WO2022135230A1

WO2022135230A1 - Laser obstacle avoidance mechanism and sweeping machine

Info

Publication number: WO2022135230A1
Application number: PCT/CN2021/138225
Authority: WO
Inventors: 舒忠义; 熊杰; 许波建; 刘瑞; 耿文峰; 吴军
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2020-12-21
Filing date: 2021-12-15
Publication date: 2022-06-30

Abstract

The present invention relates to a laser obstacle avoidance mechanism, comprising an obstacle avoidance assembly. The obstacle avoidance assembly comprises a laser light source and a bearing platform, wherein the bearing platform comprises a driving element therein, the laser light source is used for generating a line laser, and under the driving of the bearing platform, a scanning area of the laser light source for generating a laser is changed, so as to expand the scanning area of the laser light source. The present invention further relates to a sweeping machine. A line laser is converted into a surface laser and the front of the sweeping machine is scanned, such that a blind area in front of the machine can be effectively reduced while the logarithm of the line laser can be effectively reduced.

Description

A laser obstacle avoidance mechanism and sweeper

【Technical field】

The invention relates to the field of ground cleaning, in particular to a laser obstacle avoidance mechanism, and in particular to a sweeper.

【Background technique】

In the field of sweepers, it is well known to detect obstacles in front of the machine through built-in line laser obstacle avoidance sensors. The inventor found the following problems in the process of using the existing sweepers:

First of all, in the existing technology, in order to minimize the blind spot, multiple sets of line lasers are often arranged, and the laser sensors arranged opposite to each other are arranged in a cross, which is convenient to use multiple laser connections to present the contour of the obstacle surface, but the blind spot is far ahead. If the machine is larger, it is more troublesome for the machine to monitor the obstacles slightly farther ahead. At the same time, since multiple sets of line laser sensors need to be installed inside the machine, the manufacturing cost of the machine increases.

Therefore, it is necessary to improve the prior art to overcome the above-mentioned defects in the prior art, and to provide a laser obstacle avoidance mechanism.

[Content of the invention]

In view of the deficiencies of the prior art, the purpose of the present invention is to provide a laser obstacle avoidance mechanism, which expands the area of the laser scanning area by carrying the light generated by the light source driven by the platform, thereby reducing the blind area in front.

Another object of the present invention is to provide a floor sweeper, which can avoid misjudgment of recognition by scanning a single laser, and improve the detection accuracy.

The technical scheme of the present invention is summarized as follows:

The invention provides a laser obstacle avoidance mechanism, comprising an obstacle avoidance assembly, characterized in that the obstacle avoidance assembly includes a laser light source and a carrying platform;

Wherein, the carrying platform includes a driving element, and under the driving of the carrying platform, the scanning area of the laser light generated by the laser light source is changed, so as to expand the scanning area of the laser light source.

Preferably, the obstacle avoidance assembly further includes a receiving part, and the receiving part is configured to receive the laser light reflected back after the laser light source scans the obstacle.

Preferably, the laser light source is installed on the carrying platform, and driven by the carrying platform, the laser light generated by the laser light source rotates and/or ascends and descends, thereby expanding the scanning area.

Preferably, the laser light source and the receiving portion are installed on the same power output end of the carrying platform, so that the laser light source and the receiving portion are driven to rotate by the same carrying platform.

Preferably, the obstacle avoidance assembly further includes a reflector for reflecting the laser light source, and under the driving of the carrying platform, the reflector moves relative to the laser light source, so that the incident angle of the laser light source is change, and then adjust the exit angle of the laser light.

Preferably, the driving element includes a displacement driver, through which the mirror and/or the laser light source are driven to move.

Preferably, the driving element includes a rotary driver, through which the mirror and/or the laser light source are driven to rotate.

In another aspect, the present invention provides a sweeper, comprising: the above-mentioned laser obstacle avoidance mechanism; and

a sweeper body, which is used for receiving the obstacle avoidance assembly;

Wherein, the obstacle avoidance assembly is arranged at a position close to the moving front end of the sweeper.

Preferably, the sweeper body includes a casing, the interior of the sweeper body is hollow to form a accommodating cavity for holding the obstacle avoidance assembly, and a see-through window for the laser to penetrate is provided on the sweeper body , the see-through window is installed on the moving front end of the sweeper body.

Preferably, the driving element includes a rotary driver, the laser light source is mounted on the power output end of the rotary driver, and driven by the rotary driver, the laser light generated by the laser light source can be driven around the rotary driver. The central axis of rotation rotates.

Preferably, the laser light source includes a working state and a pause state, the laser light source is in a pause state, and when the laser light source rotates past the position where the laser light can pass through the see-through window, the laser light source is controlled by The suspended state is switched to the working state.

Preferably, a laser absorption part is provided in the casing, which is located at the rear end of the sweeper relative to the obstacle avoidance assembly; the laser absorption part is used to absorb the laser light scanned into the sweeper.

Preferably, the driving element further includes a displacement driver, which is driven by the displacement driver to make the laser rise and fall in the vertical direction within the height range of the see-through window.

Preferably, the laser light source is installed on the movable output end of the displacement driver, and the laser light source is driven by the displacement driver, so that the laser light source can be lifted to protrude from the upper surface of the sweeper.

Preferably, the laser light source is mounted on the power output end of the rotary driver, and the rotary driver is mounted on the movable output end of the displacement driver.

Preferably, the laser light source further includes a line laser light source and a point laser light source, and the movement of the laser light source is driven by the carrying platform, so that the scanning area of the laser light generated by the laser light source changes.

