 331 with a third end, which is an end of the second plane 331 near the corresponding first light receiving portion 310, gradually inclined toward a first side direction away from the third convex lens 330, and a fourth end, which is an end of the second plane 331 away from the corresponding first light receiving portion 310.

One side of the second plane 331 is made of the third convex lens 330, that is, an optical dense medium, and the other side is made of air, that is, an optical sparse medium, so that the second plane 331 forms a full emission surface, and thus, light rays emitted to the second side of the third convex lens 330 in the third convex lens 330 can be totally reflected to form converging light rays converging towards the first light receiving part.

In this embodiment, the second inclined plane 331 is provided to reduce stray light, so that the structure of the second total reflection portion is simpler and easier to process.

The detection device of the present application is also capable of cliff detection for a work area, specifically, the first light path changing section 220 further includes a second light path conversion member; the second light path conversion element is configured to convert the outgoing light beam of the light emitting portion 210 into a second converted light beam, where the second converted light beam is approximately parallel light inclined at a second angle toward the signal receiving module 30;

As shown in fig. 4, 6, 9, 10 and 14, the signal receiving module 30 includes a second light receiving portion 320 corresponding to the light emitting portion 210, where the second light receiving portion is configured to receive at least a part of the second reflected light beam, so that the processing module obtains a detection result of cliff detection of the working area according to the light intensity of the received second reflected light beam, where the second reflected light beam is a reflected light beam after the second converted light beam is reflected by the surface of the working area.

The second angle phi is determined by the vertical distance between the light emitting part 210 and the surface of the work area and the distance between the light emitting part 210 and the second light receiving part 320. The worker can determine the second angle value by obtaining the vertical distance between the light emitting portion 210 and the surface of the work area and the distance between the light emitting portion 210 and the second light receiving portion 320 from the positions of the light emitting portion 210 and the second light receiving portion 320.

In a specific application, the third angle β of each light ray forming the second converted light beam to tilt toward the signal receiving module 30 is within the second preset angle range, that is, the tilt angle of some light rays in the second converted light beam may be different from the tilt angles of other light rays, but may be within the second preset angle range. The second preset angle range may be set by a worker according to actual situations, and is not strictly limited in this embodiment.

The processing module determines whether the cliff exists in the working area through the light intensity of the second reflected light beam received by the second light receiving portion 320, that is, if the light intensity of the second reflected light beam received by the second light receiving portion 320 is greater than a second preset light intensity, it is determined that the cliff does not exist; if the light intensity of the second reflected light beam received by the second light receiving portion 320 is less than or equal to a preset value, it is determined as cliff.

The second preset light intensity can be set by the staff, and the embodiment is not strictly limited.

Further, as shown in fig. 4, 6, 9, 10 and 14, the first light path conversion member is connected to the second light path conversion member, and the first light path conversion member is located at a side of the second light path conversion member away from the corresponding first light receiving portion 310; the second light receiving part 320 corresponding to the light emitting part 210 is located between the light emitting part 210 and the first light receiving part 310 corresponding to the light emitting part 210.

The first light path conversion member is connected with the second light path conversion member so that the first light path conversion member and the second light path conversion member are connected into a whole, thereby facilitating the installation of the first light path conversion member and the second light path conversion member.

In a specific application, the first light path conversion member is located at a side of the second light path conversion member away from the corresponding first light receiving portion 310, and the second light receiving portion 320 corresponding to the light emitting portion 210 is located between the light emitting portion 210 and the first light receiving portion 310 corresponding to the light emitting portion 210, so that the second light receiving portion 320 is closer to the second light path conversion member than the first light emitting portion, that is, is closer to the second converted light beam emitted by the second light path conversion member, and the second light receiving portion 320 can receive at least the second reflected light beam.

Further, as shown in fig. 4, 7, 8, 9, 10 and 14, the first light path conversion member and the second light path conversion member are integrally formed, so that a connection part is omitted, the structure is simpler, and the connection is more stable.

