WO2023284227A1 - 一种传感器模组及清洁机器人 - Google Patents

一种传感器模组及清洁机器人 Download PDF

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Publication number
WO2023284227A1
WO2023284227A1 PCT/CN2021/135045 CN2021135045W WO2023284227A1 WO 2023284227 A1 WO2023284227 A1 WO 2023284227A1 CN 2021135045 W CN2021135045 W CN 2021135045W WO 2023284227 A1 WO2023284227 A1 WO 2023284227A1
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Prior art keywords
sensor
sensor module
light
reflector
detection light
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PCT/CN2021/135045
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English (en)
French (fr)
Inventor
刚登全
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美智纵横科技有限责任公司
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Publication of WO2023284227A1 publication Critical patent/WO2023284227A1/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
    • A47L11/28—Floor-scrubbing 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
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • A47L11/4063—Driving means; Transmission means therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the application belongs to the technical field of home appliances, and in particular relates to a sensor module and a cleaning robot.
  • Sweeping robots have gradually become popular in recent years, but at present, sweeping robots generally have problems such as low intelligence, weak environmental adaptability, and coexistence of repeated cleaning and missed sweeping.
  • the position sensor Position Sensitive Device, PSD
  • PSD Position Sensitive Device
  • the embodiment of the present application provides a sensor module and a cleaning robot to avoid the blind area problem of the sensor itself.
  • the embodiment of the first aspect of the present application provides a sensor module, including: a sensor, a reflector, and a light outlet;
  • the sensor is used to emit detection light
  • the reflector is used to reflect the detection light emitted by the sensor to the light exit, and the detection light is emitted from the light exit to the obstacle;
  • the total length of the optical path of the detection light from the sensor through the reflector to the light exit is greater than the minimum working distance of the sensor.
  • the sensor module of the embodiment of the first aspect of the present application includes a sensor, a reflector, and a light exit; the sensor emits detection light; the reflector reflects the detection light emitted by the sensor to the light exit, and the detection light is emitted from the light exit to the obstacle; wherein , the total length of the optical path of the detected light from the sensor through the reflector to the light exit is greater than the minimum working distance of the sensor.
  • this application hides the blind area of the sensor within the range of the sensor module by increasing the optical path of the detected light. The blind zone problem caused by the minimum working distance of the sensor itself can be avoided.
  • the sensor module further includes a transmission device, and the transmission device is used to drive the mirror to rotate to a preset angle.
  • the sensor module further includes a motor connected to the transmission device.
  • the sensor module further includes a controller, the controller is configured to receive a control instruction, and control the rotation of the motor according to the control instruction.
  • the reflector is a plane reflector.
  • the reflection surface of the reflection mirror forms an included angle of 45 degrees with the detection light.
  • the reflector is a rectangular prism.
  • the detection light is infrared light.
  • the senor is a PSD sensor.
  • the cleaning robot according to the embodiment of the second aspect of the present application includes: a main body of the cleaning robot and the sensor module described in the first aspect; the light outlet of the sensor module is arranged on the side of the main body of the cleaning robot.
  • the cleaning robot in the embodiment of the second aspect of the present application hides the blind area of the sensor in the main body of the cleaning robot by increasing the optical path of the detection light, which can avoid the need for the minimum working distance of the sensor itself when the structural space in the main body of the cleaning robot is insufficient. resulting in blind spots.
  • connection and “fixation” should be understood in a broad sense, for example, “fixation” can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined.
  • fixation can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined.
  • This application proposes a sensor module and a cleaning robot.
  • the sensor emits detection light; the reflector reflects the detection light emitted by the sensor to the light exit, and the detection light is emitted from the light exit to obstacles; wherein, the detection light passes from the sensor through the reflector
  • the total length of the optical path to the light exit is greater than the minimum working distance of the sensor.
  • FIG. 1 is a schematic diagram of a sensor module provided by an embodiment of the present application.
  • the sensor module 100 includes: a sensor 110 , a mirror 120 and a light outlet 130 ; the installation positions between the sensor 110 , the mirror 120 and the light outlet 130 are variable according to actual needs.
  • the sensor 110 is configured to emit detection light; the detection light may be infrared light.
