CN210673215U - A multi-light source detection robot - Google Patents

A multi-light source detection robot Download PDF

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CN210673215U
CN210673215U CN201920797585.2U CN201920797585U CN210673215U CN 210673215 U CN210673215 U CN 210673215U CN 201920797585 U CN201920797585 U CN 201920797585U CN 210673215 U CN210673215 U CN 210673215U
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light source
receiving sensor
robot
machine body
sensor
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曹晶瑛
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Beijing Rockrobo Technology Co Ltd
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Beijing Rockrobo Technology Co Ltd
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Abstract

The utility model relates to a many light sources detection robot, include: a machine body, a position determining device, and a control system; the position determining device is positioned on the machine body, is connected with the control system and provides the position information of the robot for the control system; the position determining apparatus includes: the first receiving sensor can receive detection signals of the first light source and the second light source and transmit the detection signals to the control system; the first light source is a linear light source and is used for detecting two-dimensional data around the robot; the second light source is a surface light source and is used for detecting three-dimensional data information around the robot. By more than one flight time sensor, an environment image with a larger visual angle and within a detection height can be obtained, so that the detection range of the sweeping robot to the surrounding environment is enlarged.

Description

一种多光源探测机器人A multi-light source detection robot

技术领域technical field

本实用新型属于机械设备技术领域,尤其涉及一种多光源探测机器人。The utility model belongs to the technical field of mechanical equipment, in particular to a multi-light source detection robot.

背景技术Background technique

障碍物规避,环境地图绘制与工作规划是机器人领域目前研究的重要课题,扫地机器人为了更好的完成任务,要生成一个它的工作环境地图,然后根据对此环境地图的理解规划出最合理的工作路径,提高清洁效率。Obstacle avoidance, environment map drawing and work planning are important topics of current research in the field of robotics. In order to better complete the task, the sweeping robot needs to generate a map of its working environment, and then plan the most reasonable according to the understanding of this environment map. Work path, improve cleaning efficiency.

目前市场流行的扫地机器人是基于碰撞传感器的接触式导航的,扫地机器人在发生碰撞后即转换工作路径,由于无法对障碍物做出智能判断,如障碍物的体积,类型等,因此存在清洁覆盖率低等缺点。并且和易碎物发生碰撞时会造成危险或损失。目前已有的扫地机器人智能避障方法,主要是基于超声波测距避障技术、激光测距等的避障技术。At present, the popular sweeping robot in the market is based on the contact navigation of the collision sensor. The sweeping robot changes its working path after a collision. Since it cannot make intelligent judgments on obstacles, such as the volume and type of obstacles, there is a cleaning coverage. disadvantages such as low rate. And it will cause danger or loss when colliding with fragile objects. The existing intelligent obstacle avoidance methods for sweeping robots are mainly based on obstacle avoidance technologies such as ultrasonic ranging and laser ranging.

由于超声波测距、激光测距等均需要采用机械结构,体积较大,因此现有技术中,扫地机器人的障碍物检测部件均固定于机器人顶部作为凸起结构,由于视角有限,导致对于高度较低的障碍物无法识别,例如地面的线缆、门线等,导致扫地机器人在工作过程中容易被卡住。并且,由于检测部件采用机械结构,容易在碰撞过程中损坏,可靠性较低。Because ultrasonic ranging, laser ranging, etc. all require mechanical structures and are relatively large, in the prior art, the obstacle detection components of the sweeping robot are all fixed on the top of the robot as a raised structure. Low obstacles cannot be recognized, such as cables on the ground, door lines, etc., which makes the cleaning robot easy to get stuck during the work process. Moreover, since the detection component adopts a mechanical structure, it is easy to be damaged in the process of collision, and the reliability is low.

本实用新型的发明人在长期研究的过程中,逐渐开发了一种具有至少一个飞行时间传感器的扫地机器人,以解决上述技术问题。In the course of long-term research, the inventor of the present utility model has gradually developed a sweeping robot with at least one time-of-flight sensor to solve the above technical problems.

实用新型内容Utility model content

本实用新型实施例提供了一种机器人,以解决上述技术问题之一。The embodiment of the present invention provides a robot to solve one of the above technical problems.

基于本实用新型的实施方式,本实用新型实施例提供一种多光源探测机器人,包括:机器主体110、位置确定装置121以及控制系统130;其中,所述位置确定装置121位于所述机器主体110上,与所述控制系统130连接,向所述控制系统130提供所述机器人的位置信息;Based on the embodiments of the present invention, the embodiment of the present invention provides a multi-light source detection robot, including: a machine body 110 , a position determination device 121 and a control system 130 ; wherein the position determination device 121 is located in the machine body 110 above, connect with the control system 130, and provide the control system 130 with the position information of the robot;

所述位置确定装置121包括:The position determination device 121 includes:

至少一个第一光源1211、第二光源1212以及至少一个第一接收传感器1213,所述第一接收传感器1213能够接收所述第一光源1211、第二光源1212的探测信号,并将探测信号传递给所述控制系统;At least one first light source 1211, second light source 1212 and at least one first receiving sensor 1213, the first receiving sensor 1213 can receive the detection signal of the first light source 1211 and the second light source 1212, and transmit the detection signal to the control system;

所述第一光源为线光源,用于探测所述机器人周围的二维数据;所述第二光源为面光源,用于探测所述机器人周围的三维数据信息。The first light source is a line light source, which is used for detecting two-dimensional data around the robot; the second light source is a surface light source, which is used for detecting three-dimensional data information around the robot.

可选的,所述第一接收传感器1213为面接收传感器,所述第一光源1211、第二光源1212以及第一接收传感器1213位于所述机器主体110的前向部分。Optionally, the first receiving sensor 1213 is a surface receiving sensor, and the first light source 1211 , the second light source 1212 and the first receiving sensor 1213 are located in the forward part of the machine body 110 .

可选的,所述位置确定装置121还包括:第二接收传感器1215,所述第二接收传感器1215为线接收传感器;所述第一光源1211以及第二接收传感器1215位于所述机器主体110的后向部分。Optionally, the position determination device 121 further includes: a second receiving sensor 1215 , the second receiving sensor 1215 is a line receiving sensor; the first light source 1211 and the second receiving sensor 1215 are located on the main body 110 of the machine backward part.

