RU2799857C1 - Self-propelled device - Google Patents

Abstract

FIELD: self-propelled device.

SUBSTANCE: self-propelled device contains a housing, a moving unit, a control system, an optical receiving device and two optical emitting devices. The paths of the emitted light emitted by the two optical emitting devices are different. The optical receiving device is configured to receive the reflected light generated after the emitted light emitted by one of the optical emitting devices hits an obstacle. That optical emitting device of two adjacent optical emitting devices, which is further from the optical receiving device, forms the first angle of convergence with the centre line of the optical receiving device. The optical transmitter closer to the optical receiver forms the second angle of convergence with the centre line of the optical receiver. The first angle of convergence is smaller than the second.

EFFECT: prevention of collision with low reflective obstacles is achieved.

8 cl, 3 dwg

Description

FIELD OF TECHNOLOGY

[001] The present invention relates to a self-propelled device.

BACKGROUND OF THE INVENTION

[002] Self-propelled devices such as cleaning devices cannot determine distance information to low reflective obstacles (such as black obstacles, etc.), so self-propelled devices cannot avoid such obstacles, and collisions occur.

[003] At present, the cleaning device distance measurement sensor has one design and simple function, which can only avoid high reflective obstacles, but will encounter low reflective obstacles, thus greatly affecting the user experience. Laser sensors with high distance measurement accuracy are expensive and not easily known.

SUMMARY OF THE INVENTION

[004] The purpose of the present invention is to provide a self-propelled device.

[005] To achieve the above object, the present invention provides the following technical solution.

[006] A self-propelled device is provided. SUBSTANCE: self-propelled device contains a housing, a movement unit located on the housing, and a control system located in the housing. The self-propelled device further comprises an optical receiving device and at least two optical emitting devices located on the housing. The paths of the emitted light emitted by the at least two optical emitting devices are different. The optical receiving device is configured to receive the reflected light generated after the emitted light emitted by at least one of the optical emitting devices hits an obstacle.

[007] In addition, the emitted light emitted by each of the optical emitting devices forms a convergence angle θ with the center line of the optical receiving device, and the convergence angle is greater than 0°.

[008] In addition, the optical emitting device of two adjacent optical emitting devices, which is further from the optical receiving device, forms a first convergence angle with the center line of the optical receiving device; moreover, the optical emitting device, which is closer to the optical receiving device, forms a second angle of convergence with the center line of the optical receiving device; and the first convergence angle is less than the second convergence angle.

[009] In a preferred embodiment, at least two optical emitting devices are located on the same side of the optical receiving device.

[0010] In another preferred embodiment, the directions of emitted light emitted by at least two optical emitting devices are deflected towards the center line of the optical receiving device.

[0011] In yet another preferred embodiment, at least two optical emitters and an optical receiver are arranged in a row.

[0012] In yet another preferred embodiment, the detection range of the optical receiver and the optical emitter does not exceed 2 cm.

[0013] In yet another preferred embodiment, at least two optical emitters and an optical receiver are built into one optical module.

[0014] In another preferred embodiment, the optical receiver and at least two optical emitters are configured to detect the edges of the self-propelled device.

[0015] In yet another preferred embodiment, after receiving the reflected light, the optical receiver converts the reflected light into a light reception signal and transmits the light reception signal to the control system; and the control system is configured to determine the distance between the self-propelled device and the obstacle according to the light receiving signal.

[0016] The positive effects of the self-propelled apparatus of the present invention are that, by using emitted light that can be emitted along different paths, the area of received emitted light is larger when it is closer to an obstacle. The emitted light is superimposed by specular reflection and diffuse reflection, thereby increasing the intensity of the received light and reducing the problem of non-constant feedback distances to obstacles with different reflectivity, whereby low reflective obstacles can be effectively detected and low reflective obstacle avoidance can be realized.

[0017] The above description is only an overview of the technical solutions of the present invention. For a clearer understanding of the technical solutions of the present invention and their implementation in accordance with the contents of the description, the preferred embodiments of the present invention and the accompanying drawings are described in detail below.

BRIEF DESCRIPTION OF GRAPHICS

[0018] FIG. 1 is a schematic view of the construction of a self-propelled device according to an embodiment of the invention;

[0019] in FIG. 2 is a flowchart of a method for measuring the distance of a self-propelled device according to an embodiment of the present invention; And

[0020] in FIG. 3 is a schematic view of reflection when a self-propelled device encounters an obstacle according to an embodiment of the present invention.