Specifically, as shown in fig. 4, 6, 9, 10 and 14, the second light path conversion member includes a second convex lens 222; a partition 40 is provided between the light emitting portions 210 and the corresponding second light receiving portions 320; the portion of the second convex lens 222 near the partition board 40 is provided with a first total reflection portion, and the first total reflection portion is configured to totally reflect a portion of light rays emitted from the second convex lens 222 towards the partition board 40, so as to form approximately parallel emergent light inclined at a fourth angle towards the direction near the signal receiving module 30, where the second angle and the fourth angle are within a first preset angle range.

The second convex lens 222 may be a lens with an incident surface protruding toward the light emitting portion 210 and an exit surface being a plane, and may be seen in fig. 4, 6, 9, 10 and 14; the incident surface may be a lens protruding in a direction toward the light emitting portion 210, and the exit surface may be a lens protruding in a direction away from the light emitting portion 210.

The shape of the partition 40 may be a plate shape or may be other irregular shape. The partition 40 is made of an opaque material, so that the outgoing beam emitted from the light emitting portion 210 is prevented from being directly received by the second light receiving portion 320 without being reflected by the surface of the work area. In a specific application, as shown in fig. 5, the outgoing beam emitted by the light emitting portion 210 is emitted into the second convex lens 222, wherein most of the light not emitted into the partition board 40 is converted into approximately parallel light by the first convex lens 221, and part of the light emitted into the partition board 40 is totally reflected by the first total reflection structure, so that the part of the light is emitted along a direction approximately parallel to the parallel light, that is, the part of the light emitted into the partition board 40 is also converted into approximately parallel light by the first total reflection mechanism, so that the intensity of stray light is reduced, the intensity of parallel light is increased, and thus the situation that after the outgoing beam emitted by the light emitting portion 210 enters the second convex lens 222, part of the light is emitted into a junction interface (shown by a dotted line in fig. 1) between the second convex lens 222 and the partition board 40, and after the part of the light is reflected by the junction interface, the part of the light is emitted from the second convex lens 222 in a direction away from the second convex lens 320 and becomes a situation that the stray light is not received by the second light receiving portion 320 even if the light is reflected by the surface of the working area, the intensity of stray light is reduced, the intensity of stray light received by the second light receiving portion 320 is reduced, the light receiving accuracy is further reduced, the light receiving rate is increased, and the receiving rate of the working error detection is improved, and the receiving area is improved. When the working area is a dark object (such as a dark carpet), the second light receiving portion 320 can also receive a stronger light signal, so that the influence of color on cliff detection is reduced.

It is understood that the incident surface in this application refers to the surface into which light is incident; the exit surface is the surface from which the light is emitted.

Further, as shown in fig. 4, 6, 9, 10 and 14, the first total reflection portion includes a first plane 2221, the first plane 2221 is located in a region of the first convex lens 221 close to the partition 40, the first plane 2221 is gradually inclined from a first end to a second end in a direction away from the partition 40, the first end is an end of the first plane 2221 away from the corresponding light emission portion 210, and the second end is an end of the first plane 2221 close to the corresponding light emission portion 210.

In this embodiment, the first plane 2221 is gradually inclined from the first end to the second end in a direction away from the partition board 40, so that the distance between the first plane 2221 and the partition board 40 is gradually increased from the first end to the second end, that is, the gap between the first plane 2221 and the partition board 40 is gradually increased from the first end to the second end, so that the medium on one side of the first plane 2221 is the material of the first convex lens 221, that is, the optical dense medium, and the medium on the other side is the air, that is, the optical sparse medium, so that the first plane 2221 becomes a total reflection surface, and thus the total reflection function can be realized.

In this embodiment, the generation of stray light can be reduced by providing the inclined first plane 2221, so that the structure of the first total reflection part is simpler and easy to process.

Further, as shown in fig. 4, 6, 9, 10 and 14, a fourth optical path conversion member is provided on the receiving optical path of the second light receiving portion 320; the fourth light path conversion member is for converting the received second reflected light beam into a second condensed light beam condensed toward the second light receiving portion 320 to be received by the second light receiving portion 320.

