WO2023088373A1 - 扫地机 - Google Patents

扫地机 Download PDF

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Publication number
WO2023088373A1
WO2023088373A1 PCT/CN2022/132586 CN2022132586W WO2023088373A1 WO 2023088373 A1 WO2023088373 A1 WO 2023088373A1 CN 2022132586 W CN2022132586 W CN 2022132586W WO 2023088373 A1 WO2023088373 A1 WO 2023088373A1
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WIPO (PCT)
Prior art keywords
camera
sensors
sweeping machine
sensor
machine according
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PCT/CN2022/132586
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English (en)
French (fr)
Inventor
陈星旭
唐海青
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深圳市普渡科技有限公司
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Publication of WO2023088373A1 publication Critical patent/WO2023088373A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present application relates to the technical field of cleaning equipment, in particular to a sweeping machine.
  • the sensing system of the current cleaning robot usually uses a combination of laser radar and other ranging sensors to realize the positioning, perception and obstacle avoidance of the cleaning robot. Based on cost control, in many cases, the redundancy of sensors is not good enough, and it is easy to have blind spots in vision. In order to reduce blind spots, adding ranging sensors at each blind spot position will greatly increase the number of ranging sensors, resulting in higher cost. The current sensing system is difficult to reduce the redundancy of sensors while eliminating blind spots, resulting in high cost of the sensing system.
  • a sweeper is provided.
  • a sweeping machine comprising a sweeping machine body, the sweeping machine body has a first face and a second face arranged oppositely, the first face and the second face are respectively located at both ends of the sweeping machine body in the traveling direction, and the sweeping machine further includes:
  • the first camera is used to detect the ground on the front side of the sweeper body, and the first camera is installed in the middle of the first surface;
  • a laser radar is used to detect obstacles on the front side of the sweeper body, and the laser radar is installed on the bottom of the first side;
  • Two first sensors are respectively installed on the bottom of the first surface, and the two first sensors are respectively located on both sides of the lidar.
  • the first camera when the sweeper moves toward the direction where the first surface is away from the second surface, the first camera can detect the ground below the front of the sweeper, so as to find obstacles in time objects, and is conducive to the cleaning of the ground, the use of laser radar can detect obstacles in front of the laser radar in time, eliminate the blind area in front of the first camera shooting area, and use the first camera to cooperate with the laser radar, the detection range is wide and the area is large, It is beneficial to reduce the cost; by using the first sensor, obstacles corresponding to the two sides of the bottom of the first surface can be detected, and the blind spots on the two sides of the lidar can be eliminated. In this way, the number of sensors is controlled, sensor redundancy is reduced, cost is reduced, and detection blind spots of the lidar and the first camera can be eliminated.
  • Fig. 1 is a three-dimensional structural schematic diagram 1 of a sweeping machine according to an embodiment of the present application
  • Fig. 2 is a second perspective view of the sweeping machine provided by an embodiment of the present application.
  • the sweeping machine includes a sweeping machine body 10 having a first surface 11 and a second surface 12 opposite to each other.
  • the first surface 11 and the second surface 12 are respectively located at two ends of the sweeping machine body 10 in the traveling direction. That is, the first surface 11 is located at the front end of the sweeper body 10 , and the second surface 12 is located at the rear end of the sweeper body 10 .
  • the sweeping machine provided in the present application is actually a machine that can perform cleaning. It includes not only cleaning machines for sweeping (cleaning dust), but also multi-functional cleaning machines such as sweeping and washing (which can clean dust and the ground at the same time or in different working modes), or it can also include cleaning machines that can clean the ground. Cleaning machines such as scrubbers for sweeping (scrubbing the floor).
  • the sweeping machine also includes a first camera 21, a laser radar 30, two second sensors 41 and two first sensors 42, the first camera 21 is used to detect the ground on the front side of the sweeping machine body 10, and the first camera 21 is installed on the the middle of the first side 11.
  • the laser radar 30 is used to detect obstacles on the front side of the sweeper body 10, and the laser radar 30 is installed on the bottom of the first surface 11.
  • Two second sensors 41 are installed on the top of the first surface 11 respectively, and the two second sensors 41 are respectively located on both sides of the first camera 21, and the two second sensors 41 are used to detect the top of the detection area of the first camera 21 respectively. Obstacles on both sides.
