TOF module for sweeping robot and sweeping robot

Abstract

The invention discloses a TOF module for a sweeping robot and the sweeping robot. The TOF module for the sweeping robot comprises a projection module and a receiving module. The projection module is suitable for being installed on a sweeping robot body and used for projecting an output light field, and the ratio of the angle of the output light field in the horizontal direction to the angle of theoutput light field in the vertical direction is greater than 10. The receiving module is suitable for being correspondingly installed on the sweeping robot body and used for receiving the reflected receiving light field, and therefore the TOF principle is applied to conduct distance measurement.

Description

technical field [0001] The invention relates to the technical field of machine vision, and more particularly to a TOF module for a sweeping robot and a sweeping robot. Background technique [0002] The Time Of Flight (TOF) method measures the time interval t (often called the pulse ranging method) of the pulse signal emitted by the projection module from transmission to reception or the phase (phase difference) generated by the laser round trip to the environmental target once distance measurement method) to realize the measurement of the three-dimensional structure or three-dimensional contour of the environmental target. As a high-precision ranging instrument, TOF modules are widely used in many fields such as somatosensory control, behavior analysis, monitoring, automatic driving, artificial intelligence, machine vision, and automatic 3D modeling. Different application fields or application scenarios have different performance requirements for TOF modules, which requires...

AI Technical Summary

Problems solved by technology

At the same time, the sweeping robot needs a smaller field of view in the vertical direction (that is, the V direction), not only because the sweeping robot does not have a large field of view in the V direction, but also can avoid affecting TOF due to ground reflections The measurement accuracy of the module may even cause the TOF module to fail to work properly

[0004] In addition, the TOF module of most sweeping robots is located above the sweeping robot, and its field of view window in the vertical direction (that is, the V direction) is above the horizontal line, so that the field of view window is located above the sweeping robot , which leads to the inability of the sweeping robot to distinguish obstacles such as feces and the bottom surface of the staircase lamp, which in turn affects the cleaning effect and safety performance of the sweeping robot

However, if the design below the horizontal line is adopted, the structure of the sweeping robot itself will block the light projected by the projection and receiving module, making it impossible to measure the distance accurately, and even cause the sweeping robot to fail to work normally.

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