可选的,所述位置确定装置121还包括:第二接收传感器1215,所述第二接收传感器1215为线接收传感器;Optionally, the position determination device 121 further includes: a second receiving sensor 1215, where the second receiving sensor 1215 is a line receiving sensor;

所述第一光源1211以及第二接收传感器1215位于所述机器主体110的后向部分,所述第二光源1212以及第一接收传感器1213位于所述机器主体110的前向部分。The first light source 1211 and the second receiving sensor 1215 are located at the rear part of the machine body 110 , and the second light source 1212 and the first receiving sensor 1213 are located at the front part of the machine body 110 .

可选的,所述位置确定装置121还包括:第二接收传感器1215,所述第二接收传感器1215为线接收传感器;Optionally, the position determination device 121 further includes: a second receiving sensor 1215, where the second receiving sensor 1215 is a line receiving sensor;

所述第一光源1211以及第二接收传感器1215位于所述机器主体110的前向部分,所述第二光源1212以及第一接收传感器1213位于所述机器主体110的后向部分。The first light source 1211 and the second receiving sensor 1215 are located at the front part of the machine body 110 , and the second light source 1212 and the first receiving sensor 1213 are located at the rear part of the machine body 110 .

可选的,所述前向部分包括前侧壁,所述后向部分包括后侧壁,所述第一光源1211、第二光源1212、第一接收传感器1213以及第二接收传感器1215位于所述前侧壁和/或后侧壁。Optionally, the forward portion includes a front side wall, the rear portion includes a rear side wall, and the first light source 1211 , the second light source 1212 , the first receiving sensor 1213 and the second receiving sensor 1215 are located in the Front and/or rear side walls.

可选的,所述位置确定装置121还包括:数据处理单元1216,与所述第一接收传感器1213和/或第二接收传感器1215连接,用于处理所述第一接收传感器1213和/或第二接收传感器1215接收到的数据。Optionally, the position determination device 121 further includes: a data processing unit 1216, connected to the first receiving sensor 1213 and/or the second receiving sensor 1215, for processing the first receiving sensor 1213 and/or the second receiving sensor 1215. 2. The data received by the sensor 1215 is received.

可选的,所述面接收传感器包括面阵CCD;所述线接收传感器包括线阵CCD。Optionally, the area receiving sensor includes an area array CCD; the line receiving sensor includes a line array CCD.

可选的,所述前向部分111和后向部分112均为半圆形。Optionally, the forward portion 111 and the rearward portion 112 are both semicircular.

可选的,所述前向部分111和后向部分112能够围绕所述机器主体110在一定角度内转动。Optionally, the forward portion 111 and the rearward portion 112 can rotate around the machine body 110 within a certain angle.

本实用新型实施例的上述方案至少具有以下有益效果:The above-mentioned scheme of the embodiment of the present utility model has at least the following beneficial effects:

本实用新型的机器人,沿壳体侧壁设置的至少一个飞行时间传感器,对障碍物进行检测。通过一个以上的飞行时间传感器,可以获得更大视角以及检测高度内的环境图像,从而提高扫地机器人对周围环境的检测范围。In the robot of the utility model, at least one time-of-flight sensor is arranged along the side wall of the casing to detect obstacles. With more than one time-of-flight sensor, a larger viewing angle and an image of the environment within the detection height can be obtained, thereby improving the detection range of the cleaning robot to the surrounding environment.

附图说明Description of drawings

为了更清楚地说明本实用新型实施例中的技术方案,下面将对实施例描述中所需要使用的附图作简要介绍,显而易见地,下面描述中的附图仅仅是本实用新型的一些实施例,对于本领域的普通技术人员来将,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. , for those of ordinary skill in the art, under the premise of no creative labor, other drawings can also be obtained from these drawings.

图1是本实用新型实施例所述机器人的光电探测应用场景示意图;1 is a schematic diagram of a photoelectric detection application scenario of a robot according to an embodiment of the present invention;

图2为本申请实施例提供的机器人结构俯视图;2 is a top view of a robot structure provided by an embodiment of the present application;

图3为本申请实施例提供的机器人结构仰视图;3 is a bottom view of a robot structure provided by an embodiment of the present application;

图4为本申请实施例提供的机器人结构正视图;4 is a front view of a robot structure provided by an embodiment of the present application;

图5为本申请实施例提供的机器人结构立体图;5 is a perspective view of a robot structure provided by an embodiment of the present application;

图6为本申请实施例提供的机器人结构框图;FIG. 6 is a structural block diagram of a robot provided by an embodiment of the present application;

图7为本申请实施例提供的机器人面阵光电探测器示意图;7 is a schematic diagram of a robotic area array photodetector provided by an embodiment of the present application;

图8为本申请实施例提供的机器人线阵光电探测器示意图。FIG. 8 is a schematic diagram of a robotic linear array photodetector provided by an embodiment of the present application.

具体实施方式Detailed ways

为了使本实用新型的目的、技术方案和优点更加清楚,下面将结合附图对本实用新型作进一步地详细描述,显然,所描述的实施例仅仅是本实用新型一部分实施例,而不是全部的实施例。基于本实用新型中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例,都属于本实用新型保护的范围。In order to make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的,而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式,除非上下文清楚地表示其他含义,“多种”一般包含至少两种。The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the examples of this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise, "a plurality" Generally at least two are included.

应当理解,本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。另外,本文中字符“/”,一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" used in this document is only an association relationship to describe the associated objects, indicating that there may be three kinds of relationships, for example, A and/or B, which may indicate that A exists alone, and A and B exist at the same time. B, there are three cases of B alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

应当理解,尽管在本申请实施例中可能采用术语第一、第二、第三等来描述……,但这些……不应限于这些术语。这些术语仅用来将……区分开。例如,在不脱离本申请实施例范围的情况下,第一……也可以被称为第二……,类似地,第二……也可以被称为第一……。It should be understood that, although the terms first, second, third, etc. may be used to describe . . . in the embodiments of the present application, these . . . should not be limited to these terms. These terms are only used to distinguish ... For example, the first... may also be referred to as the second..., and similarly, the second... may also be referred to as the first... without departing from the scope of the embodiments of the present application.

取决于语境,如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地,取决于语境,短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if detected (the stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detected (the stated condition or event)," depending on the context )" or "in response to detection (a stated condition or event)".

还需要说明的是,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的商品或者系统不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种商品或者系统所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的商品或者系统中还存在另外的相同要素。It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a commodity or system comprising a list of elements includes not only those elements, but also includes not explicitly listed other elements, or elements inherent to the commodity or system. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the article or system that includes the element.