  • the reflector 120 is used to reflect the detection light emitted by the sensor 110 to the light exit 130, and the detection light is emitted from the light exit 130 to the obstacle;
  • the reflection mirror 120 has the characteristics of close to total reflection for the detection light, and is installed at a certain angle , it can reflect the detection light without loss, so as to achieve the purpose of increasing the optical path length of the detection light, that is, to increase the optical path length of the detection light from the sensor to the obstacle. If the optical path length is less than the minimum working distance of the sensor, there will be a detection blind zone. Therefore, increasing the length of the optical path can avoid the problem of detection blind spots, which is especially suitable for some devices with limited structural space, such as cleaning robots.
  • Figure 4 shows the corresponding relationship between the detection distance from the sensor to the obstacle and the output voltage of the sensor. It can be seen from the figure that as the detection distance from the sensor to the obstacle changes from 0 to 150mm, the corresponding output of the sensor The voltage first increases from 1.3V to 2.1V (shown in the box in the figure), and then gradually decreases from 2.1V to about 1V, which will cause the same output voltage of the sensor to correspond to the detection distance of the two sensors to the obstacle, and the sensor cannot be formed. There is a one-to-one correspondence between the detection distance to the obstacle and the output voltage of the sensor.
  • the detection distance from the sensor to the obstacle corresponding to 2.1V 11mm is the minimum working distance of the sensor, and the detection distance smaller than the minimum working distance is the detection blind area of the sensor.
  • the total length of the optical path of the detection light from the sensor 110 through the reflector 120 to the light outlet 130 is greater than the minimum working distance of the sensor 110 .
  • the senor 110 may be a PSD sensor.
  • a common PSD sensor includes an infrared emitting and receiving part, which uses the triangulation distance measurement method to detect the distance to obstacles, and the output is an analog voltage signal.
  • the PSD sensor can provide the distance between a certain point on the side of the cleaning robot and a certain point on the wall, compare the real-time distance fed back by the PSD with the reference threshold, and change the speed of the left and right driving wheels of the cleaning robot. Realize the walking along the wall of the sweeping robot.
  • the mirror 120 may be a plane mirror, as shown in FIG. 1 .
  • the reflection surface of the reflection mirror 120 forms an included angle of 45 degrees with the detection light.
  • the reflecting mirror 120 may be a rectangular prism, as shown in FIG. 2 .
  • the sensor module 100 further includes a transmission device for driving the mirror 120 to rotate to a preset angle.
  • the installation position of the sensor 110 is variable, and the emission direction of the detection light will also be different. Therefore, in this application, the deflection angle of the mirror 120 can be changed through the transmission device to adapt to The sensor detects the direction in which the light is emitted.
  • the sensor module 100 further includes a motor connected to the transmission device.
  • the motor drives the transmission device to rotate, and the transmission device drives the mirror 120 to rotate.
  • the sensor module 100 further includes a controller, and the controller is configured to receive a control instruction and control the rotation of the motor according to the control instruction.
  • the control command is a control command for the rotation angle of the mirror 120 .
  • the sensor emits detection light; the reflector reflects the detection light emitted by the sensor to the light exit, and the detection light is emitted from the light exit to the obstacle; the total optical path of the detection light from the sensor to the light exit through the reflector
  • the length is greater than the minimum working distance of the sensor.
  • Fig. 3 is a schematic diagram of a cleaning robot provided by an embodiment of the present application.
  • the cleaning robot includes: the main body of the cleaning robot and the sensor module 100 in the above embodiment; the light exit of the sensor module 100 It is arranged on the side of the main body of the cleaning robot.
  • the cleaning robot may be, for example, a sweeping robot, a mopping robot, or the like.
  • the PSD sensor needs a certain structural space to avoid its own blind zone problem, that is, it needs a minimum working distance.
  • the PSD sensor is installed directly in front of it.
  • a reflector with a certain angle when the PSD sensor emits detection light and passes it to the mirror surface, the detection light is totally reflected, making the incident perpendicular to the wall, so that the incident wall (obstacle) can be perpendicular to the wall (obstacle) and the detection light can be increased Optical path length to avoid blind zone problem.
  • the cleaning robot can also include: a processor, a memory, a bus and a communication interface, and the processor, the communication interface and the memory are connected through a bus; a computer program that can run on the processor is stored in the memory .
  • the memory may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
  • RAM Random Access Memory
  • non-volatile memory such as at least one disk memory.
  • the communication connection between the system network element and at least one other network element is realized through at least one communication interface (which may be wired or wireless), and the Internet, wide area network, local network, metropolitan area network, etc. can be used.
  • the bus can be an ISA bus, a PCI bus, or an EISA bus, etc.
  • the bus can be divided into address bus, data bus, control bus and so on.