By utilizing the convergence effect of the fourth light path conversion element, after converging part of the second reflected light beam irradiated to the fourth light path conversion element, the second reflected light beam irradiates to the second light receiving part 320, so that the light intensity received by the second light receiving part 320 is further enhanced, the intensity of the light received by the second light receiving part 320 and reflected by the surface of the operation area is higher, the misjudgment rate of the cliff is further reduced, and the accuracy of cliff detection is improved.

Specifically, as shown in fig. 4, 6, 9, 10 and 14, the fourth light path conversion member includes a fourth convex lens 340; the portion of the fourth convex lens 340 near the partition board 40 is provided with a third total reflection portion, and the third total reflection portion is configured to totally reflect the second light, so that the second light is received by the light receiving portion, where the second light is a portion of the light emitted from the second convex lens 222, reflected by the surface of the working area into the fourth convex lens 340 and directed toward the partition board 40.

The fourth convex lens 340 may be a lens with an outgoing surface protruding in a direction approaching the second light receiving portion 320 and an incident surface being a plane, as shown in fig. 4, 6, 9, 10 and 14, or may be a lens with an outgoing surface protruding in a direction approaching the second light receiving portion 320 and an incident surface protruding in a direction away from the second light receiving portion 320.

In some implementations, a portion of the light reflected by the surface to be worked into the fourth convex lens 340 after exiting from the second convex lens 222 is directed to the joint interface of the fourth convex lens 340 and the partition 40, and the light is reflected by the joint interface to change the original light path, so that the light cannot be received by the second light receiving portion 320 after exiting from the fourth convex lens 340, thereby reducing the intensity of the light received by the second light receiving portion 320 to some extent.

In the present embodiment, as shown in fig. 4, 6, 9, 10 and 14, the third total reflection portion of the fourth convex lens 340 is utilized to totally reflect the second light, so that the second light can still be received by the second light receiving portion 320 after being emitted from the fourth convex lens 340, thereby solving the problems in the above-mentioned technology and improving the intensity of the light received by the second light receiving portion.

Specifically, as shown in fig. 4, 6, 9, 10 and 14, the third total reflection portion includes a third plane 341, the third plane 341 is located in a region on the exit surface of the fourth convex lens 340 near the partition 40, the third plane 341 gradually slopes from a fifth end to a sixth end in a direction away from the partition 40, the fifth end is an end of the third plane 341 away from the corresponding second light receiving portion 320, and the sixth end is an end of the third plane 341 near the corresponding second light receiving portion 320.

In the present embodiment, the third plane 341 is gradually inclined from the fifth end to the sixth end in a direction away from the partition board 40, so that the distance between the third plane 341 and the partition board 40 is gradually increased from the fifth end to the sixth end, that is, the gap between the third plane 341 and the partition board 40 is gradually increased from the fifth end to the sixth end, so that the medium on one side of the third plane 341 is the material of the fourth convex lens 340, that is, the light tight medium, and the medium on the other side is the air, that is, the light sparse medium, so that the third plane 341 becomes a total reflection surface, and thus the total reflection of the second light can be realized.

In this embodiment, the generation of stray light can be reduced by providing the inclined third plane 341, so that the structure of the third total reflection part is simpler and easier to process.

In a specific application, as shown in fig. 4 and 9, the number of the light emitting units 210 and the signal receiving modules 30 is at least two, the second light emitting unit B is located between the first light receiving unit C and the second light receiving unit D corresponding to the first light emitting unit a, the second light emitting unit B is any one of the at least two light emitting units 210, and the first light emitting unit a is any one of the remaining light emitting units 210; the second light receiving portions 320 corresponding to the second light emitting portions B and the first light receiving portions 310 corresponding to the first light emitting portions a are the same light receiving member, that is, the light receiving portions C of fig. 9.