下面结合附图详细说明本实用新型的优选实施例。为了更加清楚地描述机器人的行为,进行如下方向定义:The preferred embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. In order to describe the behavior of the robot more clearly, the following directions are defined:

如图5所示,机器人100可通过相对于由主体110界定的如下三个相互垂直轴的移动的各种组合在地面上行进:前后轴X、横向轴Y及中心垂直轴Z。沿着前后轴X的前向驱动方向标示为“前向”,且沿着前后轴X的向后驱动方向标示为“后向”。横向轴Y实质上是沿着由驱动轮模块141的中心点界定的轴心在机器人的右轮与左轮之间延伸。As shown in FIG. 5 , the robot 100 can travel on the ground through various combinations of movements relative to three mutually perpendicular axes defined by the body 110 : a front-to-back axis X, a lateral axis Y, and a central vertical axis Z. The forward drive direction along the front-rear axis X is designated "forward" and the rearward drive direction along the front-rear axis X is designated "rear". The transverse axis Y substantially extends between the right and left wheels of the robot along the axis defined by the center point of the drive wheel module 141 .

机器人100可以绕Y轴转动。当机器人100的前向部分向上倾斜,向后向部分向下倾斜时为“上仰”,且当机器人100的前向部分向下倾斜,向后向部分向上倾斜时为“下俯”。另外,机器人100可以绕Z轴转动。在机器人的前向方向上,当机器人100向X轴的右侧倾斜为“右转”,当机器人100向X轴的左侧倾斜为“左转”。The robot 100 can rotate around the Y axis. "Tilt up" is when the forward part of the robot 100 is tilted up and the rearward part is tilted down, and "tilt down" is when the forward part of the robot 100 is tilted down and the rearward part is tilted up. In addition, the robot 100 can rotate around the Z axis. In the forward direction of the robot, when the robot 100 is tilted to the right of the X axis, it is "turn right", and when the robot 100 is tilted to the left of the X axis, it is "turn left".

请参阅图1,为本申请实施例提供的一种可能的应用场景,该应用场景包括机器人,例如扫地机器人、拖地机器人、吸尘器、除草机等等。在某些实施例中,该机器人可以是机器人,具体可以为扫地机器人、拖地机器人。在实施中,机器人通过发射单元E发射探测光源,通过接收单元R接收障碍物反射光源,将接收到的数据传输到DPU进行计算处理,然后传输到控制系统对机器人的行进方向控制。在其他实施例中,机器人可以设置有触敏显示器,以接收用户输入的操作指令。机器人还可以设置有WIFI模块、Bluetooth模块等无线通讯模块,以与智能终端连接,并通过无线通讯模块接收用户利用智能终端传输的操作指令。Referring to FIG. 1 , a possible application scenario provided by an embodiment of the present application includes a robot, such as a sweeping robot, a mopping robot, a vacuum cleaner, a lawn mower, and the like. In some embodiments, the robot may be a robot, and may specifically be a sweeping robot or a mopping robot. In implementation, the robot transmits the detection light source through the transmitting unit E, receives the obstacle reflected light source through the receiving unit R, transmits the received data to the DPU for calculation processing, and then transmits it to the control system to control the robot's traveling direction. In other embodiments, the robot may be provided with a touch-sensitive display to receive operating instructions entered by the user. The robot can also be provided with wireless communication modules such as a WIFI module and a Bluetooth module to connect with the intelligent terminal, and receive operation instructions transmitted by the user using the intelligent terminal through the wireless communication module.

相关机器人的结构描述如下,如图2-5所示:The structure of the related robot is described as follows, as shown in Figure 2-5:

机器人100包含机器主体110、感知系统120、控制系统、驱动系统140、清洁系统、能源系统和人机交互系统170。如图2所示。The robot 100 includes a machine body 110 , a perception system 120 , a control system, a drive system 140 , a cleaning system, an energy system, and a human-machine interaction system 170 . as shown in picture 2.

机器主体110包括前向部分111和后向部分112,具有近似圆形形状(前后都为圆形),也可具有其他形状,包括但不限于前方后圆的近似D形形状。The machine body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear), and may also have other shapes, including but not limited to an approximately D-shaped shape with front and rear circles.

如图4所示,感知系统120包括位于机器主体110上方的位置确定装置121、位于机器主体110的前向部分111的缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置,向控制系统130提供机器的各种位置信息和运动状态信息。位置确定装置121包括但不限于摄像头、激光测距装置(LDS),位置确定装置121可以位于机器人顶部或侧面。下面以三角测距法的激光测距装置为例说明如何进行位置确定。三角测距法的基本原理基于相似三角形的等比关系,在此不做赘述。As shown in FIG. 4 , the perception system 120 includes a position determination device 121 located above the machine body 110 , a buffer 122 located at the forward portion 111 of the machine body 110 , a cliff sensor 123 and ultrasonic sensors, infrared sensors, magnetometers, accelerometers Sensing devices such as a gyroscope, a gyroscope, and an odometer provide the control system 130 with various position information and motion state information of the machine. The position determination device 121 includes, but is not limited to, a camera and a laser ranging device (LDS). The position determination device 121 may be located on the top or side of the robot. The following takes the laser ranging device of the triangulation ranging method as an example to illustrate how to determine the position. The basic principle of the triangulation ranging method is based on the proportional relationship of similar triangles, which will not be repeated here.

激光测距装置包括发光单元和受光单元。发光单元可以包括发射光的光源,光源可以包括发光元件,例如发射红外光线或可见光线的红外或可见光线发光二极管(LED)。优选地,光源可以是发射激光束的发光元件。在本实施例中,将激光二极管(LD)作为光源的例子。具体地,由于激光束的单色、定向和准直特性,使用激光束的光源可以使得测量相比于其它光更为准确。例如,相比于激光束,发光二极管(LED)发射的红外光线或可见光线受周围环境因素影响(例如对象的颜色或纹理),而在测量准确性上可能有所降低。激光二极管(LD)可以是点激光,测量出障碍物的二维位置信息,也可以是线激光,测量出障碍物一定范围内的三维位置信息。The laser ranging device includes a light-emitting unit and a light-receiving unit. The light emitting unit may include a light source that emits light, and the light source may include a light emitting element such as an infrared or visible light emitting diode (LED) that emits infrared or visible light. Preferably, the light source may be a light emitting element emitting a laser beam. In this embodiment, a laser diode (LD) is used as an example of the light source. In particular, the use of a light source of a laser beam can make measurements more accurate compared to other lights due to the monochromatic, directional, and collimated properties of the laser beam. For example, compared to laser beams, the infrared or visible light emitted by light emitting diodes (LEDs) may be affected by surrounding environmental factors (such as the color or texture of objects) and may have reduced measurement accuracy. The laser diode (LD) can be a point laser, which measures the two-dimensional position information of the obstacle, or can be a line laser, which measures the three-dimensional position information of the obstacle within a certain range.