Preferably, the displacement driver can drive the laser light source to descend, so that the laser light source descends until its top is flush with or below the upper surface of the sweeper.

The purpose of the present invention is to provide a laser obstacle avoidance sweeper, which rotates and scans the area in front of the machine through the irradiation angle of a single beam of line laser, which can effectively reduce the logarithm of the line laser and effectively reduce the blind area in front of the machine.

Another object of the present invention is to provide a floor sweeper, which can avoid misjudgment of identification by scanning a single line of laser light and improve its detection accuracy.

The technical scheme of the present invention is summarized as follows:

The present invention provides a sweeper for laser obstacle avoidance, comprising:

the sweeper body; and

a laser obstacle avoidance structure, which is arranged in the sweeper body;

Wherein, the laser obstacle avoidance structure includes a laser light source, a mirror for reflecting the laser light source, and a driving module;

Under the driving action of the driving module, the mirror and the laser light source are moved relative to each other, and then the reflection angle of the laser light irradiated by the laser light source to the mirror changes to expand the scanning range.

Preferably, the reflector is installed on the power output end of the drive module, and the laser light source is fixed in the sweeper body.

Preferably, the laser light source is installed on the power output end of the drive module, and the reflector is fixed in the sweeper body.

Preferably, the driving module includes a first driver and a second driver, the reflector is mounted on the power output end of the first driver; the laser light source is mounted on the power output end of the second driver .

Preferably, the driving module includes a displacement driver, and the mirror and/or the laser light source are driven to move by the displacement driver.

Preferably, the driving module includes a rotary driver, and the mirror and/or the laser light source are driven to rotate by the rotary driver.

Preferably, the sweeper body is provided with a see-through window for the reflected laser light to pass through.

Preferably, the laser obstacle avoidance structure is arranged close to the front end of the sweeper body, and the see-through window is arranged on the strike plate of the sweeper body.

Preferably, the laser obstacle avoidance structure further includes a receiving part, which is used to receive the laser light that hits the surface of the obstacle and then reflects, and the receiving part is installed on the body of the sweeper.

Preferably, the laser light source generates a line laser, and the line laser is formed on the scanning surface of the sweeper body through the laser obstacle avoidance structure.

Compared with the prior art, the beneficial effects of the present invention are:

The present invention provides a sweeper for laser obstacle avoidance. On the premise of not adding a laser sensor, the reflector is driven by a driving module so that the reflection angle of the laser light irradiated by the laser light source on the reflector changes periodically, so that the line laser Converts to a surface laser and scans the front of the sweeper, significantly reducing the blind spot directly in front of the sweeper.

The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, and implement it according to the content of the description, the preferred embodiments of the present invention are described in detail below with the accompanying drawings. Specific embodiments of the present invention are given in detail by the following examples and the accompanying drawings.

The laser obstacle avoidance mechanism provided by the invention changes the laser scanning area generated by driving the laser light source through the carrying platform, so as to enlarge the area of the scanning area and reduce the blind area in front.

【Description of drawings】

The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

Fig. 1 is the working schematic diagram of the obstacle avoidance assembly of the present invention;

Fig. 2 is the general overall structure schematic diagram of the sweeper of the present invention;

Fig. 3 is a schematic diagram of the internal structure of the sweeper of the present invention;

4 is a schematic diagram of the internal structure of the sweeper in a preferred embodiment of the present invention;

5 is a schematic diagram of a working scan of the sweeper in a preferred embodiment of the present invention;

Fig. 6 is another working scanning schematic diagram of the sweeper in a preferred embodiment of the present invention

FIG. 7 is a schematic diagram of an internal structure of a sweeper in another preferred embodiment of the present invention.

Fig. 8 is a working scanning schematic diagram of a sweeper in the prior art;

Fig. 9 is another working scanning schematic diagram of a sweeper in the prior art;

10 is a schematic diagram of the general overall structure of the self-moving device of the present invention;

Figure 11 is a schematic diagram of the internal structure of the sweeper of the present invention;

Fig. 12 is a working scanning schematic diagram of the sweeper of the present invention;

FIG. 13 is another working scanning schematic diagram of the sweeper of the present invention.

Description of reference numbers:

1- The body of the sweeper;

11-strike plate; 111-perspective window; 12-shell; 121-accommodating cavity; 122-through hole;

2- Obstacle avoidance components;

21-laser light source; 221-drive module; 22-carrying platform; 23-receiving part; 24-reflector;

3- Scan the surface.

【Detailed ways】

The present invention will be further described in detail below in conjunction with the accompanying drawings, and the foregoing and other objects, features, aspects and advantages of the present invention will become more apparent, so that those skilled in the art can implement them with reference to the description. In the drawings, the shapes and dimensions may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to refer to the same or like parts. In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc. are based on the orientation or positional relationship shown in the drawings. In particular, "height" corresponds to the size from top to bottom, "width" corresponds to the size from left to right, and "depth" corresponds to the size from front to back. These relative terms are for convenience of description and are generally not intended to require a specific orientation. Terms referring to attachment, coupling, etc. (eg, "connected" and "attached") refer to the fixed or attached relationship, as well as the movable or rigid attachment or relationship of these structures to each other, directly or indirectly, through intervening structures, unless The other way is explicitly stated.

Next, the present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be noted that, on the premise of no conflict, the embodiments or technical features described below can be combined arbitrarily to form new implementations. example. It should be understood that terms such as "having", "comprising" and "including" as used herein do not assign the presence or addition of one or more other elements or combinations thereof.