The number of the light emitting units 210 and the signal receiving modules 30 is at least two, so that the detection range of the detection device can be increased, and the number of the light emitting units 210 and the signal receiving modules 30 can be set by the staff according to the actual requirements.

In the present embodiment, the second light emitting portion B is disposed between the first light receiving portion 310 (i.e., the light receiving portion C in fig. 9) and the second light receiving portion 320 (i.e., the light receiving portion D in fig. 9) corresponding to the first light emitting portion a, so that the second light receiving portion 310 corresponding to the second light emitting portion B can be used as the first light emitting portion 210 of the first light emitting portion a, that is, the first light receiving portion 320 corresponding to the first light emitting portion a and the second light receiving portion 310 corresponding to the second light emitting portion B are the same light receiving member, that is, the light receiving portions C in fig. 9, and the light receiving portion D is the first light receiving portion of the other light emitting portion (not shown in the drawing) in addition to the second light receiving portion of the first light emitting portion a, thereby reducing the number of light receiving members used, not only simplifying the structure, but also reducing the cost.

In order to enable the light receiving member to distinguish whether the received light is the first reflected light beam or the second reflected light beam, the operation timings of the first light emitting portion 210 and the second light emitting portion 210 may be controlled such that the first light emitting portion 210 and the second light emitting portion operate or such that the frequency of the outgoing light beam of the first light emitting portion 210 is different from the frequency of the outgoing light beam of the second light emitting portion 210.

Further, as shown in fig. 9, 10 and 14, the third light path conversion member on each light receiving member is connected to the fourth light path conversion member, and the third light path conversion member is located on a side of the fourth light path conversion member away from the corresponding light emitting portion 210.

The third light path conversion member is connected with the fourth light path conversion member so that the third light path conversion member and the fourth light path conversion member are integrally connected to facilitate the installation of the third light path conversion member and the fourth light path conversion member.

In a specific application, as shown in fig. 9, 10 and 14, the third light path conversion member is located on the side of the fourth light path conversion member away from the corresponding light emitting portion 210, so that at least part of the second reflected light beam from the other light emitting portion 210 can be irradiated on the fourth light path conversion member.

Further, as shown in fig. 9, 10 and 14, the third light path conversion member and the fourth light path conversion member are integrally formed, so that a connection member is omitted, the structure is simpler, and the connection is more stable.

Further, in the above-described embodiment, as shown in fig. 10 to 15, the work area detection device includes the housing 50, the housing 50 is provided with the accommodation chamber 80, and the light emitting portion 210, the corresponding second light receiving portion 320, the first light path conversion member, the second light path conversion member, the third light path conversion member, the fourth light path conversion member, and the partition plate 40 are all disposed in the accommodation chamber 80; the first light path conversion element, the second light path conversion element, the third light path conversion element and the fourth light path conversion element are arranged on the bearing wall surface 530 of the shell 50, and the bearing wall surface 530 is a light-transmitting wall surface; the bearing wall 530 is a wall of the housing 50 facing the outgoing light beam of the light emitting portion 210 and passing through by the incoming light of the second light receiving portion 320.

The shape of the housing 50 may be any shape, such as a cube, a cylinder, etc., and the present embodiment is not strictly limited. The housing 50 may protect the light emitting part 210 and the corresponding second light receiving part 320, thereby improving the service life of the detection device. And the carrying wall 530 adopts a light-transmitting wall, thereby avoiding shielding of the light beams emitted from the first and second light-path conversion members and the light beams emitted into the third and fourth light-path conversion members. While other portions of the housing 50 may or may not be light transmissive. The transparent wall may be made of transparent or semitransparent material, such as transparent plastic.

For ease of processing and installation, the baffle 40 is integrally formed with the housing 50; of course, the partition 40 and the housing 50 may be separately manufactured and then assembled.