受光单元可以包括图像传感器,在该图像传感器上形成由障碍物反射或散射的光点。图像传感器可以是单排或者多排的多个单位像素的集合。这些受光元件可以将光信号转换为电信号。图像传感器可以为互补金属氧化物半导体(CMOS)传感器或者电荷耦合元件(CCD)传感器,由于成本上的优势优选是互补金属氧化物半导体(CMOS)传感器。而且,受光单元可以包括受光透镜组件。由障碍物反射或散射的光可以经由受光透镜组件行进以在图像传感器上形成图像。受光透镜组件可以包括单个或者多个透镜。The light receiving unit may include an image sensor on which light spots reflected or scattered by obstacles are formed. The image sensor may be a collection of multiple unit pixels in a single row or multiple rows. These light-receiving elements can convert optical signals into electrical signals. The image sensor may be a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge Coupled Element (CCD) sensor, preferably a Complementary Metal Oxide Semiconductor (CMOS) sensor due to cost advantages. Also, the light receiving unit may include a light receiving lens assembly. Light reflected or scattered by obstacles can travel through the light-receiving lens assembly to form an image on the image sensor. The light-receiving lens assembly may include a single lens or a plurality of lenses.

基部可以支撑发光单元和受光单元,发光单元和受光单元布置在基部上且彼此间隔一特定距离。为了测量机器人周围360度方向上的障碍物情况,可以使基部可旋转地布置在主体110上,也可以基部本身不旋转而通过设置旋转元件而使发射光、接收光发生旋转。旋转元件的旋转角速度可以通过设置光耦元件和码盘获得,光耦元件感应码盘上的齿缺,通过齿缺间距的滑过时间和齿缺间距离值相除可得到瞬时角速度。码盘上齿缺的密度越大,测量的准确率和精度也就相应越高,但在结构上就更加精密,计算量也越高;反之,齿缺的密度越小,测量的准确率和精度相应也就越低,但在结构上可以相对简单,计算量也越小,可以降低一些成本。The base may support the light-emitting unit and the light-receiving unit, and the light-emitting unit and the light-receiving unit are arranged on the base and are spaced apart from each other by a certain distance. In order to measure the obstacles in the 360-degree direction around the robot, the base can be rotatably arranged on the main body 110, or the base itself can be rotated by providing a rotating element to rotate the emitted light and the received light. The rotational angular velocity of the rotating element can be obtained by setting the optocoupler element and the code disc. The optocoupler element senses the tooth gap on the code disc, and the instantaneous angular velocity can be obtained by dividing the sliding time of the tooth gap spacing and the tooth gap distance value. The greater the density of missing teeth on the code disc, the higher the accuracy and precision of measurement, but the more precise the structure and the higher the amount of calculation; on the contrary, the smaller the density of missing teeth, the higher the accuracy of measurement and the higher the amount of calculation. The accuracy is correspondingly lower, but the structure can be relatively simple and the calculation amount is smaller, which can reduce some costs.

与受光单元连接的数据处理装置,如DSP,将相对于机器人0度角方向上的所有角度处的障碍物距离值记录并传送给控制系统130中的数据处理单元,如包含CPU的应用处理器(AP),CPU运行基于粒子滤波的定位算法获得机器人的当前位置,并根据此位置制图,供导航使用。定位算法优选使用即时定位与地图构建(SLAM)。The data processing device connected with the light receiving unit, such as DSP, records and transmits the obstacle distance values at all angles relative to the 0-degree angular direction of the robot to the data processing unit in the control system 130, such as an application processor including a CPU (AP), the CPU runs the particle filter-based positioning algorithm to obtain the current position of the robot, and draws a map based on this position for navigation. The localization algorithm preferably uses Simultaneous Localization and Mapping (SLAM).

基于三角测距法的激光测距装置虽然在原理上可以测量一定距离以外的无限远距离处的距离值,但实际上远距离测量,例如6米以上,的实现是很有难度的,主要因为受光单元的传感器上像素单元的尺寸限制,同时也受传感器的光电转换速度、传感器与连接的DSP之间的数据传输速度、DSP的计算速度影响。激光测距装置受温度影响得到的测量值也会发生系统无法容忍的变化,主要是因为发光单元与受光单元之间的结构发生的热膨胀变形导致入射光和出射光之间的角度变化,发光单元和受光单元自身也会存在温漂问题。激光测距装置长期使用后,由于温度变化、振动等多方面因素累积而造成的形变也会严重影响测量结果。测量结果的准确性直接决定了绘制地图的准确性,是机器人进一步进行策略实行的基础,尤为重要。Although the laser ranging device based on the triangulation method can measure the distance value at an infinite distance beyond a certain distance in principle, it is very difficult to realize long-distance measurement, such as more than 6 meters, mainly because It is limited by the size of the pixel unit on the sensor of the light unit, and is also affected by the photoelectric conversion speed of the sensor, the data transmission speed between the sensor and the connected DSP, and the calculation speed of the DSP. The measured value obtained by the laser ranging device under the influence of temperature will also undergo changes that the system cannot tolerate, mainly because the thermal expansion deformation of the structure between the light-emitting unit and the light-receiving unit causes the angle between the incident light and the outgoing light to change. There will also be a temperature drift problem with the light-receiving unit itself. After the laser ranging device is used for a long time, the deformation caused by the accumulation of various factors such as temperature change and vibration will also seriously affect the measurement results. The accuracy of the measurement results directly determines the accuracy of the map, which is the basis for the robot to further implement the strategy, and is particularly important.

如图3所示,机器主体110的前向部分111可承载缓冲器122,在清洁过程中驱动轮模块141推进机器人在地面行走时,缓冲器122经由传感器系统,例如红外传感器,检测机器人100的行驶路径中的一或多个事件,机器人可通过由缓冲器122检测到的事件,例如障碍物、墙壁,而控制驱动轮模块141使机器人来对所述事件做出响应,例如远离障碍物。As shown in FIG. 3 , the forward portion 111 of the machine body 110 may carry the buffer 122 , and the buffer 122 detects the movement of the robot 100 via a sensor system, such as an infrared sensor, when the driving wheel module 141 propels the robot to walk on the ground during the cleaning process. One or more events in the travel path that the robot can respond to by controlling the drive wheel module 141 to cause the robot to respond to events detected by the buffer 122, such as obstacles, walls, such as moving away from obstacles.