The front end of the existing sweeper is equipped with a wired laser obstacle avoidance sensor. Usually line laser sensors are arranged in front or on both sides of the machine. In order to minimize the dead zone, multiple sets of line lasers may be set up. When an obstacle is encountered in front of the machine, the laser reflected from the surface of the obstacle will be received by the camera in front of the machine. Since the laser light source is a line light source, and with the movement of the machine, the laser will irradiate the surface of the obstacle. The laser hits the surface of the obstacle and reflects it to the camera, the camera will calculate the distance of the obstacle according to the returned laser; when the light is converted into a vertical line laser, the obstacle information presented to the host will become a continuous point , these points are connected to form a line showing the contour of the obstacle surface in the vertical direction. When the distance is too small, the laser sensor on the machine will be triggered, and the machine will slow down and turn to adjust the direction of travel to avoid collision with obstacles.

At the same time, the common laser installation solution in the current sweeper is a fixed sensor solution, which is arranged through multiple sets of laser light sources. The layout of the machine makes the blind area farther in front of the machine larger; and if the machine wants to monitor the obstacles in the front and a little farther, it needs to keep moving forward until the laser light source hits the obstacle, and then the obstacle can be judged. In the same way, to monitor the obstacles on the left and right sides, the machine needs to keep rotating until the laser light source illuminates the obstacles. Due to the large blind area of the sweeper, when there are obstacles on both sides of the sweeper When the sweeper needs to touch the obstacle first, and then rotate to detect the position of the obstacle, the sweeper often needs to stop and rotate to detect and adjust the direction of its own movement during the movement process, which makes the sweeper move slowly and restricts the movement of the sweeper. The cleaning efficiency of the sweeper.

The present invention provides a sweeper, as shown in FIG. 2 and FIG. 3 , including a sweeper body 1 , which includes a casing 12 , and functional components in the sweeper are installed in a accommodating cavity 121 in the casing 12 ; the sweeper body 1 Also includes a striker 11, the striker 11 is provided at the front of the housing 12 to move, specifically, the striker 11 is mounted on the front side wall of the housing 12; and

The obstacle avoidance assembly 2 is installed on the sweeper body 1 and is disposed at a position close to the striker 11 . Specifically, the obstacle avoidance assembly 2 is installed in the accommodating cavity 121 of the housing 12 or above the sweeper body 1 for easy detection. location;

1, the obstacle avoidance assembly 2 includes a laser light source 21, a carrying platform 22, and a receiving portion 23; The scanning area is changed to expand the scanning area of the laser light source 21. The receiving part 23 is provided with a corresponding laser light source 21, so that the laser light is reflected to the receiving part 23 after irradiating the obstacle, and the detailed position is obtained by logical calculation through the control element in the sweeper. data.

In a specific preferred embodiment, the laser light source 21 is installed on the carrying platform 22, and under the driving of the carrying platform 22, the laser light generated by the laser light source 21 rotates around the axis of the carrying platform 22 or moves along the driving direction of the carrying platform 22, thereby Periodically scan the area in front of the laser obstacle avoidance mechanism, so as to detect the area in front of the sweeper, which can effectively reduce the blind area in front of the sweeper.

Specifically, when the carrying platform 22 drives the laser light source 21 to rotate, the laser light source 21 can rotate 360°, thereby increasing the scanning range; and when the carrying platform 22 drives the laser light source 21 to move up and down, the laser light source 21 ascends and descends within the height range of the accommodating cavity 121 , or rises and falls outside the sweeper body 1 and within the height range defined by the carrying platform 22 .

The driving element may include a rotary driver, and the laser light source 21 is driven to rotate by the rotary driver, so as to make the laser rotate and expand the scanning area;

The driving element may further include a displacement driver, which is driven by the displacement driver to make the laser rise and fall in the vertical direction within the height range of the see-through window 111 .

The laser light source 21 generates a line laser, and the laser light source 21 is driven to rotate by the carrying platform 2, so that the line laser is formed on the scanning surface 3 for scanning in front of the sweeper body 1. In the prior art, in order to reduce the blind area in front of the machine, usually Multiple sets of line laser sensors will be set up, which leads to an increase in the cost of the sweeper. In this embodiment, a single line laser sensor in the prior art is used to ensure that the number of line lasers is not increased. At the same time, in this embodiment, the laser light source 21 is a line laser transmitter and the number is one, and the use of a single line laser sensor avoids the use of multiple sets of line laser sensors to hit the obstacle surface at the same time. Misjudgment occurs when the receiving unit 23 receives the laser light due to the offset of laser reflection, which makes the laser obstacle avoidance structure more stable in use.

On the basis of the above scheme, further, the laser light source 21 is installed on the power output end of the bearing platform 22, so that the line laser generated by the laser light source 21 is distributed on both sides of the axis of the bearing platform 22. The laser beam forms a scanning surface 3 with a large area in diameter.

Preferably, the line laser generated by the laser light source 21 is symmetrically distributed along the axis of the bearing platform 22, so that the center of the laser light source 21 is located on the axis of the bearing platform 22. During the rotation process, the centrifugal force formed by the rotation of the laser light source 21 is reduced, thereby reducing the The shear force on the power output shaft on the bearing platform 22 is reduced, so that the structure of the obstacle avoidance assembly 2 is more stable.

On the basis of the above, the line laser generated by the laser light source 21 is distributed on one side of the axis of the rotating plane 22, and the distance between the line laser and the axis of the bearing platform 22 from the farthest end of the axis to the axis of the bearing platform 22 is the radius to form a relatively large area. Large scanning surface 3; preferably, the line laser starts from the axis position of the carrying platform 22 and extends outwards, which is convenient to expand its scanning area and comprehensively scan the front of the sweeper.