  • the two first sensors 42 are installed on the bottom of the first surface 11 respectively, and the two first sensors 42 are located on both sides of the laser radar 30 respectively, and the two first sensors 42 are used to respectively detect the two sides of the detection area of the laser radar 30 of obstacles.
  • the first camera 21 when the sweeper is moving forward (that is, moving toward the first surface 11 away from the second surface 12), the first camera 21 can detect the ground in front of the sweeper, so as to find obstacles in time objects, and can detect the ground, which is beneficial to control the cleaning of the ground.
  • the sweeper also includes a first camera 21, a laser radar 30, and two first sensors 42.
  • the first camera 21 is used to detect the ground on the front side of the sweeper body 10.
  • the first camera 21 is installed on the middle of the first side 11.
  • the laser radar 30 is used to detect obstacles on the front side of the sweeper body 10
  • the laser radar 30 is installed on the bottom of the first surface 11 .
  • the two first sensors 42 are installed on the bottom of the first surface 11 respectively, and the two first sensors 42 are located on both sides of the laser radar 30 respectively, and the two first sensors 42 are used to respectively detect the two sides of the detection area of the laser radar 30 of obstacles.
  • the use of the laser radar 30 can detect obstacles in front of the laser radar 30 in time, and eliminate the blind area in front of the shooting area of the first camera 21, and the use of the first camera 21 in conjunction with the laser radar 30 has a wide detection range and a large area, which is conducive to reducing costs.
  • the second sensor 41 By using the second sensor 41 , obstacles corresponding to the two side edges of the top of the first surface 11 can be detected, and the blind area above the first camera 21 can be eliminated.
  • the first sensor 42 obstacles corresponding to the two side edges of the bottom of the first surface 11 can be detected, and the blind spots on the two side edges of the lidar 30 can be eliminated. In this way, the number of sensors is controlled, sensor redundancy is reduced, cost is reduced, and detection blind spots of the laser radar 30 and the first camera 21 can be eliminated.
  • the laser radar 30 is installed in the installation groove 110 provided at the bottom of the first surface 11 toward the direction of the second surface 12 .
  • the first surface 11 and the second surface 12 are not really upper, but at both ends of the sweeping machine in the direction of travel, at the forward end of the travel direction, and on the sweeper towards the forward end of the sweeper. All are the first surface 11 , and the shell surface at the advancing end of the sweeper away from its traveling direction is the second surface 12 .
  • the axis of the first camera 21 is arranged obliquely, and the axis of the first camera 21 has a first end and a second end.
  • the first end is located at the end of the axis of the first camera 21 close to the top of the first surface 11, and the second end is located at the end of the axis of the first camera 21 close to the bottom of the first surface 11, that is, the second end is located on the axis of the first camera 21
  • the first camera 21 faces the second end.
  • the axial direction of the first camera 21 is inclined from the top of the first surface 11 to the bottom of the first surface 11 in a direction away from the second surface 12 .
  • the first camera 21 can capture the area in front of the sweeper body 10 adjacent to the bottom of the sweeper body 10 , and control the area and distance of the first camera 21 to capture the ground.
  • the second sensor 41 is a single-point laser sensor. Using a single-point laser sensor can improve the accuracy of the detection distance, so that obstacles ahead can be found in time.
  • the first sensor 42 is an ultrasonic sensor.
  • the ultrasonic sensor has a wide detection area, which can avoid the interference of mirror reflection or glass transmission, and accurately detect transparent or translucent objects such as mirror reflection or glass, so as to make up for the defects that other sensors cannot detect such obstacles.
  • the first sensor 42 is installed on the first surface 11 adjacent to the side of the sweeper body 10, so that the front of the sweeper can be detected on both sides, increasing the detection area and reducing blind spots.
  • the first camera 21 is an RGBD camera (ie, a binocular camera). In this way, the ranging function can be realized, so as to accurately judge the distance of obstacles.
  • a third sensor 43 is installed in the middle of the first surface 11, and the first camera 21 is located at the line formed by the connection between the third sensor 43 and two second sensors 41. within the triangle area.
  • the height difference between the first camera 21 and the second sensor 41 can be reduced to avoid blind spots in the corresponding height range.
  • the third sensor 43 can detect the altitude interval between the first camera 21 and the laser radar 30 , so as to avoid blind spots in the altitude interval between the first camera 21 and the laser radar 30 .