控制系统130设置在机器主体110内的电路主板上,包括与非暂时性存储器,例如硬盘、快闪存储器、随机存取存储器,通信的计算处理器,例如中央处理单元、应用处理器,应用处理器根据激光测距装置反馈的障碍物信息利用定位算法,例如SLAM,绘制机器人所在环境中的即时地图。并且结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态,如过门槛,上地毯,位于悬崖处,上方或者下方被卡住,尘盒满,被拿起等等,还会针对不同情况给出具体的下一步动作策略,使得机器人的工作更加符合主人的要求,有更好的用户体验。进一步地,控制系统130能基于SLAM绘制的即使地图信息规划最为高效合理的清扫路径和清扫方式,大大提高机器人的清扫效率。The control system 130 is arranged on the circuit board in the main body 110 of the machine, and includes a computing processor that communicates with non-transitory memory, such as hard disk, flash memory, and random access memory, such as central processing unit, application processor, application processing Based on the obstacle information fed back by the laser ranging device, the robot uses localization algorithms, such as SLAM, to draw a real-time map of the environment where the robot is located. And combined with buffer 122, cliff sensor 123, ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices feedback distance information and speed information to comprehensively judge the current working state of the sweeper, such as When crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., specific next-step action strategies will be given according to different situations, so that the work of the robot is more in line with the owner's requirements. , have a better user experience. Further, the control system 130 can plan the most efficient and reasonable cleaning path and cleaning method based on the map information drawn by SLAM, which greatly improves the cleaning efficiency of the robot.

驱动系统140可基于具有距离和角度信息,例如x、y及θ分量,的驱动命令而操纵机器人100跨越地面行驶。驱动系统140包含驱动轮模块141,驱动轮模块141可以同时控制左轮和右轮,为了更为精确地控制机器的运动,优选驱动轮模块141分别包括左驱动轮模块和右驱动轮模块。左、右驱动轮模块沿着由主体110界定的横向轴对置。为了机器人能够在地面上更为稳定地运动或者更强的运动能力,机器人可以包括一个或者多个从动轮142,从动轮包括但不限于万向轮。驱动轮模块包括行走轮和驱动马达以及控制驱动马达的控制电路,驱动轮模块还可以连接测量驱动电流的电路和里程计。驱动轮模块141可以可拆卸地连接到主体110上,方便拆装和维修。驱动轮可具有偏置下落式悬挂系统,以可移动方式紧固,例如以可旋转方式附接,到机器人主体110,且接收向下及远离机器人主体110偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引,同时机器人100的清洁元件也以一定的压力接触地面10。The drive system 140 may maneuver the robot 100 to travel across the ground based on drive commands having distance and angular information, such as x, y, and theta components. The driving system 140 includes a driving wheel module 141, which can control the left and right wheels at the same time. In order to control the movement of the machine more accurately, the driving wheel module 141 preferably includes a left driving wheel module and a right driving wheel module, respectively. The left and right drive wheel modules are opposed along a lateral axis defined by the body 110 . In order for the robot to move more stably or have stronger movement ability on the ground, the robot may include one or more driven wheels 142, and the driven wheels include but are not limited to universal wheels. The driving wheel module includes a traveling wheel, a driving motor and a control circuit for controlling the driving motor. The driving wheel module can also be connected to a circuit for measuring driving current and an odometer. The driving wheel module 141 can be detachably connected to the main body 110 for easy disassembly and maintenance. The drive wheel may have a biased drop suspension system, movably fastened, eg rotatably attached, to the robot body 110 and receiving a spring bias biased downward and away from the robot body 110 . The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain landing force, while the cleaning elements of the robot 100 also contact the ground 10 with a certain pressure.

清洁系统可为干式清洁系统和/或湿式清洁系统。作为干式清洁系统,主要的清洁功能源于滚刷、尘盒、风机、出风口以及四者之间的连接部件所构成的清扫系统151。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方,然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率进行表征,清扫效率受滚刷结构和材料影响,受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响,受风机的类型和功率影响,是个负责的系统设计问题。相比于普通的插电吸尘器,除尘能力的提高对于能源有限的清洁机器人来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求,也就是说原来充一次电可以清扫80平米地面的机器,可以进化为充一次电清扫100平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加,使得用户更换电池的频率也会增加。更为直观和重要的是,除尘能力的提高是最为明显和重要的用户体验,用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁系统还可包含具有旋转轴的边刷152,旋转轴相对于地面成一定角度,以用于将碎屑移动到清洁系统的滚刷区域中。The cleaning system may be a dry cleaning system and/or a wet cleaning system. As a dry cleaning system, the main cleaning function comes from the cleaning system 151 composed of the roller brush, the dust box, the fan, the air outlet and the connecting parts between the four. The roller brush with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dust removal ability of the sweeper can be characterized by the cleaning efficiency of the garbage. The cleaning efficiency is affected by the structure and material of the roller brush, and the wind power of the air duct formed by the dust suction port, the dust box, the fan, the air outlet and the connecting parts between the four. Utilization effects, affected by fan type and power, are a responsible system design issue. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning robots with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can be evolved to clean 100 square meters or more with one charge. And the service life of the battery that reduces the number of charging times will also be greatly increased, so that the frequency of the user replacing the battery will also increase. What is more intuitive and important is that the improvement of dust removal ability is the most obvious and important user experience, and the user will directly come to the conclusion of whether the cleaning is clean or not. The dry cleaning system may also include a side brush 152 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning system.

能源系统包括充电电池,例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路,充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘,会在充电过程中由于电荷的累积效应,导致电极周边的塑料机体融化变形,甚至导致电极本身发生变形,无法继续正常充电。The energy system includes rechargeable batteries such as NiMH and Lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit. The host is charged by connecting to the charging pile through the charging electrode arranged on the side or below of the fuselage. If there is dust on the bare charging electrode, the plastic body around the electrode will melt and deform due to the accumulation effect of the charge during the charging process, and even the electrode itself will be deformed, making it impossible to continue normal charging.

人机交互系统170包括主机面板上的按键,按键供用户进行功能选择;还可以包括显示屏和/或指示灯和/或喇叭,显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项;还可以包括手机客户端程序。对于路径导航型清洁设备,在手机客户端可以向用户展示设备所在环境的地图,以及机器所处位置,可以向用户提供更为丰富和人性化的功能项。The human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs. For the route navigation type cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.

图6是根据本实用新型的扫地机器人的方框图。Fig. 6 is a block diagram of a cleaning robot according to the present invention.