  • the memory is used to store the program, and the processor executes the program after receiving the execution instruction, and the sensor module disclosed in any implementation mode of the above-mentioned embodiments of the present application can be applied to the processor, or can be processed by the processor. implement.
  • a processor may be an integrated circuit chip with signal processing capabilities.
  • each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software.
  • the above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit ( ASIC), off-the-shelf programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application-specific integrated circuit
  • FPGA off-the-shelf programmable gate array
  • Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register.
  • modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment.
  • Modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of sub-modules or sub-units or sub-assemblies.
  • All features disclosed in this specification including accompanying claims, abstract and drawings) and any method or method so disclosed may be used in any combination, except that at least some of such features and/or processes or units are mutually exclusive. All processes or units of equipment are combined.
  • Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
  • the various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all functions of some or all components in the device for creating a virtual machine according to the embodiment of the present application.
  • DSP digital signal processor
  • the present application can also be implemented as an apparatus or apparatus program (eg, computer program and computer program product) for performing a part or all of the methods described herein.
  • Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals.
  • Such a signal may be downloaded from an Internet site, or provided on a carrier signal, or provided in any other form.

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Abstract

本申请公开了一种传感器模组及清洁机器人，其中传感器模组包括：传感器、反射镜和光线出口；所述传感器，用于发出探测光线；所述反射镜，用于将所述传感器发出的探测光线反射至所述光线出口，探测光线从所述光线出口射出至障碍物；其中，所述探测光线从所述传感器经过所述反射镜到所述光线出口的光路总长度大于所述传感器的最小工作距离，相比于现有技术，本申请中通过反射镜增加探测光线的光路，将传感器盲区隐藏在传感器模组范围内，可以规避由于传感器自身最小工作距离的需要而产生的盲区问题。

Description

一种传感器模组及清洁机器人
本申请要求于2021年07月12日提交中国专利局、申请号为202110783740.7、申请名称为“一种传感器模组及清洁机器人”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
本申请属于家电技术领域，尤其涉及一种传感器模组及清洁机器人。
背景技术
扫地机器人近年来逐渐普及，但目前扫地机器人普遍存在智能化程度不高，环境适应能力弱，重复清扫和漏扫同时并存等问题。