  • the third sensor 43 is a single-point laser sensor. Using a single-point laser sensor can improve the accuracy of the detection distance, so that obstacles ahead can be found in time.
  • a fourth sensor 44 is installed on the bottom of the first surface 11, the two first sensors 42 are located on the upper side of the laser radar 30, and the laser radar 30 is located on the fourth The sensor 44 and the two first sensors 42 are connected to form a triangular area.
  • the installation height of the laser radar 30 can be appropriately increased to facilitate the installation of the laser radar 30 , and avoid blind spots under the laser radar 30 to prevent obstacles from colliding and damaging the laser radar 30 .
  • the third sensor 43 may also be installed in the middle of the first surface 11 , and the first camera 21 is located in the triangular area formed by the line connecting the third sensor 43 and the two second sensors 41 . In this way, when the height of the sweeping machine body 10 is relatively large, blind spots can be avoided due to the excessive distance between the first camera 21 and the laser radar 30 , and obstacles on the lower side of the laser radar 30 can be detected.
  • the fourth sensor 44 is an ultrasonic sensor.
  • the ultrasonic sensor has a wide detection area, which can avoid mirror reflection or glass transmission interference, and effectively detect transparent or translucent obstacles.
  • the fourth sensor 44 may also be an RGBD camera, which is not limited here.
  • the first camera 21 may also be an RGBD camera, which is not limited here.
  • a display screen 54 is installed on the front side of the sweeper body 10, the display screen 54 is located on the upper side of the first camera 21, and the display screen 54 is located on the two second Between the two sensors 41 , in this way, the running status of the sweeper can be displayed, and the detection by the first camera 21 and the second sensor 41 can be avoided.
  • a switch button 53 is installed on the front side of the sweeper body 10, and the switch button 53 is used to start or turn off the sweeper, and the switch button 53 is located adjacent to the display screen 54. location for easy operation.
  • fifth sensors 45 are respectively installed on both sides of the sweeper body 10 , and the fifth sensors 45 are used to detect obstacles on the side of the sweeper body 10 . In this way, when an obstacle approaches the sweeper body 10 from the side of the sweeper body 10, the fifth sensor 45 can detect obstacles on both sides of the sweeper body 10 in time.
  • the fifth sensor 45 is a single point laser sensor. Using a single-point laser sensor can increase the length of the detection distance, so that obstacles on the side can be found in time.
  • the fifth sensor 45 may also be an ultrasonic sensor.
  • a side brush assembly is installed on one side of the sweeper body 10, two fifth sensors 45 are provided on the side where the side brush assembly is installed, and two fifth sensors 45 are arranged along the first surface. and the spacing direction of the second surface are arranged at intervals.
  • the side brush assembly can be arranged at the bottom of the sweeper body 10 and protrude from one side.
  • the sweeper can be cleaned along the wall against the wall, and by setting a plurality of fifth sensors 45, the distance to the wall can be better sensed to ensure driving safety.
  • a second camera 22 , a sixth sensor 46 and two seventh sensors 47 are installed on the second surface 12 , and the second camera 22 is used to identify and locate the supply station.
  • Six sensors 46 are used to detect obstacles corresponding to the top of the second surface 12
  • two seventh sensors 47 are used to detect obstacles corresponding to the bottom of the second surface 12 .
  • the second camera 22 is installed in the middle of the second surface 12
  • the sixth sensor 46 is installed in the top of the second surface 12
  • the two seventh sensors 47 are installed in the bottom of the second surface 12, and the two seventh sensors 47 They are respectively located at both ends of the width direction of the second surface 12 .
  • the sixth sensor 46 may be a single line laser.
  • the second camera 22 can be used to identify and locate the supply station, which is convenient for controlling the sweeper to automatically enter the supply station.
  • the sixth sensor 46 and the second camera 22 can also be used to locate the supply station, or the seventh sensor 47 can be used to cooperate with the second camera 22 to locate the supply station, or the sixth sensor 46 and the second camera 22 can be used to locate the supply station.
  • the seven sensors 47 cooperate with the second camera 22 to locate the supply station, so as to improve the alignment accuracy between the sweeper body 10 and the supply station, and avoid the influence of unclear imaging of the second camera 22 when the second camera 22 is too close to the supply station. Alignment accuracy.