DETAILED DESCRIPTION

[0021] Specific implementations of the present invention will be described in more detail below with reference to the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0022] First, some conditions associated with the present invention are introduced:

[0023] The self-propelled device may be, for example, a cleaning robot, scrubbing robot, dust removal robot, obstacle removal robot, lawn mower robot, drafting robot, etc. In some embodiments, when implemented, the self-propelled device may be provided with a path planning system. The self-propelled device moves according to the path set by the system and performs operations such as cleaning, dusting, wiping, and drawing. The self-propelled device is further provided with a distance measuring unit which is used to measure the distance between the self-propelled device and an obstacle. A self-propelled device will inevitably encounter obstacles during the workflow. The self-driving device may also be provided with a wireless communication module, such as a WIFI module and a Bluetooth module, for communicating with the smart terminals and receiving operation commands transmitted by a user using the smart terminals via the wireless communication module.

[0024] An optical receiver, such as an infrared receiver, is used to receive optical signals.

[0025] An optical emitting device such as an infrared transmitter is used to emit optical signals.

[0026] The self-propelled device in the present invention is a cleaning robot as an example. The distance measuring method according to the present invention is used to determine the presence of obstacles in the process of moving a self-propelled device. The distance measuring method can also be used in other self-driving devices that can realize self-driving control, while the use of the self-driving device is not particularly limited.

[0027] Referring to FIG. 1, a cleaning robot 10 provided in an embodiment of the present invention comprises a housing 1, a movement unit (not shown) located on the housing 1, a control system (not shown) located in the housing 1, an optical receiving device 2, and at least two optical emitting devices 3 located on the housing 1. The paths of the emitted light emitted by at least two optical emitting devices 3 are different. The optical receiver 2 can receive at least one reflected light generated after the emitted light emitted from the optical emitter 3 hits an obstacle. In this embodiment, the optical receiver 2 and the optical emitter 3 are located on the top surface of the case. The control system is signally connected to the optical receiver 2 and the optical emitter 3. The control system controls the optical emitter 3 to emit emitted light (light emission signal). The optical receiver 2 receives the reflected light (light reception signal) and converts the reflected light into a light reception signal and transmits it to the control system. The distance between the cleaning robot 10 and the obstacle is obtained by analysis and calculation by the control system, and then the control system controls the cleaning robot to perform predetermined actions. Of course, in other embodiments, after receiving the reflected light, the optical receiver 2 can also independently analyze and calculate the distance between the cleaning robot and the obstacle and then transmit the result to the control system.

[0028] Alternatively, the emitted light emitted by each optical emitting device 3 forms a convergence angle θ with the center line of the optical receiver 2, and the convergence angle is greater than 0°.

[0029] Alternatively, an optical emitter 3 of two adjacent optical emitters 3 that is further away from the optical receiver 2 forms a first angle of convergence with the center line of the optical receiver 2. The optical emitter 3 that is closer to the optical receiver forms a second angle of convergence with the center line of the optical receiver 2. The first angle of convergence is smaller than the second angle of convergence.

[0030] Alternatively, at least two optical emitting devices 3 are located on the same side of the optical receiving device 2.

[0031] Alternatively, the directions of the light emitted by the at least two optical emitting devices 3 are deflected towards the center line of the optical receiving device 2.

[0032] Alternatively, at least two optical emitting devices 3 and an optical receiving device 2 are arranged in a row.

[0033] Alternatively, the detection range of the optical receiver 2 and the optical emitter 3 does not exceed 2 cm.

[0034] Alternatively, at least two optical emitting devices 3 and an optical receiving device 2 are built into one optical module.

[0035] Referring to FIG. 2 and in combination with FIG. 1, the method for measuring the distance of the cleaning robot 10 according to the present invention includes:

S1: emission by at least two optical emitting devices 3 of light with different emission paths; And

S2: at least the reception by the optical pickup device 2 of the reflected light generated after the emitted light emitted by the at least one optical emitting device 3 hits the obstacle.

[0036] Alternatively, the emitted light emitted by each optical emitting device 3 forms a convergence angle θ with the center line of the optical receiver 2, and the convergence angle is greater than 0°. Of the two adjacent optical emitting devices 3, the optical emitting device 3, which is further from the optical receiving device 2, forms a first convergence angle with the center line of the optical receiving device 2. The optical emitting device 3, which is closer to the optical receiving device, forms a second convergence angle with the center line of the optical receiving device 2. The first convergence angle is smaller than the second convergence angle.