为准确识别扫地机器人自身状态及环境信息，需要在扫地机设置各类传感器，如何合理的将上述传感器安装在扫地机人上成为一个难题；随着技术的发展，扫地机器人所采用的传感器的数量有所下降，但诸如障碍物感知传感器、悬空感知传感器、碰撞感知传感器、充电对接传感器仍必不可少。因此需要研究如何在扫地机器人上合理的布设上述传感器，尤其是需要避免彼此之间的干扰影响，这导致扫地机器人内部结构空间比较紧张。例如，用来沿边的位置传感器(Position Sensitive Device，PSD)是以三角测距原理的传感器，需要探测光线垂直于墙面，并且需要一定的结构空间来达到最小工作距离，以规避自身的盲区问题。
发明内容
有鉴于此，本申请实施例提供了一种传感器模组及清洁机器人，以规避传感器自身的盲区问题。
本申请第一方面实施例提供一种传感器模组，包括：传感器、反射镜和光线出口；
所述传感器，用于发出探测光线；
所述反射镜，用于将所述传感器发出的探测光线反射至所述光线出口，探测光线从所述光线出口射出至障碍物；
其中，所述探测光线从所述传感器经过所述反射镜到所述光线出口的光路总长度大于 所述传感器的最小工作距离。
本申请第一方面实施例的传感器模组，包括传感器、反射镜和光线出口；传感器发出探测光线；反射镜将传感器发出的探测光线反射至光线出口，探测光线从光线出口射出至障碍物；其中，探测光线从传感器经过反射镜到光线出口的光路总长度大于传感器的最小工作距离，相比于现有技术，本申请中通过增加探测光线的光路，将传感器盲区隐藏在传感器模组范围内，可以规避由于传感器自身最小工作距离的需要而产生的盲区问题。
在本申请的一些实施例中，所述传感器模组还包括传动装置，所述传动装置用于驱动所述反射镜转动至预设角度。
在本申请的一些实施例中，所述传感器模组还包括电机，所述电机与所述传动装置连接。
在本申请的一些实施例中，所述传感器模组还包括控制器，所述控制器用于接收控制指令，并根据所述控制指令控制所述电机旋转。
在本申请的一些实施例中，所述反射镜为平面反射镜。
在本申请的一些实施例中，所述反射镜的反射面与所述探测光线成45度夹角。
在本申请的一些实施例中，所述反射镜为直角棱镜。
在本申请的一些实施例中，所述探测光线为红外光。
在本申请的一些实施例中，所述传感器为PSD传感器。
本申请第二方面实施例的清洁机器人，包括：清洁机器人主体和第一方面所述的传感器模组；所述传感器模组的光线出口设置在所述清洁机器人主体的侧面上。
本申请第二方面实施例的清洁机器人，通过增加探测光线的光路，将传感器盲区隐藏在清洁机器人主体内，可以在清洁机器人主体内结构空间不足的情况下，规避由于传感器自身最小工作距离的需要而产生的盲区问题。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
附图1示出了本申请实施例的一种传感器模组的示意图；
附图2示出了本申请实施例的另一种传感器模组的示意图；
附图3示出了本申请实施例的一种清洁机器人的示意图；
附图4示出了传感器探测距离与输出电压的对应关系。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中如涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“连接”、“固定”等应做广义理解，例如，“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
另外，本发明各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
本申请提出了一种传感器模组及清洁机器人，传感器发出探测光线；反射镜将传感器发出的探测光线反射至光线出口，探测光线从光线出口射出至障碍物；其中，探测光线从传感器经过反射镜到光线出口的光路总长度大于传感器的最小工作距离，相比于现有技术，本申请中通过增加探测光线的光路，将传感器盲区隐藏在传感器模组范围内，可以规避由于传感器自身最小工作距离的需要而产生的盲区问题。
为使本申请的上述目的、特征和优点能够更为明显易懂，下面结合附图对本申请的具体实施例做详细的说明。
图1是本申请实施例提供的一种传感器模组的示意图。如图1所示，该传感器模组100包括：传感器110、反射镜120和光线出口130；传感器110、反射镜120和光线出口130之间的安装位置，根据实际需求是可变的。
传感器110，用于发出探测光线；探测光线可以为红外光。
反射镜120，用于将传感器110发出的探测光线反射至光线出口130，探测光线从光线出口130射出至障碍物；反射镜120对探测光线具有接近于全反射的特点，使用一定的角度来安装，则可以使探测光线无损的反射，从而达到增加探测光线光路长度的目的，也就是增加了探测光线从传感器到障碍物的光路长度，若光路长度小于传感器最小工作距离，则会存在探测盲区，因此增加了光路长度也就可以避免探测盲区问题，尤其适用于一些结构空间有限的装置，例如清洁机器人。
请参见图4，图4所示为传感器到障碍物的探测距离与传感器输出电压的对应关系，从图中可以看出，随着传感器到障碍物的探测距离由0到150mm，传感器对应的输出电压先从1.3V增加到2.1V(图中方框内所示),而后从2.1V逐渐下降到1V左右，这会导致传感器的同一输出电压对应两个传感器到障碍物的探测距离，不能形成传感器到障碍物的探测距离与传感器输出电压的一一对应关系，因此，为了形成传感器到障碍物的探测距离与传感器输出电压的一一对应关系，则将2.1V对应的传感器到障碍物的探测距离11mm作为传感器的最小工作距离，小于最小工作距离的探测距离为传感器的探测盲区。
本申请中，探测光线从传感器110经过反射镜120到光线出口130的光路总长度大于传感器110的最小工作距离。
根据本申请的一些实施方式中，传感器110可以为PSD传感器。常见的PSD传感器包含红外线发射与接收部分，利用三角测距法检测与障碍物的距离，输出量为模拟电压信号。
将PSD传感器应用于清洁机器人，PSD传感器能提供清洁机器人侧面某一点与墙面上某一点之间的距离，将PSD反馈的实时距离和参考阈值比较，通过改变清洁机器人左右驱动轮的速度，可实现扫地机器人的沿墙行走。
根据本申请的一些实施方式中，反射镜120可以为平面反射镜，如图1所示。反射镜120的反射面与探测光线成45度夹角。
根据本申请的一些实施方式中，反射镜120可以为直角棱镜，如图2所示。