Further, in some preferred embodiments, as shown in fig. 10 and 14, the incident surfaces of the first convex lens 221 and the second convex lens 222 are protruded in the direction approaching to the corresponding light emitting portion 210, the emergent surfaces of the first convex lens 221 and the second convex lens 222 are flat, the third convex lens 330 is protruded in the direction facing the corresponding first receiving member, the emergent surfaces of the fourth convex lens 340 are protruded in the direction facing the corresponding second receiving member, and the incident surfaces of the third convex lens 330 and the fourth convex lens 340 are flat, so that the first convex lens 221, the second convex lens 222, the third convex lens 330 and the fourth convex lens 340 are all positioned in the accommodating cavity 80, and the outer shell 50 is utilized to protect the first convex lens 221, the second convex lens 222, the third convex lens 330 and the fourth convex lens 340 from abrasion of external objects. The exit surfaces of the first convex lens 221 and the second convex lens 222 are planes, and the incident surfaces of the third convex lens 330 and the fourth convex lens 340 are planes, so that the contact areas of the first convex lens 221, the second convex lens 222, the third convex lens 330 and the fourth convex lens 340 and the side wall of the housing 50 can be increased, and the connection of the first convex lens 221, the second convex lens 222, the third convex lens 330 and the fourth convex lens 340 and the side wall of the housing 50 is more stable.

Further, as shown in fig. 10 to 13 and 15, a connector 60 for external connection is further provided in the accommodating chamber 80, and the connector 60 is connected to the light emitting portion 210 and the corresponding second light receiving portion 320, respectively.

The connector 60 is used to realize connection between the light emitting portion 210 and the corresponding light receiving portion 320 and an external device (such as a controller).

In some embodiments, as shown in fig. 10 and 14, the housing 50 includes a first shell 510 and a second shell 520 connected to the first shell 510, so that the accommodating cavity 80 is also divided into two chambers, namely a first chamber 810 disposed in the first shell 510 and a second chamber 820 disposed in the second shell 520, and the first convex lens 221, the second convex lens 222, the third convex lens and the fourth convex lens 340, the partition 40, the light emitting portion 210 and the corresponding second light receiving portion 320 are located in the first chamber 810, and the connector 60 is located in the second chamber 820, so that each component has a corresponding mounting area, thereby making the arrangement of each component more reasonable.

The first housing 510 and the second housing 520 may be fixedly connected or detachably connected, wherein the fixed connection is a connection manner such as gluing, and the detachable connection is a connection manner such as a buckle, a bolt, and the like.

Further, as shown in fig. 10, 11 and 14, the second housing 520 includes a first sub-housing 521 and a second sub-housing 522, and the first sub-housing 521 is buckled with the second sub-housing 522, thereby forming a second chamber 820. The first sub-housing 521 and the second sub-housing 522 may be connected by a detachable connection, such as a clamping connection, so that the connector 60 is conveniently installed in the second chamber 820, and of course, the first sub-housing 521 and the second sub-housing 522 may also be connected by a fixed connection such as an adhesive connection.

In a specific application, the connector 60 may be disposed in the receiving cavity 80 in two ways, as follows:

the first way is: as shown in fig. 7 to 13, the housing 50 is further provided with a first opening 70 at a position corresponding to the plugging end of the connector 60, the connector 60 is located at the first opening 70, and an outer edge of the connector 60 is flush with an edge of the first opening 70.

The connector 60 is located at the first opening 70, so that the connection between the connector 60 and the connection part of the external device can be achieved after the connection part of the external device is inserted into the first opening 70; or the connection part of the external device is pulled out from the first opening 70, the disconnection of the connection part of the connector 60 and the external device can be realized, thereby facilitating the use of the detection device.

In the case that the housing 50 is divided into the first housing 510 and the second housing 520, the first opening 70 is located on the second housing 520 and on a side wall opposite to the first convex lens 221 and the second convex lens 222, so that the connector 60 is conveniently plugged with the external device connection part.

The outer edge of the connector 60 is flush with the edge of the first opening 70, that is, the connector 60 is as close to the edge of the first opening 70 as possible, so that the connection portion of the connector 60 and the external device can be fully contacted, the connection stability is improved, and the problem that the connection portion of the connector 60 and the external device is small in contact portion and is prone to break faults is avoided.