The receiving part 23 is used to receive the laser light that hits the surface of the obstacle and then reflects, and the receiving part 23 is installed on the main body 1 of the sweeper; out of the laser.

Further, the positions of the receiving part 23 and the laser light source 21 are relatively fixed, so that when the laser light irradiated by the laser light source 21 hits an obstacle and is reflected back, the receiving part 23 captures the reflected laser light, and an obstacle can be formed by processing the laser signal. The local shape information of the object can be obtained to improve the intelligence of the sweeper; specifically, the receiving part 23 and the laser light source 21 are installed on the same plane of the carrying platform 22, and the rotating output end of the carrying platform 22 is installed with the receiving part 23 and the laser light source. The receiving plane of the light source 21, the receiving part 23 and the laser light source 21 are arranged on the plane, so that the receiving part 23 and the laser light source 21 rotate simultaneously under the driving of the carrying platform 22, and the line laser projected by the laser light source 21 is finally formed. A scanning surface 3 is provided to periodically scan the area in front of the sweeper. Due to the rotation of the laser light source 21, the scanning area is increased, and at the same time, the position in front of both sides of the sweeper can be detected, so it is not required as the existing sweeper needs. It keeps rotating until the laser light source illuminates the obstacle, which improves the efficiency.

In a preferred embodiment, the receiving part 23 is arranged side by side with the laser light source 21, and the axis of the receiving part 23 and the laser light source 21 is parallel, so that the receiving part 23 can accurately receive the laser light generated by the laser light source 21, so as to avoid the loss of data information. .

Further, the obstacle avoidance assembly 2 is arranged above the sweeper body 1, and the carrying platform 22 is installed on the upper surface of the sweeper body 1 so that the irradiating end of the laser light source 21 faces forward. The top of the machine body 1 reduces the shielding of the laser by the sweeper, so that the laser can be irradiated from the perspective window 111 as completely as possible, and information can be received as completely as possible.

In another preferred embodiment, the obstacle avoidance assembly 2 is arranged in the accommodating cavity 121, which can protect the obstacle avoidance assembly 2 from the influence of the external environment, and at the same time, the height of the entire sweeper is reduced to meet the environment of different heights .

In order to facilitate the laser light generated by the laser light source 21 to pass through the sweeper body 1 and irradiate to the outside world, the sweeper body 1 is provided with a see-through window 111 for the reflected laser light to pass through, and the see-through window 111 is arranged on the striker 11;

The obstacle avoidance assembly 2 is arranged at a position close to the moving front end of the sweeper body 1. When the sweeper moves forward, the laser periodically scans the obstacles in front of the sweeper. The laser light source 21 includes a line laser light source and a point laser light source. During the divergence process, the linear laser emitted by the laser light source 21 diverges to the two sides away from the position of the laser light source 21, and its irradiation range increases, so that the diameter of the scanning area increases, and the area of the scanning surface 3 formed by the circumferential scanning increases; at the same time; , due to the outward divergence of the laser light, the closer the straight-line laser light is to the light source, the shorter the straight-line laser light formed by the light source is irradiated, and it is more convenient to penetrate completely from the perspective window 111 . It may be completely irradiated from the perspective window 111 .

The laser light source 21 is controlled by the controller in the sweeper so that the laser light source 21 includes a working state and a pause state, the laser light source 21 is in a pause state, and when the laser light source 21 rotates past the position where the laser light can pass through the perspective window 111, the laser light source 21 is in a suspended state. The light source 21 is switched from the suspended state to the working state, so that when the laser light source 21 rotates into the interior of the sweeper, the laser light source 21 does not work, thereby reducing energy consumption.

As shown in FIG. 4 , according to a specific embodiment of the above solution, the driving element includes a rotary driver and a displacement driver. Specifically, the laser light source 21 is mounted on the power output end of the rotary driver, and the rotary driver is mounted on the movable output of the displacement driver. At the same time, the laser light source 21 and the receiving part 23 are integrated to form an integral scanning element, and the laser irradiation direction generated by the laser light source 21 is vertical. Or approximately perpendicular to the rotation axis direction of the rotary driver, so that the laser rotates around the rotation axis of the rotary driver. Specifically, the laser output scanning area ranges from 60° to 360°. When the scanning range is less than 360°, the rotary driver drives the scanning element to perform scanning. Reciprocating motion, its motion is similar to swing, and when the scanning range is 360°, the rotary driver with scanning element rotates clockwise or counterclockwise, compared with the way the scanning range is less than 360°, the rotary drive with scanning element rotates along the Clockwise or counterclockwise rotation makes logical control more convenient, and at the same time, the size of the scanning area of the scanning element can be adjusted by adjusting the length of the perspective window, which is more convenient to use and more convenient for users to operate.

In the above embodiment, when the rotary driver drives the scanning element to rotate, the scanning element will inevitably scan the internal structure of the sweeper, and the internal structure is not the area that needs to be scanned. If the area is scanned and the position of the internal structure is calculated Therefore, by adding logic in the control element, when the scanning element scans the internal structure of the sweeper, the control element suspends the calculation and does not perform logic calculation on the area, thereby reducing the control component workload;

At the same time, a laser absorption part can also be provided in the casing 12, which is located at the rear end of the sweeper relative to the obstacle avoidance assembly 2; the laser absorption part is used to absorb the laser scanned into the sweeper, when the receiving part 23 When the reflected laser light cannot be received, the control element cannot perform calculations based on the laser light, so that no logical calculation is performed for the area.