根据当前实施例的扫地机器人可以包括:用于识别用户的语音的麦克阵列单元、用于与远程控制设备或其他设备通信的通信单元、用于驱动主体的移动单元、清洁单元、以及用于存储信息的存储器单元。输入单元(扫地机器人的按键等)、物体检测传感器、充电单元、麦克阵列单元、方向检测单元、位置检测单元、通信单元、驱动单元以及存储器单元可以连接到控制单元,以将预定信息传送到控制单元或从控制单元接收预定信息。The cleaning robot according to the current embodiment may include: a microphone array unit for recognizing a user's voice, a communication unit for communicating with a remote control device or other devices, a moving unit for driving the main body, a cleaning unit, and a storage unit A memory unit of information. An input unit (buttons of the sweeping robot, etc.), an object detection sensor, a charging unit, a microphone array unit, a direction detection unit, a position detection unit, a communication unit, a drive unit, and a memory unit may be connected to the control unit to transmit predetermined information to the control unit unit or receive predetermined information from the control unit.

麦克阵列单元可以将通过接收单元输入的语音与存储在存储器单元中的信息比较,以确定输入语音是否对应于特定的命令。如果确定所输入的语音对应于特定的命令,则将对应的命令传送到控制单元。如果无法将检测到的语音与存储在存储器单元中的信息相比较,则所检测到的语音可被视为噪声以忽略所检测到的语音。The microphone array unit may compare the voice input through the receiving unit with information stored in the memory unit to determine whether the input voice corresponds to a specific command. If it is determined that the input voice corresponds to a specific command, the corresponding command is transmitted to the control unit. If the detected speech cannot be compared with the information stored in the memory unit, the detected speech may be regarded as noise to ignore the detected speech.

例如,检测到的语音对应词语“过来、来这里、到这里、到这儿”,并且存在与存储在存储器单元的信息中的词语相对应的文字控制命令(come here)。在这种情况下,可以将对应的命令传送到控制单元中。For example, the detected speech corresponds to the word "come here, here, here, here", and there is a text control command (come here) corresponding to the word stored in the information of the memory unit. In this case, corresponding commands can be transmitted to the control unit.

方向检测单元可以通过使用输入到多个接收单元的语音的时间差或水平来检测语音的方向。方向检测单元将检测到的语音的方向传送到控制单元。控制单元可以通过使用由方向检测单元检测到的语音方向来确定移动路径。The direction detection unit may detect the direction of the speech by using the time difference or the level of the speech input to the plurality of receiving units. The direction detection unit transmits the direction of the detected speech to the control unit. The control unit may determine the movement path by using the voice direction detected by the direction detection unit.

位置检测单元可以检测主体在预定地图信息内的坐标。在一个实施例中,由摄像头检测到的信息与存储在存储器单元中的地图信息可以相互比较以检测主体的当前位置。除了摄像头之外,位置检测单元还可以使用全球定位系统(GPS)。The position detection unit may detect coordinates of the subject within predetermined map information. In one embodiment, the information detected by the camera and the map information stored in the memory unit may be compared with each other to detect the current position of the subject. In addition to the camera, the location detection unit can also use the Global Positioning System (GPS).

从广义上说,位置检测单元可以检测主体是否布置在特定的位置上。例如,位置检测单元可以包括用于检测主体是否布置在充电桩上的单元。In a broad sense, the position detection unit can detect whether or not the main body is arranged at a specific position. For example, the position detection unit may include a unit for detecting whether the main body is arranged on the charging pile.

例如,在用于检测主体是否布置在充电桩上的方法中,可以根据电力是否输入到充电单元中来检测主体是否布置在充电位置处。又例如,可以通过布置在主体或充电桩上的充电位置检测单元来检测主体是否布置在充电位置处。For example, in the method for detecting whether the main body is arranged on the charging pile, whether or not the main body is arranged at the charging position may be detected according to whether electric power is input into the charging unit. For another example, whether the main body is arranged at the charging position can be detected by a charging position detection unit arranged on the main body or the charging pile.

通信单元可以将预定信息传送到/接收自远程控制设备或者其他设备。通信单元可以更新扫地机器人的地图信息。The communication unit may transmit/receive predetermined information to/from a remote control device or other device. The communication unit can update the map information of the cleaning robot.

驱动单元可以操作移动单元和清洁单元。驱动单元可以沿由控制单元确定的移动路径移动所述移动单元。The drive unit can operate the moving unit and the cleaning unit. The driving unit may move the moving unit along a moving path determined by the control unit.

存储器单元中存储与扫地机器人的操作有关的预定信息。例如,扫地机器人所布置的区域的地图信息、与麦克阵列单元所识别的语音相对应的控制命令信息、由方向检测单元检测到的方向角信息、由位置检测单元检测到的位置信息以及由物体检测传感器检测到的障碍物信息可以存储在存储器单元中。Predetermined information related to the operation of the cleaning robot is stored in the memory unit. For example, the map information of the area where the cleaning robot is arranged, the control command information corresponding to the voice recognized by the microphone array unit, the direction angle information detected by the direction detection unit, the position information detected by the position detection unit, and the The obstacle information detected by the detection sensor may be stored in the memory unit.

控制单元可以接收由接收单元、摄像头以及物体检测传感器检测到的信息。控制单元可以基于所传送的信息识别用户的语音、检测语音发生的方向、以及检测扫地机器人的位置。此外,控制单元还可以操作移动单元和清洁单元。The control unit can receive the information detected by the receiving unit, the camera and the object detection sensor. The control unit may recognize the user's voice, detect the direction in which the voice occurs, and detect the position of the cleaning robot based on the transmitted information. In addition, the control unit can also operate the mobile unit and the cleaning unit.

具体的,基于本实用新型的实施方式,本实用新型实施例提供的机器人,包括:机器主体110、位置确定装置121以及控制系统130;其中,所述位置确定装置121位于所述机器主体110侧面,向所述控制系统130提供所述机器人的位置信息;Specifically, based on the embodiments of the present invention, the robot provided by the embodiments of the present invention includes: a machine body 110 , a position determination device 121 and a control system 130 ; wherein the position determination device 121 is located on the side of the machine body 110 , providing the position information of the robot to the control system 130;

所述位置确定装置121包括:第一光源1211、第二光源1212以及第一接收传感器1213,所述第一光源1211、第二光源1212以及第一接收传感器1213位于所述机器主体110的前侧面。The position determination device 121 includes: a first light source 1211 , a second light source 1212 and a first receiving sensor 1213 , the first light source 1211 , the second light source 1212 and the first receiving sensor 1213 are located on the front side of the machine body 110 .

