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

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

A multi-light source detection robot

technical field

The utility model belongs to the technical field of mechanical equipment, in particular to a multi-light source detection robot.

Background technique

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.

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.

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.

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.

Utility model content

The embodiment of the present invention provides a robot to solve one of the above technical problems.

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;

The position determination device 121 includes:

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;

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.

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 .

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.

Optionally, the position determination device 121 further includes: a second receiving sensor 1215, where the second receiving sensor 1215 is a line receiving sensor;

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 .

Optionally, the position determination device 121 further includes: a second receiving sensor 1215, where the second receiving sensor 1215 is a line receiving sensor;

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 .

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.

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.

Optionally, the area receiving sensor includes an area array CCD; the line receiving sensor includes a line array CCD.

Optionally, the forward portion 111 and the rearward portion 112 are both semicircular.

Optionally, the forward portion 111 and the rearward portion 112 can rotate around the machine body 110 within a certain angle.

The above-mentioned scheme of the embodiment of the present utility model has at least the following beneficial effects:

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.

Description of drawings

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.

1 is a schematic diagram of a photoelectric detection application scenario of a robot according to an embodiment of the present invention;

2 is a top view of a robot structure provided by an embodiment of the present application;

3 is a bottom view of a robot structure provided by an embodiment of the present application;

4 is a front view of a robot structure provided by an embodiment of the present application;

5 is a perspective view of a robot structure provided by an embodiment of the present application;

FIG. 6 is a structural block diagram of a robot provided by an embodiment of the present application;

7 is a schematic diagram of a robotic area array photodetector provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a robotic linear array photodetector provided by an embodiment of the present application.

Detailed ways

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.

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.

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.

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.

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)".

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.

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:

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 .

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".

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.

The structure of the related robot is described as follows, as shown in Figure 2-5:

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.

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.

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.

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.

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.

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.

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).

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.

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.

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.

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.

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.

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.

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.

Fig. 6 is a block diagram of a cleaning robot according to the present invention.

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.

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.

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.

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.

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).

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.

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.

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.

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.

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.

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.

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;

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 .

The third light source 1214 and the second receiving sensor 1215 are located on the rear side of the machine body 110 .

The TOF method is implemented to determine the position of the obstacle through the light source and the receiver.

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.

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.

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.

For an embodiment of the present utility model, you can first select:

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.

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.

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.

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.

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.

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 .

Optionally, the forward portion 111 and the rearward portion 112 are both semicircular.

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.

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.

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. 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; The position determination device (121) includes: 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; 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. 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. 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. 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; 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. 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; 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. 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. 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. 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. The robot of claim 6, wherein the forward portion (111) and the backward portion (112) are both semicircular. 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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