[0037] Thus, for the cleaning robot 10 and its distance measuring method, emitted light is used that can be emitted along different paths, so that the area of received emitted light is larger when it is closer to an obstacle. The emitted light is superimposed by specular reflection and diffuse reflection, thereby increasing the intensity of the received light and reducing the problem of non-constant feedback distances to obstacles with different reflectivity, whereby low reflective obstacles can be effectively detected and avoidance of low reflective obstacles can be realized, and the avoidance distance can be stable.

[0038] A specific embodiment will be described in detail below. Referring to FIG. 1, in this embodiment, the number of optical emitting devices 3 is two, including the first optical emitting device 31 and the second optical emitting device 32. The number of optical receiving devices 2 is one. The paths of the emitted light emitted by the first optical emitting device 31 and the second optical emitting device 32 are different, but both are deflected towards the optical receiving device 2. The first optical emitting device 31 and the second optical emitting device 32 are located on the same side of the optical receiving device 2. The first optical emitting device 31, the second optical emitting device 32 and the optical receiving device 2 are arranged in a row. The first optical emitter 31 is located farther from the optical receiver 2 than the second optical emitter 32. Taking the directions in FIG. 1 as an example, the direction of the arrow a in FIG. 1 represents the left-right direction, and the arrow direction b represents the movement direction of the robot cleaner 10, which is defined as the forward-backward direction.

[0039] The first optical emitting device 31 and the center line of the optical receiving device 2 form a first convergence angle θ1 that is greater than 0°. The second optical emitting device 32 and the center line of the optical receiving device 2 form a second convergence angle θ2 which is greater than 0°. The first convergence angle θ1 is smaller than the second convergence angle θ2. In addition, in FIG. 1, the center line of the optical receiver 2 is shown by a dotted line x. In this embodiment, the reflected light received by the optical pickup device 2 is the reflected light generated after the emitted light emitted from the first optical emitting device 31 hits an obstacle. Therefore, in FIG. 1, the center line is superimposed on the reflection line of the first optical emitting device 31.

[0040] The technical features of the above embodiments can be arbitrarily combined. To simplify the description, all possible combinations of technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered as included in the scope of the description in this description.

[0041] The above examples are only a few embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that several modifications and improvements may be made by those skilled in the art without departing from the concept of the present invention, all of which fall within the scope of the present invention. Therefore, the scope of patent protection of the present invention will be determined by the appended claims.

Claims (11)

1. A self-propelled device, comprising: a housing, a movement unit located on the housing, and a control system located in the housing, the self-propelled device additionally contains an optical receiving device and at least two optical emitting devices located on the housing, and the paths of the emitted light emitted by at least two optical emitting devices are different, and the optical receiving device is configured to receive reflected light formed after the emitted light emitted by at least one of the optical emitting devices devices hits an obstacle; wherein the emitted light emitted by each of the optical emitting devices forms a convergence angle θ with the center line of the optical receiving device, and the convergence angle is greater than 0°; wherein the optical emitting device of the two adjacent optical emitting devices, which is further from the optical receiving device, forms a first angle of convergence with the center line of the optical receiving device; wherein the optical emitter closer to the optical receiver forms a second convergence angle with the center line of the optical receiver and the first convergence angle is smaller than the second convergence angle. 2. Self-propelled device according to claim 1, characterized in that at least two optical emitting devices are located on the same side of the optical receiving device. 3. Self-propelled device according to claim 1, characterized in that the directions of the emitted light emitted by at least two optical emitting devices are deflected in the direction of the center line of the optical receiving device. 4. Self-propelled device according to any one of paragraphs. 1, 2 or 3, characterized in that at least two optical emitting devices and an optical receiving device are arranged in a row. 5. Self-propelled device according to claim 1, characterized in that the detection range of the optical receiving device and optical emitting devices does not exceed 2 cm. 6. Self-propelled device according to claim 1, characterized in that at least two optical emitting devices and an optical receiving device are built into one optical module. 7. Self-propelled device according to claim 1, characterized in that the optical receiving device and at least two optical emitting devices are configured to detect the edges of the self-propelled device. 8. Self-propelled device according to claim 1, characterized in that after receiving the reflected light, the optical receiving device converts the reflected light into a light reception signal and transmits the light reception signal to the control system; And the control system is configured to determine the distance between the self-propelled device and the obstacle according to the light receiving signal.