第三光源1214以及第二接收传感器1215,所述第三光源1214以及第二接收传感器1215位于所述机器主体110的后侧面。The third light source 1214 and the second receiving sensor 1215 are located on the rear side of the machine body 110 .

通过光源与接收器实现TOF方法确定障碍物位置。The TOF method is implemented to determine the position of the obstacle through the light source and the receiver.

TOF是Time of flight的简写,飞行时间法测距。所谓飞行时间法3D成像,是通过给目标连续发送光脉冲,然后用传感器接收从物体返回的光,通过探测光脉冲的飞行(往返)时间来得到目标物距离。如图1所示。TOF is the abbreviation of Time of flight, time-of-flight method for ranging. The so-called time-of-flight 3D imaging is to continuously send light pulses to the target, and then use the sensor to receive the light returned from the object, and obtain the target distance by detecting the flight (round-trip) time of the light pulse. As shown in Figure 1.

TOF测距方法属于双向测距技术,它主要利用信号在两个异步收发机(或被反射面)之间往返的飞行时间来测量节点间的距离。传统的测距技术分为双向测距技术和单向测距技术。在信号电平比较好调制或在非视距视线环境下,基于RSSI(Received SignalStrength Indication,接收的信号强度指示)测距方法估算的结果比较理想;在视距视线环境下,基于TOF距离估算方法能够弥补基于RSSI距离估算方法的不足。The TOF ranging method belongs to the two-way ranging technology, which mainly uses the flight time of the signal to and from the two asynchronous transceivers (or the reflected surface) to measure the distance between nodes. The traditional ranging technology is divided into two-way ranging technology and one-way ranging technology. When the signal level is better modulated or in a non-line-of-sight line-of-sight environment, the estimation results based on the RSSI (Received Signal Strength Indication, received signal strength indication) ranging method are ideal; in a line-of-sight environment, the TOF distance estimation method is based on It can make up for the deficiency of RSSI-based distance estimation method.

可选的,第一光源1211、第二光源1212以及第三光源1214可以为面光源或线光源。第一接收传感器1213和第二接收传感器1215可以为面接收传感器或线接收传感器。第一光源1211、第二光源1212、第三光源1214、第一接收传感器1213以及第二接收传感器1215的位置及数量可以根据实际情况选择使用。Optionally, the first light source 1211, the second light source 1212 and the third light source 1214 may be surface light sources or line light sources. The first receiving sensor 1213 and the second receiving sensor 1215 may be surface receiving sensors or line receiving sensors. The positions and numbers of the first light source 1211 , the second light source 1212 , the third light source 1214 , the first receiving sensor 1213 and the second receiving sensor 1215 can be selected and used according to the actual situation.

对于本实用新型的一种实施方式,可以先选择:For an embodiment of the present utility model, you can first select:

第一光源1211为面光源,第二光源1212为线光源和第一接收传感器1213为面接收传感器。使用一个面阵的接收器和两个光源,即一个面光源,一个线光源,使用两个光源交替测量,线阵光源的可以用来做定位,建二维地图和导航,面阵的光源可以用来做避障和建立三维地图。The first light source 1211 is a surface light source, the second light source 1212 is a line light source, and the first receiving sensor 1213 is a surface receiving sensor. Use an area array receiver and two light sources, that is, a surface light source and a line light source, and use two light sources to measure alternately. The line array light source can be used for positioning, building two-dimensional maps and navigation, and the area array light source can be used. Used for obstacle avoidance and building 3D maps.

第三光源1214为线光源,第二接收传感器1215为线接收传感器。即一个线接收器,一个线光源,可以用精准定位,建二维地图和导航。可选的,所述面接收传感器包括面阵CCD;所述线接收传感器包括线阵CCD。The third light source 1214 is a line light source, and the second receiving sensor 1215 is a line receiving sensor. That is, a line receiver and a line light source, which can be used for precise positioning to build two-dimensional maps and navigation. Optionally, the area receiving sensor includes an area array CCD; the line receiving sensor includes a line array CCD.

如图7所示,面阵CCD的结构有3种。第一种是帧转性CCD。它由上、下两部分组成,上半部分是集中了像素的光敏区域,下半部分是被遮光而集中垂直寄存器的存储区域。其优点是结构较简单并容易增加像素数,缺点是CCD尺寸较大,易产生垂直拖影。第二种是行间转移性CCD,像素群和垂直寄存器在同一平面上,第三种是帧行间转移性CCD,它是第一种和第二种的复合型,结构复杂,但能大幅度减少垂直拖影现象。As shown in Figure 7, there are three types of structure of the area array CCD. The first is the frame-turning CCD. It consists of upper and lower parts, the upper part is the photosensitive area where the pixels are concentrated, and the lower part is the storage area that is blocked from light and concentrates the vertical registers. The advantage is that the structure is simpler and the number of pixels can be easily increased. The disadvantage is that the size of the CCD is large, which is prone to vertical smear. The second is the inter-line transfer CCD, the pixel group and the vertical register are on the same plane, the third is the frame inter-line transfer CCD, which is a composite type of the first and the second, with a complex structure, but can be large. Magnitude reduces vertical smearing.

如图8所示,线阵CCD是用一排像素扫描过图片,做三次曝光,分别对应于红、绿、蓝三色滤镜,正如名称所表示的,线性传感器是捕捉一维图像。As shown in Figure 8, a linear CCD scans an image with a row of pixels and makes three exposures, corresponding to red, green, and blue filters. As the name suggests, a linear sensor captures a one-dimensional image.

可选的,所述位置确定装置121还包括:数据处理单元1216,与所述第一接收传感器1213和/或第二接收传感器1215连接,用于处理所述第一接收传感器1213和/或第二接收传感器1215接收到的数据。Optionally, the position determination device 121 further includes: a data processing unit 1216, connected to the first receiving sensor 1213 and/or the second receiving sensor 1215, for processing the first receiving sensor 1213 and/or the second receiving sensor 1215. 2. The data received by the sensor 1215 is received.

可选的,所述机器主体110包括前向部分111和后向部分112,所述第一光源1211、第二光源1212以及第一接收传感器1213位于所述前向部分111;所述第三光源1214以及第二接收传感器1215位于所述后向部分112。Optionally, the machine body 110 includes a forward portion 111 and a backward portion 112, the first light source 1211, the second light source 1212 and the first receiving sensor 1213 are located in the forward portion 111; the third light source 1214 and a second receiving sensor 1215 are located in the rearward portion 112 .

可选的,所述前向部分111和后向部分112均为半圆形。Optionally, the forward portion 111 and the rearward portion 112 are both semicircular.