The second way is: as shown in fig. 15 and 16, the connector 601237 is provided with a connecting wire 610, the housing 50 is provided with a second opening 90 at a position corresponding to the connection between the connector 60 and the connecting wire 610, the connecting wire 610 passes through the second opening 90, and the second opening 90 is provided with a sealing member 100 to seal the second opening 90.

In the case that the housing 50 is divided into the first housing 510 and the second housing 520, the second opening 90 is located on the second housing 520 and on a side wall opposite to the first convex lens 221 and the second convex lens 222, so that the connector 60 is conveniently plugged with the external device connection component.

The blocking member 100 may be a soft rubber material, such as thermoplastic polyurethane elastomer rubber or thermoplastic elastomer. The first sub-housing 521 or the second sub-housing 522 of the plugging member 100 and the second housing 520 may be an integral structure, and the plugging member 100 and the first sub-housing 521 or the second sub-housing 522 of the second housing 520 are made of different materials, and the plugging member 100 and the housing 50 are formed by two-shot injection molding. Of course, the sealing member 100 and the first sub-housing 521 or the second sub-housing 522 may be in a separate structure, and the sealing member is fixedly connected with the first sub-housing 521 or the second sub-housing 522 by, for example, gluing or hot melting after being separately injection molded, so that the sealing member 100 is convenient to replace when the sealing property of the sealing member 100 is reduced due to long-term use of the sealing member 100.

The sealing of the second opening 90 by the blocking member 100 improves the overall sealing performance of the inspection apparatus, thereby avoiding the problem that the connector 60 rusts and corrodes to reduce the service life of the inspection apparatus due to dust or moisture of the external environment being carried out in the accommodating chamber 80. In order to ensure that the detecting device and the external connection member can be smoothly connected, the connection wire 610 extends out of the second opening 90, so that the connection of the connector 60 and the connection portion of the external connection member is realized through the connection wire 610 extending out of the second opening 90.

Alternatively, the inner walls of the light emitting part 210, the first light receiving part 310, and the second light receiving part 320 are made of a non-reflective material.

The non-reflective material can prevent interference caused by reflection of light on the inner walls of the light emitting portion 210201 and the light receiving portion 301.

Wherein, the non-reflective material can be made of black acrylonitrile-styrene-butadiene copolymer (Acrylonitrile Butadiene Styrene, ABS) material.

The light emitting part 210 may adopt an infrared emitting part, and the first light receiving part 310 and the second light receiving part 320 may adopt infrared receiving parts, and the infrared emitting part and the infrared receiving part have the advantages of long service life, small volume and strong anti-interference.

The specific structure of the operation area detection device in this embodiment refers to the above embodiment, and since the cleaning robot adopts all the technical solutions of all the embodiments, at least the cleaning robot has all the beneficial effects brought by the technical solutions of the embodiments, and will not be described in detail herein.

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 present embodiment describes the technical solution of the present disclosure taking the sweeping robot 10 as an example.

Further, as shown in fig. 1 and 2, the robot cleaner 10 may include a machine body 110, a sensing module 120, a controller, a driving module, a cleaning system 150, an energy system, and a man-machine interaction module 130. As shown in fig. 1, the machine body 110 includes a forward portion 111 and a backward portion 112, and has an approximately circular shape (both front and rear are circular), and may have other shapes, including, but not limited to, an approximately D-shape of a front and rear circle and a rectangular or square shape of a front and rear.

As shown in fig. 1, the sensing module 120 includes a position determining device 121 on the machine body 110, a collision sensor provided on a front collision structure 122 of a forward portion 111 of the machine body 110, a proximity sensor (wall sensor) on a side of the machine, a work area surface detecting device provided at a lower portion of the machine body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, an odometer, etc. provided inside the machine body 110 for providing various position information and movement state information of the machine to the controller. The position determining device 121 includes, but is not limited to, a camera, a laser ranging device (LDS, full scale Laser Distance Sensor). In some preferred implementations, the position determining device 121 (e.g., camera, laser sensor) is located at the front side of the main body 110, i.e., the forefront end of the forward portion 111, to enable more accurate sensing of the environment in front of the cleaning robot for accurate positioning.