  • a charging electrode 61 is installed on the second surface 12 , the charging electrode 61 is adjacent to the second camera 22 , and the charging electrode 61 is used for docking and conduction with the charging interface of the supply station. In this way, the charging electrode 61 can be controlled to be automatically aligned and connected to the charging interface of the charging station, so as to realize the automatic charging function.
  • a water supply port 62 is installed on the second surface 12 .
  • the water supply port 62 is adjacent to the second camera 22 .
  • the water replenishment port 62 can be controlled to be aligned with the water replenishment interface of the replenishment station, and the automatic water replenishment function can be realized.
  • a sewage outlet 63 is installed on the second surface 12, and the sewage outlet 63 is located on the lower side of the second camera 22, and the sewage outlet 63 is used for plugging and connecting Pass. In this way, the sewage outlet 63 can be controlled to be aligned with the drainage interface of the supply station, so as to realize the function of automatic drainage.
  • the second camera 22 is an RGB camera. In this way, the image of the supply station can be obtained, so as to identify and locate the supply station.
  • the sixth sensor 46 is a single-point laser sensor capable of detecting corresponding obstacles above the second surface 12 .
  • Using a single-point laser sensor can increase the length of the detection distance, so that obstacles ahead can be found in time.
  • the positioning accuracy of the laser sensor is high, which is convenient for accurate alignment between the control and the supply station.
  • the seventh sensor 47 is an ultrasonic sensor.
  • Ultrasonic sensors have a wide detection area, which can avoid interference from specular reflection or glass transmission, and can reduce costs.
  • the seventh sensor 47 is installed on the second surface 12 adjacent to the side of the sweeper body 10, so that it can detect the rear of the sweeper to both sides and increase the detection area.
  • the edge position of the replenishment station can be located by two seventh sensors 47 .
  • a touch switch bar 51 is installed on the bottom of the first surface 11, and the touch switch bar 51 is used to control the sweeper body before stopping when it collides with an obstacle.
  • the touch switch bar 51 is located on the lower side of the lidar 30 . In this way, when the touch switch bar 51 touches an obstacle in front of the sweeper body 10, the sweeper can be controlled to stop moving forward, which can prevent the robot body 10 from continuing to collide with the obstacle due to sensor failure.
  • a third camera 23 is installed on the top of the sweeper body 10 .
  • the third camera 23 can acquire images above the sweeper, so as to track the operator.
  • the third camera 23 may specifically be an infrared camera or an RGB camera.
  • an emergency stop button 52 is installed on the top of the sweeper body 10 . In this way, it is convenient to control the sweeping machine to stop running in time in an emergency.

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种扫地机，包括扫地机本体（10），扫地机本体（10）具有相对设置的第一面（11）和第二面（12），第一面（11）和第二面（12）分别位于扫地机本体（10）的行进方向的两端，扫地机还包括：第一摄像头（21），第一摄像头（21）安装于第一面（11）的中部；激光雷达（30），激光雷达（30）安装于第一面（11）的底部；两个第一传感器（42），分别安装于第一面（11）的底部，且两个第一传感器（42）分别位于激光雷达（30）的两侧。

Description

扫地机
相关申请的交叉引用
本申请要求于2021年11月17日提交的中国专利局、申请号为202122829292.8、申请名称为“扫地机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及清洁设备技术领域，特别是涉及一种扫地机。
背景技术
目前的清洁机器人的感应系统通常是采用激光雷达配合其他的测距传感器组合来实现清洁机器人的定位、感知和避障。基于成本的控制，很多时候传感器的冗余做的不够好，容易存在视觉的盲区。为了减少盲区，在各个盲区位置增加测距传感器，则会大大增加测距传感器的数量，致使成本较高。目前的感应系统在消除盲区的同时，难以降低传感器的冗余，导致感应系统成本高。
发明内容
根据本申请的各种实施例，提供一种扫地机。
一种扫地机，包括扫地机本体，扫地机本体具有相对设置的第一面和第二面，第一面和第二面分别位于扫地机本体的行进方向的两端，扫地机还包括：
第一摄像头，用于检测扫地机本体的前侧的地面，第一摄像头安装于第一面的中部；
激光雷达，用于检测扫地机本体前侧的障碍物，激光雷达安装于第一面的底部；以及
两个第一传感器，两个第一传感器分别安装于第一面的底部，且两个第一传感器分别位于激光雷达的两侧。
本申请实施例的技术方案中，通过采用第一摄像头，在扫地机朝向第一面远离第二面的方向移动时，第一摄像头能够对扫地机前下方的地面进行检测，以便于及时发现障碍物，并有利于对地面的清洁，采用激光雷达能够及时发现激光雷达前方的障碍物，消除第一摄像头拍摄区域前方的盲区，且采用第一摄像头配合激光雷达，检测范围宽，区域较大，有利于降低成本；通过采用第一传感器，能够检测到与第一面底部的两侧边缘相对应的障碍物，消除激光雷达两侧边缘的盲区。这样既控制了传感器的数量，减小了传感器冗余，降低了成本，又能够消除激光雷达和第一摄像头的检测盲区。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本申请一实施例的扫地机的立体结构示意图一；
图2为本申请一实施例提供的扫地机的立体结构示意图二。
10、扫地机本体；11、第一面；110、安装槽；12、第二面；21、第一摄像头；22、第二摄像头；23、第三摄像头；30、激光雷达；41、第二传感器；42、第一传感器；43、第三传感器；44、第四传感器；45、第五传感器；46、第六传感器；47、第七传感器；51、触碰开关条；52、急停按钮；53、开关按键；54、显示屏；61、充电电极；62、补水口；63、排污口。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于发明的技术领域的技术人员通常理解的含义相同。本文中在发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请一并参阅图1和图2，现对本申请实施例提供的扫地机进行说明。扫地机包括扫地机本体10，扫地机本体10具有相对设置的第一面11和第二面12，第一面11和第二面12分别位于扫地机本体10的行进方向的两端。即，第一面11位于扫地机本体10的前端，第二面12位于扫地机本体10的后端。
在可选实施例中，本申请提供的扫地机实际是表述可以进行清洁的机器。不仅包括扫地(对灰尘进行清洁)的清洁机器，还可以包括扫、洗等多功能一体(可以同时或者在不同工作模式下实现灰尘与地面的清洁)的清洁机器，或者也包括可以实现对地面进行清扫(对地面进行洗地)的洗地机等清洁机器。
扫地机还包括第一摄像头21、激光雷达30、两个第二传感器41和两个第一传感器42，第一摄像头21用于检测扫地机本体10的前侧的地面，第一摄像头21安装于第一面11的中部。激光雷达30用于检测扫地机本体10前侧的障碍物，激光雷达30安装于第一面11的底 部。两个第二传感器41分别安装于第一面11的顶部，且两个第二传感器41分别位于第一摄像头21的两侧，两个第二传感器41用于分别检测第一摄像头21检测区域上方两侧的障碍物。两个第一传感器42分别安装于第一面11的底部，且两个第一传感器42分别位于激光雷达30的两侧，两个第一传感器42用于分别检测激光雷达30检测区域的两侧的障碍物。
通过采用第一摄像头21，在扫地机前行(即，朝向第一面11远离第二面12的方向移动)时，第一摄像头21能够对扫地机前方的地面进行检测，以便于及时发现障碍物，并能够对地面进行检测，有利于控制对地面的清洁。
在另一实施例中，扫地机还包括第一摄像头21、激光雷达30、两个第一传感器42，第一摄像头21用于检测扫地机本体10的前侧的地面，第一摄像头21安装于第一面11的中部。激光雷达30用于检测扫地机本体10前侧的障碍物，激光雷达30安装于第一面11的底部。两个第一传感器42分别安装于第一面11的底部，且两个第一传感器42分别位于激光雷达30的两侧，两个第一传感器42用于分别检测激光雷达30检测区域的两侧的障碍物。
采用激光雷达30能够及时发现激光雷达30前方的障碍物，消除第一摄像头21拍摄区域前方的盲区，且采用第一摄像头21配合激光雷达30，检测范围宽，区域较大，有利于降低成本。
通过采用第二传感器41，能够检测到与第一面11顶部的两侧边缘相对应的障碍物，消除第一摄像头21上方的盲区。通过采用第一传感器42，能够检测到与第一面11底部的两侧边缘相对应的障碍物，消除激光雷达30两侧边缘的盲区。这样既控制了传感器的数量，减小了传感器冗余，降低了成本，又能够消除激光雷达30和第一摄像头21的检测盲区。
具体地，激光雷达30安装在第一面11的底部朝向第二面12的方向设置的安装槽110内。需要补充的是，第一面11和第二面12并不是真正意义上面，而是在扫地机行进方向的两端，在行进方向的前进端，其扫地机上朝向其行进方向的前进端的外壳表面都是第一面11，其扫地机上背离其行进方向的前进端的外壳表面都是第二面12。
在本申请的一个实施例中，请参阅图1和图2，第一摄像头21的轴线倾斜设置，且第一摄像头21之轴线具有第一端和第二端。第一端位于第一摄像头21之轴线靠近第一面11顶部的一端，第二端位于第一摄像头21之轴线靠近第一面11底部的一端，即第二端位于第一摄像头21之轴线上远离第二面12的一侧，第一摄像头21朝向第二端。即，第一摄像头21的轴向由第一面11的顶部至第一面11的底部呈朝向远离第二面12的方向倾斜设置。这样第一摄像头21能够拍摄到扫地机本体10前方邻近扫地机本体10底部的区域，控制第一摄像头21拍摄地面的区域和距离。
在本申请的一个实施例中，请参阅图1和图2，第二传感器41为单点激光传感器。采用单点激光传感器，能够提高检测距离的准确性，以便于及时发现前方的障碍物。
在本申请的一个实施例中，第一传感器42为超声波传感器。超声波传感器检测区域较宽， 能够避免镜面反射或玻璃透射干扰，准确检测到镜面反射或玻璃等透明或半透明的物体，从而弥补其他传感器无法检测该类障碍物的缺陷，通过结合超声波传感器及其他传感器有效提供了扫地机识别障碍物的能力。可选地，第一传感器42安装于第一面11邻近扫地机本体10侧面的位置，这样能够对扫地机前方偏向两侧的部位进行检测，增大检测区域，减少盲区。
在本申请的一个实施例中，第一摄像头21为RGBD摄像头(即，双目摄像头)。这样能够实现测距功能，以便于准确判断障碍物的距离。
在本申请的一个实施例中，请参阅图1和图2，第一面11的中部安装有第三传感器43，第一摄像头21位于第三传感器43与两个第二传感器41连线形成的三角形区域内。在扫地机本体10的高度较大时，能够减小第一摄像头21与第二传感器41之间的高度差，以避免在相应的高度区间内产生盲区。第三传感器43能够对第一摄像头21与激光雷达30之间的高度区间进行检测，避免第一摄像头21与激光雷达30之间的高度区间产生盲区。
请参阅图1和图2，第三传感器43为单点激光传感器。采用单点激光传感器，能够提高检测距离的准确性，以便于及时发现前方的障碍物。
在本申请的一个实施例中，请参阅图1和图2，第一面11的底部安装有第四传感器44，两个第一传感器42位于激光雷达30的上侧，激光雷达30位于第四传感器44与两个第一传感器42连线形成的三角形区域内。在扫地机本体10的高度较大时，能够适当增加激光雷达30的安装高度，以便于激光雷达30的安装，并避免激光雷达30下方产生盲区，防止障碍物碰撞损坏激光雷达30。
在本实施例中，第一面11的中部也可安装有第三传感器43，第一摄像头21位于第三传感器43与两个第二传感器41连线形成的三角形区域内。这样能够在扫地机本体10的高度较大时，避免由于第一摄像头21与激光雷达30之间距离过大产生盲区，且能够对激光雷达30下侧的障碍物进行检测。
在本申请的一个实施例中，第四传感器44为超声波传感器。超声波传感器检测区域较宽，能够避免镜面反射或玻璃透射干扰，有效检测到透明或半透明的障碍物。
在其他实施例中，第四传感器44还可以为RGBD相机，这里不做限定。
在其他实施例中，第一摄像头21也可以为RGBD相机，这里不做限定。
在本申请的一个实施例中，请参阅图1和图2，扫地机本体10的前侧安装有显示屏54，显示屏54位于第一摄像头21的上侧，且显示屏54位于两个第二传感器41之间，这样能够显示扫地机的运行状况，且能够避免干扰第一摄像头21和第二传感器41的检测。
在本申请的一个实施例中，请参阅图1和图2，扫地机本体10的前侧安装有开关按键53，开关按键53用于启动或关闭扫地机，开关按键53位于邻近显示屏54的位置，这样便于操作。
在本申请的一个实施例中，请参阅图1和图2，扫地机本体10的两侧分别安装有第五传感器45，第五传感器45用于检测扫地机本体10侧面的障碍物。这样在障碍物由扫地机本体 10的侧面靠近扫地机本体10时，第五传感器45能够及时检测到扫地机本体10两侧的障碍物。
可选地，第五传感器45为单点激光传感器。采用单点激光传感器，能够提高检测距离的长度，以便于及时发现侧面的障碍物。
在其他实施例中，第五传感器45还可以为超声波传感器。
在可选实施例中，地机本体10一侧的第五传感器45可以为1个或者2个，这里不做限定。
在可选实施例中，扫地机本体10的一侧安装有边刷组件，第五传感器45在安装有边刷组件的一侧设置有两个，两个第五传感器45沿所述第一面和所述第二面的间隔方向间隔设置。
可选地，其边刷组件具体可以设置于扫地机本体10的底部并从一侧凸显出来。
可选的，通过设置边刷组件，可以使得扫地机贴着墙面进行沿边清扫，且通过设置多个第五传感器45，可以更好的感知其墙面的距离，保证行驶的安全性。
在本申请的一个实施例中，请参阅图2，第二面12上安装有第二摄像头22、第六传感器46和两个第七传感器47，第二摄像头22用于识别定位补给站，第六传感器46用于检测所述第二面12的顶部对应的障碍物，两个第七传感器47用于分别检测第二面12的底部对应的障碍物。第二摄像头22安装于第二面12的中部，第六传感器46安装于第二面12的顶部，两个所述第七传感器47安装于第二面12的底部，且两个第七传感器47分别位于第二面12的宽度方向的两端。
在可选实施例中，第六传感器46可以为单线激光。
如此，可通过第二摄像头22对补给站进行识别定位，便于控制扫地机自动进入补给站。当然，本实施例中，也可利用第六传感器46与第二摄像头22配合定位补给站，或者，利用第七传感器47与第二摄像头22配合定位补给站，或者，利用第六传感器46和第七传感器47与第二摄像头22配合定位补给站，以便于提高扫地机本体10与补给站的对位精度，避免在第二摄像头22离补给站距离过近时，第二摄像头22成像不清晰影响对位精度。
在本申请的一个实施例中，请参阅图2，第二面12上安装有充电电极61，充电电极61邻近第二摄像头22，充电电极61用于供补给站的充电接口对接导通。这样可控制充电电极61与补给站的充电借口自动对位连接，以实现自动充电功能。
在本申请的一个实施例中，请参阅图2，第二面12上安装有补水口62，补水口62邻近第二摄像头22，补水口62用于供补给站的补水接口插接连通。这样可控制补水口62与补给站的补水接口对位连接，能够实现自动补水功能。
在本申请的一个实施例中，请参阅图2，第二面12上安装有排污口63，排污口63位于第二摄像头22的下侧，排污口63用于供补给站的排水接口插接连通。这样可控制排污口63 与补给站的排水接口对位连接，以便于实现自动排水的功能。
在本申请的一个实施例中，第二摄像头22为RGB摄像头。这样能够获取补给站的图像，以便对补给站进行识别定位。
在本申请的一个实施例中，第六传感器46为单点激光传感器，能够对第二面12上方对应的障碍物进行检测。采用单点激光传感器，能够提高检测距离的长度，以便于及时发现前方的障碍物。而且，采用激光传感器的定位精度高，便于控制与补给站的准确对位。
在本申请的一个实施例中，第七传感器47为超声波传感器。超声波传感器检测区域较宽，能够避免镜面反射或玻璃透射干扰，且能降低成本。可选地，第七传感器47安装于第二面12邻近扫地机本体10侧面的位置，这样能够对扫地机后方偏向两侧的部位进行检测，增大检测区域。而且，在扫地机进入补给站时，可通过两个第七传感器47定位补给站的边缘位置。
在本申请的一个实施例中，请参阅图1和图2，第一面11的底部安装有触碰开关条51，触碰开关条51用于在与障碍物碰撞时控制扫地机本体停止前行，触碰开关条51位于激光雷达30的下侧。这样在触碰开关条51触碰到扫地机本体10前方的障碍物时，能够控制扫地机停止前行，这样可以避免传感器失效导致机器人本体10与障碍物继续碰撞。
在本申请的一个实施例中，请参阅图1和图2，扫地机本体10的顶部安装有第三摄像头23。第三摄像头23能够对获取扫地机上方的图像，以便于对操作人员进行追踪。
在可选实施例中，第三摄像头23具体可以是红外摄像头或者RGB摄像头。
在本申请的一个实施例中，请参阅图1和图2，扫地机本体10的顶部安装有急停按钮52。这样便于在紧急状况下，及时控制扫地机停止运行。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (16)

  1. 一种扫地机，包括扫地机本体，所述扫地机本体具有相对设置的第一面和第二面，所述第一面和所述第二面分别位于所述扫地机本体的行进方向的两端，所述扫地机还包括：
    第一摄像头，用于检测所述扫地机本体的前侧的地面，所述第一摄像头安装于所述第一面的中部；
    激光雷达，用于检测所述扫地机本体前侧的障碍物，所述激光雷达安装于所述第一面的底部；以及
    两个第一传感器，两个所述第一传感器分别安装于所述第一面的底部，且两个所述第一传感器分别位于所述激光雷达的两侧。
  2. 根据权利要求1所述的扫地机，其中，所述扫地机还包括两个第二传感器，两个所述第二传感器分别安装于所述第一面的顶部，且两个所述第二传感器分别位于所述第一摄像头的两侧。
  3. 根据权利要求2所述的扫地机，其中，所述第一面的中部安装有第三传感器，所述第一摄像头位于所述第三传感器与两个所述第二传感器连线形成的三角形区域内。
  4. 根据权利要求2所述的扫地机，其中，所述第一传感器为超声波传感器；和/或，所述第二传感器为单点激光传感器；和/或，所述第一摄像头为RGBD摄像头。
  5. 根据权利要求1所述的扫地机，其中，所述第一摄像头的轴线倾斜设置，且所述第一摄像头之轴线靠近所述第一面之底部的一端位于所述第一摄像头之轴线的另一端远离所述第二面的一侧。
  6. 根据权利要求1所述的扫地机，其中，所述第一面的底部安装有第四传感器，两个所述第一传感器位于所述激光雷达的上侧，所述激光雷达位于所述第四传感器与两个所述第一传感器连线形成的三角形区域内。
  7. 根据权利要求1所述的扫地机，其中，所述扫地机本体的两侧分别安装有用于检测所述扫地机本体侧面的障碍物的第五传感器。
  8. 根据权利要求7所述的扫地机，其中，所述扫地机本体的一侧安装有边刷组件，所述第五传感器在安装有所述边刷组件的一侧设置有两个，两个所述第五传感器沿所述第一面和所述第二面的间隔方向间隔设置。
  9. 根据权利要求1所述的扫地机，其中，所述第二面上安装有用于识别定位补给站的第二摄像头、用于检测所述第二面的顶部对应的障碍物的第六传感器和用于分别检测所述第二面的底部对应的障碍物的两个第七传感器；
    所述第二摄像头安装于所述第二面的中部，所述第六传感器安装于所述第二面的顶部，两个所述第七传感器安装于所述第二面的底部，且两个所述第七传感器分别位于所述第二面 的宽度方向的两端。
  10. 根据权利要求9所述的扫地机，其中，所述第二面上邻近所述第二摄像头的位置安装有用于供所述补给站的充电接口对接导通的充电电极。
  11. 根据权利要求9所述的扫地机，其中，所述第二面上邻近所述第二摄像头的位置安装有用于供所述补给站的补水接口插接连通的补水口。
  12. 根据权利要求9所述的扫地机，其中，所述第二摄像头为RGB摄像头。
  13. 根据权利要求9所述的扫地机，其中，所述第六传感器为单点激光传感器。
  14. 根据权利要求9所述的扫地机，其中，所述第七传感器为超声波传感器。
  15. 根据权利要求1-14任一项所述的扫地机，其中，所述第一面的底部安装有用于在与所述障碍物碰撞时控制所述扫地机本体停止前行的触碰开关条，所述触碰开关条位于所述激光雷达的下侧。
  16. 根据权利要求1-14任一项所述的扫地机，其中，所述扫地机本体的顶部安装有第三摄像头。
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