本实用新型的机器人,沿壳体侧壁设置的至少一个飞行时间传感器,对障碍物进行检测。通过一个以上的飞行时间传感器,可以获得更大视角以及检测高度内的环境图像,从而提高扫地机器人对周围环境的检测范围。In the robot of the utility model, at least one time-of-flight sensor is arranged along the side wall of the casing to detect obstacles. With more than one time-of-flight sensor, a larger viewing angle and an image of the environment within the detection height can be obtained, thereby improving the detection range of the cleaning robot to the surrounding environment.

以上所描述的装置实施例仅仅是示意性的,其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

最后应说明的是:以上实施例仅用以说明本实用新型的技术方案,而非对其限制;尽管参照前述实施例对本实用新型进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本实用新型各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, but not to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit of the technical solutions of the embodiments of the present invention and range.

Claims (10)

1.一种多光源探测机器人,其特征在于,包括:机器主体(110)、位置确定装置(121)以及控制系统(130);其中,所述位置确定装置(121)位于所述机器主体(110)上,与所述控制系统(130)连接,向所述控制系统(130)提供所述机器人的位置信息;1. A multi-light source detection robot, characterized in that it comprises: a machine body (110), a position determination device (121), and a control system (130); wherein, the position determination device (121) is located in the machine body (121). 110), connect with the control system (130), and provide the control system (130) with the position information of the robot; 所述位置确定装置(121)包括:The position determination device (121) includes: 至少一个第一光源(1211)、第二光源(1212)以及至少一个第一接收传感器(1213),所述第一接收传感器(1213)能够接收所述第一光源(1211)、第二光源(1212)的探测信号,并将探测信号传递给所述控制系统;At least one first light source (1211), a second light source (1212), and at least one first receiving sensor (1213), the first receiving sensor (1213) capable of receiving the first light source (1211), the second light source ( 1212) the detection signal, and transmit the detection signal to the control system; 所述第一光源为线光源,用于探测所述机器人周围的二维数据;所述第二光源为面光源,用于探测所述机器人周围的三维数据信息。The first light source is a line light source, which is used for detecting two-dimensional data around the robot; the second light source is a surface light source, which is used for detecting three-dimensional data information around the robot. 2.如权利要求1所述的机器人,其特征在于,所述第一接收传感器(1213)为面接收传感器,所述第一光源(1211)、第二光源(1212)以及第一接收传感器(1213)位于所述机器主体(110)的前向部分。2. The robot according to claim 1, wherein the first receiving sensor (1213) is a surface receiving sensor, the first light source (1211), the second light source (1212) and the first receiving sensor ( 1213) is located on the forward portion of the machine body (110). 3.如权利要求2所述的机器人,其特征在于,所述位置确定装置(121)还包括:第二接收传感器(1215),所述第二接收传感器(1215)为线接收传感器;所述第一光源(1211)以及第二接收传感器(1215)位于所述机器主体(110)的后向部分。3. The robot according to claim 2, wherein the position determination device (121) further comprises: a second receiving sensor (1215), the second receiving sensor (1215) is a line receiving sensor; the The first light source (1211) and the second receiving sensor (1215) are located in the rearward part of the machine body (110). 4.如权利要求1所述的机器人,其特征在于,所述位置确定装置(121)还包括:第二接收传感器(1215),所述第二接收传感器(1215)为线接收传感器;4. The robot according to claim 1, wherein the position determining device (121) further comprises: a second receiving sensor (1215), wherein the second receiving sensor (1215) is a line receiving sensor; 所述第一光源(1211)以及第二接收传感器(1215)位于所述机器主体(110)的后向部分,所述第二光源(1212)以及第一接收传感器(1213)位于所述机器主体(110)的前向部分。The first light source (1211) and the second receiving sensor (1215) are located at the rear part of the machine body (110), and the second light source (1212) and the first receiving sensor (1213) are located on the machine body Forward portion of (110). 5.如权利要求1所述的机器人,其特征在于,所述位置确定装置(121)还包括:第二接收传感器(1215),所述第二接收传感器(1215)为线接收传感器;5. The robot according to claim 1, wherein the position determining device (121) further comprises: a second receiving sensor (1215), wherein the second receiving sensor (1215) is a line receiving sensor; 所述第一光源(1211)以及第二接收传感器(1215)位于所述机器主体(110)的前向部分,所述第二光源(1212)以及第一接收传感器(1213)位于所述机器主体(110)的后向部分。The first light source (1211) and the second receiving sensor (1215) are located on the front part of the machine body (110), and the second light source (1212) and the first receiving sensor (1213) are located on the machine body (110) backward part. 6.如权利要求2-5任一所述的机器人,其特征在于,所述前向部分包括前侧壁,所述后向部分包括后侧壁,所述第一光源(1211)、第二光源(1212)、第一接收传感器(1213)以及第二接收传感器(1215)位于所述前侧壁和/或后侧壁。6. The robot according to any one of claims 2-5, wherein the forward part comprises a front side wall, the rearward part comprises a rear side wall, the first light source (1211), the second The light source (1212), the first receiving sensor (1213) and the second receiving sensor (1215) are located on the front side wall and/or the rear side wall. 7.如权利要求6所述的机器人,其特征在于,所述位置确定装置(121)还包括:数据处理单元(1216),与所述第一接收传感器(1213)和/或第二接收传感器(1215)连接,用于处理所述第一接收传感器(1213)和/或第二接收传感器(1215)接收到的数据。7. The robot according to claim 6, wherein the position determination device (121) further comprises: a data processing unit (1216), which is connected with the first receiving sensor (1213) and/or the second receiving sensor (1215) a connection for processing data received by the first receiving sensor (1213) and/or the second receiving sensor (1215). 8.如权利要求3所述的机器人,其特征在于,所述面接收传感器包括面阵CCD;所述线接收传感器包括线阵CCD。8. The robot of claim 3, wherein the area receiving sensor comprises an area array CCD; the line receiving sensor comprises a line array CCD. 9.如权利要求6所述的机器人,其特征在于,所述前向部分(111)和后向部分(112)均为半圆形。9. The robot of claim 6, wherein the forward portion (111) and the backward portion (112) are both semicircular. 10.如权利要求9所述的机器人,其特征在于,所述前向部分(111)和后向部分(112)能够围绕所述机器主体(110)在一定角度内转动。10. The robot according to claim 9, characterized in that the forward part (111) and the rearward part (112) are rotatable around the machine body (110) within a certain angle.
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GB2610999A (en) * 2020-06-22 2023-03-22 Qfeeltech Beijing Co Ltd Autonomous mobile device and control method therefor
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