Further, the laser light source 21 is driven by the displacement driver, so that the laser light source 21 can be lifted to protrude from the upper surface of the sweeper, and then the laser light source 21 is driven by the rotary driver to rotate, so that the laser light source 21 can be used to scan the surrounding area of the sweeper. Environment, specifically, the rotary driver drives the laser light source 21 to scan a range of 360°, so that the sweeper can build a 3D model of its surrounding environment, so as to understand the cleaning environment more clearly, and improve the intelligent level of the sweeper;

Referring to FIG. 5 and FIG. 6 , a through hole 122 is formed on the upper surface of the casing 12 so that the above-mentioned scanning element can be protruded from the through hole 122 , so that the laser light source 21 and the receiving part 23 can be extended to the sweeping machine. When the displacement driver can drive the laser light source 21 to descend, so that the top of the laser light source 21 is flush with or below the upper surface of the sweeper, to avoid the protruding laser light source during the sweeper moving. 21 Collision with an external obstacle.

In another preferred embodiment, as shown in FIG. 7 , the sweeper includes a sweeper body 1 , which includes a casing 12 and a striker 11 , and the functional components in the sweeper are installed in the accommodating space in the casing 12 , The striker 11 is provided at the front end of the housing 12 moving, specifically, the striker 11 is mounted on the side wall of the housing 12; and

The laser obstacle avoidance structure is arranged on the sweeper body 1, and the laser obstacle avoidance structure is installed in the accommodating space of the housing 12 or at a position convenient for detection above the sweeper body 1;

The laser obstacle avoidance structure includes a laser light source 21, a reflector 24 and a carrying platform 22. The laser light source 21 and/or the reflecting mirror 24 are driven by the carrying platform 22, so that the laser light source 21 moves relative to the reflecting mirror 24, so that the laser light source 21 illuminates the The reflection angle of the laser light on the mirror 24 changes, thereby expanding the scanning area of the laser light.

Further, the laser light source 21 is fixedly installed on the accommodating space in the housing 12; the laser light generated by the laser light source 21 is irradiated on the reflector 24 to reflect the laser light to the front position of the sweeper through the reflector 24; the reflector 24 It is installed on the power output end of the bearing platform 22, and the mirror 24 is moved under the driving action of the bearing platform 22. When the bearing platform 22 drives the mirror 24, the angle formed by the moving mirror 24 and the laser light source 21 changes, Therefore, the reflection angle of the laser light irradiated by the laser light source 21 to the mirror 24 changes periodically, so that the laser reflected from the mirror 24 forms the scanning surface 3, so as to facilitate the detection of the area in front of the sweeper, which can effectively reduce the Blind spot in front of the sweeper.

On the basis of the above solution, the laser light source 21 is installed on the power output end of the carrying platform 22, and the reflector 24 is fixed in the sweeper body 1. By changing the incident angle of the laser light source 21, the reflection angle on the reflector 24 is changed.

Another alternative solution is that the carrying platform 22 includes a first driver and a second driver, the mirror 24 is installed on the power output end of the first driver; the laser light source 21 is installed on the power output end of the second driver, through the two The driver drives the laser light source 21 and the mirror 24 to move relative to each other, so that the laser emission range is expanded; while the two drivers are driven to make the movement freedom higher, the emitted laser scanning range is larger and it is more convenient to control the reflection angle.

The laser obstacle avoidance structure also includes a receiving part 23, which is used to receive the laser light that hits the surface of the obstacle and then reflects. The receiving part 23 is installed on the main body 1 of the sweeper; So that the receiving part 23 can receive the laser light reflected by the obstacle.

The sweeper body 1 is provided with a see-through window 111 for the reflected laser light to pass through. Specifically, the laser obstacle avoidance structure is arranged near the front end of the sweeper body 1, and the see-through window 111 is arranged on the strike plate 11. When the sweeper moves forward, the laser The obstacle avoidance structure periodically scans the obstacles directly in front of the machine, and irradiates the line laser generated by the laser light source 21 to the mirror 24. Since the bearing platform 22 drives the mirror 24 to move, the line laser scanning area changes to expand the scanning area. , the mirror 24 can be regarded as a light source that diverges outward to form the scanning surface 3, and the laser is emitted obliquely outward during the divergence process. Through the see-through window 111 , when it is close to the striker 11 , the laser light emitted by the reflector 24 can be irradiated from the inside of the see-through window 111 as completely as possible.

At the same time, the receiving part 23 is installed on the strike plate 11 so that the receiving part 23 can receive the laser light reflected on the obstacle without error. If the receiving part 23 is installed inside the sweeper, the laser light is easily reflected on the strike plate 11 , it is difficult to pass through the striker plate 11 , resulting in incomplete information received; in a preferred embodiment, the receiving portion 23 is arranged at the outer edge of the see-through window 111 to facilitate receiving complete information.

In the prior art, the line laser obstacle avoidance structure is installed on the striker plate. In order to increase the detection area of the line laser obstacle avoidance structure, the line laser obstacle avoidance structures on both sides of the existing sweeping robot are wider, resulting in a complicated striker plate structure and difficulty in It satisfies the more and more compact whole machine space ranking; in this embodiment, the problem of the tight ranking space on both sides of the existing product can be effectively improved, and at the same time, the structure of the striker 23 becomes simple.