As shown in fig. 1, the forward portion 111 of the machine body 110 may carry a front impact structure 122, and the front impact structure 122 detects one or more events in the travel path of the cleaning robot 10 via a sensor system, such as a collision sensor or a proximity sensor (infrared sensor), provided thereon as the driving wheel module 141 advances the cleaning robot 10 to travel on the floor during cleaning, and the cleaning robot 10 may control the driving module to cause the cleaning robot 10 to respond to the events, such as performing obstacle avoidance operations away from the obstacles, etc., by the events detected by the front impact structure 122, such as an obstacle, a wall, etc.

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, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor draws an instant map of the environment in which the cleaning robot 10 is located according to the obstacle information fed back by the laser ranging device by using a positioning algorithm, such as an instant localization and mapping (SLAM, full name Simultaneous Localization And Mapping). And in combination with distance information and speed information fed back by sensors, operation area detection devices, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the front collision structure 122, the cleaning robot 10 is comprehensively judged to be in what working state and in what position, and the current pose of the cleaning robot 10, such as threshold, carpet, dust box full, being picked up and the like, a specific next action strategy can be given 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 maneuver the machine body 110 to travel across the ground based on the drive commands with distance and angle information. The drive modules comprise a main drive wheel module which can control the left wheel 140 and the right wheel 141, preferably comprising a left drive wheel module and a right drive wheel module, respectively, in order to control the movement of the machine more accurately. The left and right drive wheel modules are disposed along a lateral axis defined by the machine body 110. In order for the cleaning robot 10 to be able to move more stably or with greater motion capabilities on the floor, 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 be connected with a circuit for measuring driving current and an odometer. And the left wheel 140 and right wheel 141 may have biased drop down suspension systems movably secured, e.g., rotatably attached, to the machine body 110 and receiving spring biases biased downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain footprint while the cleaning elements of the cleaning robot 10 also contact the floor with a certain pressure.

The energy system includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable 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 singlechip control circuit. The main unit is connected with the charging pile through a charging electrode 160 arranged at the side or the lower part of the main body for charging.

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

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 by the embodiments 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 up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dry cleaning system 151 may also include a side brush 152 having a rotational axis 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 drive unit 1532, a water delivery mechanism, a reservoir, and the like. The cleaning head 1531 may be disposed below the liquid storage tank, and the cleaning liquid in the liquid storage tank is transferred to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be sprayed directly onto the surface to be cleaned, and the cleaning head 1531 may uniformly clean the surface by applying the cleaning liquid.

Wherein the cleaning head 1531 is for cleaning a surface to be cleaned, and the driving unit 1532 is for driving 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 contact surface of the cleaning head 1531 and the surface to be cleaned, and the mop of the cleaning head 1531 is driven by the driving unit 1532 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 may be floatably arranged to remain in contact with the cleaning surface throughout the cleaning process without the drive unit 1532 driving its reciprocating movement.

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 driving force, the supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531, and may be lifted under the driving of the driving platform 1533.

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 temporarily not engaged, for example, the cleaning robot 10 stops at a base station to clean the cleaning head 1531 of the wet cleaning system 153 and fills the liquid tank with water; or when the surface to be cleaned, which cannot be cleaned by the wet cleaning system 153, is encountered, the wet cleaning system 153 is lifted up by the active lifting module.

In a third aspect, as shown in fig. 4, 6, 7, 8 and 17, an embodiment of the present invention provides a method for detecting a working area of a cleaning robot, including:

step S101: the first light path changing part 220 is controlled to emit the outgoing light beam so that the outgoing light beam is converted into at least two converted light beams of different directions by the first light changing part.

Step S102: acquiring the light intensity of the reflected light beam, which is at least partially reflected by each converted light beam through the operation area, received by the signal receiving module 30;

step S103: and obtaining detection results corresponding to different detection types of the operation area according to the received light intensity of each reflected light beam.