根据本申请的一些实施方式中，传感器模组100还包括传动装置，传动装置用于驱动反射镜120转动至预设角度。
实际应用中，为了适应清洁机器人内部有限的空间，传感器110的安装位置多变，探 测光线的发射方向也会不一样，因此本申请中，反射镜120的偏转角度可以通过传动装置改变，以适应传感器探测光线的发射方向。
根据本申请的一些实施方式中，传感器模组100还包括电机，电机与传动装置连接。电机带动传动装置转动，传动装置驱动反射镜120转动。
根据本申请的一些实施方式中，传感器模组100还包括控制器，控制器用于接收控制指令，并根据控制指令控制电机旋转。该控制指令是对反射镜120的转动角度的控制指令。
本申请实施例的传感器模组，传感器发出探测光线；反射镜将传感器发出的探测光线反射至光线出口，探测光线从光线出口射出至障碍物；探测光线从传感器经过反射镜到光线出口的光路总长度大于传感器的最小工作距离，相比于现有技术，本申请中通过增加探测光线的光路，将传感器盲区隐藏在传感器模组范围内，可以规避在有限空间中由于传感器自身最小工作距离而产生的盲区问题。
图3是本申请实施例提供的一种清洁机器人的示意图，如图3所示，该清洁机器人包括：清洁机器人主体和上述实施例中的传感器模组100；所述传感器模组100的光线出口设置在所述清洁机器人主体的侧面上。
清洁机器人例如可以是扫地机器人、拖地机器人等。
以PSD传感器为例，PSD传感器需要一定的结构空间来规避自身的盲区问题，也就是其需要一个最小工作距离，此时由于清洁机器人内部结构空间不足，因此本申请中通过在PSD传感器正前方设置一个具有一定角度的反射镜，PSD传感器发射探测光线传到反射镜镜面时，则全反射探测光线，使得垂直于墙面进行入射，从而既能垂直入射墙面(障碍物)又能增加探测光线光路长度来规避盲区问题。
当然，所述清洁机器人还可以包括：处理器，存储器，总线和通信接口，所述处理器、通信接口和存储器通过总线连接；所述存储器中存储有可在所述处理器上运行的计算机程序。
其中，存储器可能包含高速随机存取存储器(RAM：Random Access Memory)，也可能还包括非不稳定的存储器(non-volatile memory)，例如至少一个磁盘存储器。通过至少一个通信接口(可以是有线或者无线)实现该系统网元与至少一个其他网元之间的通信连接，可以使用互联网、广域网、本地网、城域网等。
总线可以是ISA总线、PCI总线或EISA总线等。所述总线可以分为地址总线、数据总线、控制总线等。其中，存储器用于存储程序，所述处理器在接收到执行指令后，执行所述程序，前述本申请实施例任一实施方式揭示的所述传感器模组可以应用于处理器中，或者由 处理器实现。
处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(DSP)、专用集成电路(ASIC)、现成可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。
需要说明的是：
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本申请并帮助理解各个发明方面中的一个或多个，在上面对本申请的示例性实施例的描述中，本申请的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本申请要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本申请的单独实施例。
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本申请的范围之内并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本申请的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本申请实施例的虚拟机的创建装置中的一些或者全部部件的一些或者全部功能。本申请还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本申请的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本申请进行说明而不是对本申请进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (10)

  1. 一种传感器模组，其特征在于，包括：传感器、反射镜和光线出口；
    所述传感器，用于发出探测光线；
    所述反射镜，用于将所述传感器发出的探测光线反射至所述光线出口，探测光线从所述光线出口射出至障碍物；
    其中，所述探测光线从所述传感器经过所述反射镜到所述光线出口的光路总长度大于所述传感器的最小工作距离。
  2. 根据权利要求1所述的传感器模组，其特征在于，所述传感器模组还包括传动装置，所述传动装置用于驱动所述反射镜转动至预设角度。
  3. 根据权利要求2所述的传感器模组，其特征在于，所述传感器模组还包括电机，所述电机与所述传动装置连接。
  4. 根据权利要求3所述的传感器模组，其特征在于，所述传感器模组还包括控制器，所述控制器用于接收控制指令，并根据所述控制指令控制所述电机旋转。
  5. 根据权利要求1所述的传感器模组，其特征在于，所述反射镜为平面反射镜。
  6. 根据权利要求5所述的传感器模组，其特征在于，所述反射镜的反射面与所述探测光线成45度夹角。
  7. 根据权利要求1所述的传感器模组，其特征在于，所述反射镜为直角棱镜。
  8. 根据权利要求1所述的传感器模组，其特征在于，所述探测光线为红外光。
  9. 根据权利要求1所述的传感器模组，其特征在于，所述传感器为PSD传感器。
  10. 一种清洁机器人，其特征在于，包括：清洁机器人主体和权利要求1至9中任一项所述的传感器模组；所述传感器模组的光线出口设置在所述清洁机器人主体的侧面上。
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