The laser light source 21 generates a line laser, and through the laser obstacle avoidance structure, the line laser is formed on the scanning surface 3 for scanning in front of the sweeper body 1. In the prior art, in order to reduce the blind area in front of the machine, multiple sets of Line laser sensor, which leads to an increase in the cost of the sweeper, and in this embodiment, a single line laser sensor in the prior art is used to expand the detection range without increasing the number of line lasers. At the same time, in this embodiment, the laser light source 21 is a line laser transmitter and the number is one, and the use of a single line laser sensor avoids the use of multiple sets of line laser sensors to hit the shape of the obstacle surface at the same time. As a result, misjudgment occurs in the receiving part 23 receiving the laser light, so that the laser obstacle avoidance structure is used more stably.

The mirror 24 is driven by the carrying platform 22 to reflect the laser to form the scanning surface 3, so that it is possible to establish a 3D obstacle model directly in front of the sweeper. The method of establishing a 3D image is convenient to accurately detect the obstacle information in front of the sweeper. Thereby, it is convenient for it to avoid obstacles accurately, thereby further improving the intelligence of the machine.

Specifically, the carrying platform 22 can optionally include a rotary driver, and the mirror 24 and/or the laser light source 21 are driven to rotate by the rotary driver, so that the laser light source 21 illuminates different positions on the mirror 24, thereby making the reflection angle on the mirror 24. Changes are generated, and finally the scanning surface 3 is formed. Specifically, the rotary driver includes a rotating stepper motor, and the reflector 24 includes a high-reflection sheet, which is driven by the rotating stepper motor to periodically scan the area in front of the sweeper.

At the same time, the carrying platform 22 can also optionally include a displacement driver, and the mirror 24 and/or the laser light source 21 are driven by the displacement driver, so that the position of the mirror 24 is changed, which mainly includes the angle change of the mirror 24, so that the laser light source 21 is reflected in the reflection. The reflection angle of the mirror 24 changes to scan the area in front of the sweeper. The displacement driver can also select a vibration motor to adjust the reflection angle of the mirror 24 by vibrating the mirror 24 and/or the laser light source 21 .

In the prior art, the line laser obstacle avoidance structure is installed on the striker plate. In order to increase the detection area of the line laser obstacle avoidance structure, the line laser obstacle avoidance structures on both sides of the existing sweeping robot are wider, resulting in a complicated striker plate structure and difficulty in It satisfies the increasingly compact whole machine space ranking; and in this embodiment, the problem of the tight ranking space on both sides of the existing product can be effectively improved, and at the same time, the structure of the striker 11 becomes simple.

It should be pointed out that the laser light source 21 mentioned in the specification can be selected as a line laser or a point laser, which is only one of the implementation methods, and is not limited to the selection of a line laser or a point laser. The surface laser light source can be rotated and/or The movement can also expand the scanning area, which should also be regarded as a specific embodiment of the present invention. Since its structure is similar, it will not be repeated here.

The front end of the existing sweeper is equipped with a wired laser obstacle avoidance sensor. Usually line laser sensors are arranged in front or on both sides of the machine. In order to minimize the dead zone, multiple sets of line lasers may be set up. When an obstacle is encountered in front of the machine, the laser reflected from the surface of the obstacle will be received by the camera in front of the machine. Since the laser light source is a line light source, and with the movement of the machine, the laser will irradiate the surface of the obstacle. The laser hits the surface of the obstacle and then reflects to the camera, the camera will calculate the distance of the obstacle according to the returned laser; when the light is converted into a vertical line laser, the obstacle information presented to the host will become a continuous point , these points are connected to form a line showing the contour of the obstacle surface in the vertical direction. When the distance is too small, the laser sensor on the machine will be triggered, the machine will slow down and turn to adjust the direction of travel to avoid collision with obstacles.

At the same time, the common laser installation solution in the current sweeper is a fixed sensor solution. As shown in Figure 8 and Figure 9, two sets of laser light sources in a sweeper are arranged crosswise, and the two sets of laser light sources are arranged on both sides of the machine. , and make the light generated by the two sets of laser light sources intersect in front of the machine. This arrangement makes the blind area farther in front of the machine larger; and the machine needs to keep moving forward if it wants to monitor the obstacles slightly farther in front of the machine. Move until the laser light source hits the obstacle, then the obstacle position can be judged; in the same way, if you want to monitor the obstacles on the left and right sides, the machine needs to keep rotating until the laser light source hits the obstacle. The blind area of the sweeper is large. When there are obstacles on both sides of the sweeper, the striker of the sweeper needs to contact the obstacle first, and then rotate to detect the position of the obstacle, which causes the sweeper to stop and rotate to detect the position during the movement. And adjust the direction of its own movement, so that the sweeper moves slowly, which limits the cleaning efficiency of the sweeper.

The present invention provides a sweeper for laser obstacle avoidance, as shown in FIG. 3 and FIG. 11 , including a sweeper body 1 , which includes a casing 12 and a striker 11 , and the functional components in the sweeper are installed in the casing 12 . The accommodating space, the striker 11 is arranged at the moving front end of the housing 12, specifically, the striker 11 is installed on the side wall of the housing 12; and the laser obstacle avoidance structure is arranged on the sweeper body 1, and the laser obstacle avoidance structure is installed In the accommodating space of the housing 12 or at a position above the sweeper body 1 that is convenient for detection;

The laser obstacle avoidance structure includes a laser light source 21 , a reflecting mirror 24 and a driving module 221 , and the driving module 221 drives the laser light source 21 and/or the reflecting mirror 24 , so that the laser light source 21 moves relative to the reflecting mirror 24 , so that the laser light source 21 The reflection angle of the laser light irradiated on the mirror 24 changes, thereby expanding the scanning area of the laser light.

In a preferred embodiment, the laser light source 21 is fixedly installed on the accommodating space in the housing 12; the laser light generated by the laser light source 21 is irradiated on the reflector 24 to reflect the laser light to the front position of the sweeper through the reflector 24; The mirror 24 is installed on the power output end of the driving module 221, and the mirror 24 is moved under the driving action of the driving module 221. When the driving module 221 drives the mirror 24, the moving mirror 24 and the laser light source 21 are formed. The included angle of the sweeper changes, so that the reflection angle of the laser light irradiated by the laser light source 21 to the mirror 24 changes periodically, so that the laser reflected from the mirror 24 forms the scanning surface 3, so as to facilitate the detection of the area in front of the sweeper , which can effectively reduce the blind spot in front of the sweeper.

In another preferred embodiment, the laser light source 21 is installed on the power output end of the driving module 221, and the reflector 24 is fixed in the sweeper body 1. By changing the incident angle of the laser light source 21, the reflection on the reflector 24 is changed. angle.

In another preferred embodiment, the driving module 221 includes a first driver and a second driver, the mirror 24 is installed on the power output end of the first driver; the laser light source 21 is installed on the power output end of the second driver, The two drivers respectively drive the laser light source 21 and the mirror 24 to move relative to each other, so that the laser emission range is expanded; while the two drivers are driven, so that the freedom of movement is higher, the emitted laser scanning range is larger, and it is more convenient to control the reflection angle. .

The sweeper body 1 is provided with a see-through window 111 for the reflected laser light to pass through. Specifically, the laser obstacle avoidance structure is arranged near the front end of the sweeper body 1, and the see-through window 111 is arranged on the strike plate 11. When the sweeper moves forward, the laser The obstacle avoidance structure periodically scans the obstacles directly in front of the machine, and irradiates the line laser generated by the laser light source 21 to the mirror 24. Since the driving module 221 drives the mirror 24 to move, the line laser is converted into a surface light source. At this time, The mirror 24 can be regarded as a light source that diverges outward to form the scanning surface 3, and during the divergence process, the laser is emitted obliquely outward. The see-through window 111 is transparent, and when it is close to the strike plate 11 , the laser light emitted by the mirror 24 can be irradiated from the inside of the see-through window 111 as completely as possible.

In a preferred embodiment, the laser light source 21 generates a line laser, and through the laser obstacle avoidance structure, the line laser is formed on the scanning surface 3 for scanning in front of the sweeper body 1. In the blind area, multiple sets of line laser sensors are usually installed, which leads to an increase in the cost of the sweeper. In this embodiment, a single line laser sensor in the prior art is used to ensure that the number of line lasers is not increased. , expanding its detection range; at the same time, in this embodiment, the laser light source 21 is a line laser transmitter and the number is one, and the use of a single line laser sensor avoids the use of multiple sets of line laser sensors to hit the obstacle surface at the same time. The upper shape causes a misjudgment of the laser beam received by the receiving camera 23 due to the offset of the laser reflection, which makes the laser obstacle avoidance structure more stable in use.

The mirror 24 is driven by the driving module 221 to reflect the laser light to form the scanning surface 3, so that it is possible to establish a 3D obstacle model directly in front of the sweeper. The method of establishing a 3D image is convenient to accurately detect the obstacle information in front of the sweeper. , so as to facilitate its accurate obstacle avoidance, thereby further improving the degree of machine intelligence.

In a preferred embodiment, the driving module 221 includes a rotary driver, which drives the mirror 24 and/or the laser light source 21 to rotate through the rotary driver, so that the laser light source 21 illuminates different positions on the mirror 24, so that the The reflection angle changes, and finally the scanning surface 3 is formed. Specifically, the rotary driver includes a rotary stepper motor, and the reflector 24 includes a high-reflection sheet. The high-reflection sheet is driven by the rotating stepper motor to periodically scan the front of the sweeper. area.

In another preferred embodiment, the driving module 221 includes a displacement driver, and the mirror 24 and/or the laser light source 21 are driven by the displacement driver, so that the position of the mirror 24 is changed, which mainly includes a change in the angle of the mirror 24 so that the laser The light source 21 changes the reflection angle of the mirror 24, and then scans the area in front of the sweeper. The displacement driver can also select a vibration motor to adjust the reflection angle of the mirror 24 by vibrating the mirror 24 and or the laser light source 21.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for related parts, please refer to the partial descriptions of the method embodiments.

Claims

A laser obstacle avoidance mechanism, comprising an obstacle avoidance assembly (2), characterized in that the obstacle avoidance assembly (2) includes a laser light source (21) and a bearing platform (22);

Wherein, the carrying platform (22) includes a driving element, and under the driving of the carrying platform (22), the scanning area of the laser light source (21) to generate laser light is changed, so as to enlarge the scanning area of the laser light source (21). area.
The laser obstacle avoidance mechanism according to claim 1, characterized in that, the obstacle avoidance assembly (2) further comprises a receiving part (23), and the receiving part (23) is used for receiving the scanning of the laser light source (21). The reflected laser light after reaching the obstacle.
The laser obstacle avoidance mechanism according to claim 2, wherein the laser light source (21) is mounted on the carrying platform (22), and driven by the carrying platform (22), the laser light source ( 21) The generated laser is rotated and/or raised and lowered, thereby expanding the scanning area.
The laser obstacle avoidance mechanism according to claim 3, wherein the laser light source (21) and the receiving part (23) are installed on the same power output end of the carrying platform (22), so that the The laser light source (21) and the receiving part (23) are driven to rotate by the same bearing platform (22).
The laser obstacle avoidance mechanism according to claim 1, characterized in that, the obstacle avoidance assembly (2) further comprises a reflector (24) for reflecting the laser light source (21), on the carrying platform (22) ), the mirror (24) moves relative to the laser light source (21), so that the incident angle of the laser light source (21) is changed, thereby adjusting the outgoing angle of the laser light.
The laser obstacle avoidance mechanism according to claim 5, wherein the driving element comprises a displacement driver, and the mirror (24) and/or the laser light source (21) are driven to move by the displacement driver.
The laser obstacle avoidance mechanism according to claim 5, wherein the driving element comprises a rotary driver, and the mirror (24) and/or the laser light source (21) are driven to rotate by the rotary driver.
A sweeper, comprising: the laser obstacle avoidance mechanism according to any one of claims 1-7; and

a sweeper body (1), which is used for receiving the obstacle avoidance assembly (2);

Wherein, the obstacle avoidance assembly (2) is arranged at a position close to the moving front end of the sweeper.
The sweeping machine according to claim 8, characterized in that, the sweeping machine body (1) comprises a casing (12), and the interior of the sweeping machine body (1) is hollow to form a structure for holding the obstacle avoidance assembly ( 2) the accommodating cavity (121), the sweeper body (1) is provided with a see-through window (111) for the laser to penetrate, and the see-through window (111) is installed on the sweeper body (1) on the mobile front end.
The sweeper according to claim 9, characterized in that the driving element comprises a rotary driver, the laser light source (21) is mounted on the power output end of the rotary driver, and under the driving of the rotary driver, The laser light generated by the laser light source (21) is rotated around the rotation center axis of the rotary driver.
The sweeper according to claim 10, wherein the laser light source (21) includes a working state and a pause state, the laser light source (21) is in a pause state, and when the laser light source (21) rotates through When the laser light can pass through the see-through window (111), the laser light source (21) is switched from the suspended state to the working state.
The sweeper according to claim 10, characterized in that, a laser absorption part is provided in the casing (12), which is located at the rear end of the sweeper relative to the obstacle avoidance assembly (2); the The laser absorption part is used to absorb the laser light scanned into the sweeper.
The sweeper according to claim 10, characterized in that, the driving element further comprises a displacement driver, which is driven by the displacement driver to make the laser rise and fall in a vertical direction within the height range of the see-through window (111). .
The sweeping machine according to claim 13, characterized in that, the laser light source (21) is installed on the movable output end of the displacement driver, and the laser light source (21) is driven by the displacement driver, so that the The laser light source (21) can be lifted to protrude from the upper surface of the sweeper.
The sweeper according to claim 14, characterized in that, the laser light source (21) is mounted on the power output end of the rotary driver, and the rotary driver is mounted on the movable output end of the displacement driver.
The sweeper according to claim 15, characterized in that, the laser light source (21) further comprises a line laser light source and a point laser light source, and the laser light source (21) is driven to move by the carrying platform (22), so that the laser light source (21) is driven to move. The laser light source (21) generates changes in the scanning area of the laser light.
The sweeping machine according to claim 14, characterized in that, the displacement driver can drive the laser light source (21) to descend, so that the laser light source (21) descends until its top is in line with the upper surface of the sweeping machine. level or below.
A sweeper for laser obstacle avoidance, characterized in that it includes:

The sweeper body (1); and

A laser obstacle avoidance structure, which is arranged in the sweeper body (1);

Wherein, the laser obstacle avoidance structure includes a laser light source (21), a mirror (24) for reflecting the laser light source (21), and a driving module (221);

Under the driving action of the driving module (221), the reflecting mirror (24) and the laser light source (21) are moved relatively, and the laser light source (21) irradiates the reflecting mirror (24) The angle of reflection of the laser light changes to expand the scanning range.
The sweeper according to claim 18, characterized in that, the reflector (24) is mounted on the power output end of the drive module (221), and the laser light source (21) is fixed on the sweeper inside the body (1).
The sweeper according to claim 18, wherein the laser light source (21) is installed on the power output end of the drive module (221), and the reflector (24) is fixed on the sweeper inside the body (1).
The sweeper according to claim 18, wherein the driving module (221) comprises a first driver and a second driver, and the reflector (24) is mounted on the power output end of the first driver ; The laser light source (21) is installed on the power output end of the second driver.
The sweeping machine according to any one of claims 18-21, wherein the driving module (221) comprises a displacement driver, and the mirror (24) and/or the mirror (24) and/or the mirror are driven by the displacement driver. The laser light source (21) moves.
The sweeping machine according to any one of claims 18-21, wherein the driving module (221) comprises a rotary driver, and the mirror (24) and/or the mirror (24) and/or the mirror are driven by the rotary driver. The laser light source (21) rotates.
The sweeper according to any one of claims 18-21, characterized in that, the sweeper body (1) is provided with a see-through window (111) through which the reflected laser light passes.
The sweeper according to claim 24, characterized in that the laser obstacle avoidance structure is arranged close to the front end of the sweeper body (1), and the see-through window (111) is arranged at the front end of the sweeper body (1). hit the plate (11).
The sweeper according to any one of claims 18-21, wherein the laser obstacle avoidance structure further comprises a receiving part (23), which is used for receiving the laser light that hits the surface of the obstacle and then reflects, the The receiving part (23) is installed on the sweeper body (1).
The sweeper according to any one of claims 18-21, wherein the laser light source (21) generates a line laser, and the laser obstacle avoidance structure makes the line laser form on the sweeper body (21). 1) of the scanning surface (3).