Specifically, as shown in fig. 4, 7 and 8, the outgoing light beam is converted into a first converted light beam by the first light path changing part 220, and the first converted light beam is approximately parallel light inclined by a first angle α toward the signal receiving module 30; the step S102 specifically includes:

the signal receiving module 30 receives the light intensity of the reflected light beam after the first converted light beam is reflected by the operation.

Correspondingly, step S103 includes:

Further, as shown in fig. 18, according to the light intensity, a detection result of the surface material of the working area is obtained, including:

Step S201: and judging whether the light intensity is smaller than the first preset light intensity, if so, executing the step S202, and if not, executing the step S203.

Step S202: and determining the surface material of the operation area as a first material.

Step S203: and determining the surface material of the operation area as a second material.

Further, the roughened surface is a carpet; the smooth surface is a floor or tile.

Specifically, as shown in fig. 4 and 6, the outgoing beam is converted into a second converted beam by the first optical path changing unit 220, and the second converted beam is approximately parallel light inclined by a second angle Φ toward the signal receiving module 30; the step S102 specifically includes:

the signal receiving module 30 receives the light intensity of the reflected light beam after the second converted light beam is reflected by the operation.

Correspondingly, step S103 includes:

and obtaining a detection result of cliff detection of the operation area according to the light intensity.

Alternatively, as shown in fig. 19, the detection result of cliff detection of the work area is obtained according to the light intensity, including:

step S301: judging whether the light intensity is smaller than a second preset light intensity, if so, executing step S302; if not, step S303 is performed.

Step S302: and determining that the working area has cliffs.

Step S303: it is determined that the work area has no cliffs.

For specific limitation of the detection method of the working area of the cleaning robot, reference may be made to the description of the working area detection device hereinabove, and the description thereof will not be repeated here.

The present invention has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, 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 are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The operation area detection device is characterized by comprising a signal transmitting module and a signal receiving module; the signal transmitting module comprises a light transmitting 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 transmitting part;

2. The work area detection device according to claim 1, wherein the first optical path changing section includes a first optical path conversion member; the first light path conversion piece is used for converting an emergent light beam of the light emitting part into a first converted light beam, and the first converted light beam is approximately parallel light inclined at a first angle to the direction of the signal receiving module;

3. The work area detection device according to claim 2, wherein the first optical path changing section further includes a second optical path conversion member; the second light path conversion element is used for converting the emergent light beam of the light emitting part into a second converted light beam, and the second converted light beam is approximately parallel light inclined at a second angle towards the direction of the signal receiving module;

4. A cleaning robot comprising a main body and the working area detecting device according to any one of claims 1 to 3, wherein the working area detecting device is provided at the bottom of the main body.

5. A method of detecting a working area of a cleaning robot, comprising:

acquiring the light intensity of the reflected light beams received by the signal receiving module at least partially after the converted light beams are reflected by the operation area;

6. The method of claim 5, wherein a portion of the outgoing light beam is converted into a first converted light beam by the first light path changing portion, the first converted light beam being approximately parallel light inclined at a first angle to the direction of the signal receiving module; the signal receiving module receives the light intensity of the reflected light beam at least partially reflected by each converted light beam through the operation area, and the signal receiving module comprises:

7. The method of claim 6, wherein obtaining the detection result of the surface texture of the work area according to the light intensity comprises:

8. The method of claim 7, wherein the first material is a roughened surface; the second material is a smooth surface.

9. The method of claim 8, wherein the roughened surface is a carpet; the smooth surface is a floor or tile.

10. The method according to claim 9, wherein a part of the outgoing light beam is converted into a second converted light beam by the first light path changing section, the second converted light beam being approximately parallel light inclined at a second angle to the direction of the signal receiving module; the signal receiving module receives the light intensity of the reflected light beam at least partially reflected by each converted light beam through the operation area, and the signal receiving module comprises: