Infrared transceiver unit, detection device, multi-infrared detection device and obstacle avoidance robot

Abstract

The application discloses an infrared transceiving unit, a detection device, a multi-infrared detection device and an obstacle-avoiding robot. The infrared transceiving unit comprises a mounting chute, an infrared emission source and two groups of infrared receiving sources. The sensing direction of one group of the infrared receiving sources and the emission direction of the infrared emission source are both directed to one side of a sensing center line of the mounting chute, and the sensing direction of the other group of the infrared receiving sources is directed to the other side of the sensing center line of the mounting chute, so that one of the infrared receiving sources receives infrared modulated light emitted by the infrared emission source and reflected by an obstacle. Two of the infrared transceiving units are arranged at the left end and the right end of the obstacle-avoiding robot respectively. The infrared transceiving unit arranged at one end of the robot receives infrared modulated light emitted by the infrared transceiving unit arranged at the other end or infrared modulated light emitted by the infrared transceiving unit arranged at any one end and reflected by an obstacle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of infrared obstacle avoidance, and particularly relates to an infrared transceiving unit, a detection device, a multi-infrared detection device and an obstacle avoidance robot. BACKGROUND

[0002] With the development of technology and the pursuit of comfortable life, more and more autonomous robots enter people's life, such as companion robots, sweeping robots, etc. The basic function of the robot is environment perception, instruction receiving and behavior control. The difficulty of the robot is the perception of the environment. The robot needs to know where it can go, what obstacles are in front of it, whether there is a wall on the side, etc. The perception of the environment also needs to rely on the acquisition of various sensor data. The commonly used sensors include infrared intensity sensors, infrared distance sensors, ultrasonic sensors, vision sensors, laser sensors, etc. In terms of accuracy, infrared distance sensors, ultrasonic sensors and laser sensors can all obtain relatively high accuracy, but the cost is relatively high. In addition to the laser sensor, the angle covered by the sensor is relatively small, and a large number of sensors are needed to reduce the blind area of detection. The laser sensor mainly perceives a very narrow two-dimensional plane, and there is a blind area in the vertical direction.

[0003] If the vision sensor needs to measure the distance, at least two cameras are needed, which is relatively high in cost and poor in accuracy. Special holes are also needed on the mold to place them. Considering the cost and appearance, the infrared intensity sensor is undoubtedly the cheapest and most widely used, but the current usage is based on single light intensity detection. Different materials have different infrared emission, and black surfaces cannot effectively reflect, which leads to poor adaptability to obstacles and small detectable area. SUMMARY

[0004] To solve the above technical problems, the technical scheme of the present application relies on the limiting action of the mold structure to realize large-range obstacle detection in front of the robot, so that it can detect obstacles in the middle of the two infrared transceiving units. The specific technical scheme is as follows:

[0005] The application discloses an infrared transceiving unit, which comprises a mounting chute, an infrared emission source and an infrared receiving source, wherein the mounting chute comprises a left mounting chute and a right mounting chute; the left mounting chute is fixedly arranged with the infrared emission source, and the right mounting chute is fixedly arranged with two groups of infrared receiving sources, or the right mounting chute is fixedly arranged with the infrared emission source, and the left mounting chute is fixedly arranged with the two groups of infrared receiving sources; the sensing direction of one group of the infrared receiving sources is towards one side of a sensing center line of the mounting chute, and the sensing direction of the other group of the infrared receiving sources is towards the other side of the sensing center line of the mounting chute, so that one of the infrared receiving sources receives infrared modulation light emitted by the infrared emission source and reflected by an obstacle. The mounting mode of the infrared emission source and the infrared receiving source disclosed by the technical scheme realizes wide-range obstacle detection in front of the infrared transceiving unit, and improves the utilization rate of the infrared modulation light emitted by the infrared emission source; the application adopts the modulation light to detect the obstacle, cooperates with the aforementioned limited mold structure to reduce the detectable distance difference of the infrared modulation light on black and white obstacles, and simultaneously, the mold production cost is relatively low.

[0006] Further, the one group of the infrared receiving sources is inclined in the same direction as the infrared emission source, the two groups of the infrared receiving sources receive a receivable range formed by the mounting chute through respective light path channel openings at a diffusion angle, and the infrared emission source emits a emittable range formed by the mounting chute through a light path channel opening thereof at a diffusion angle, wherein the receivable range is greater than the emittable range. The technical scheme expands the detection width of the infrared detectable area in the horizontal direction by setting the relative position relationship of the infrared receiving source and the infrared emission source, and improves the detection effect.

[0007] Further, one infrared demodulation receiving tube exists in each group of the infrared receiving sources, and the infrared emission source is an infrared emission tube; the infrared emission tube adopts small-current constant current control and is in a low emission power state. In order to limit the infrared emission power in a relatively small level, the infrared tube of the technical scheme adopts small-current constant current control, so as to reduce the phenomenon that a secondary reflection signal can be recognized.

[0008] Further, the light path channel openings of the left mounting chute and the right mounting chute are provided with lenses or infrared filters. The structure is simple, and is helpful to filter interference light sources.

[0009] Further, the infrared transceiving unit further comprises a telescopic traction mechanism, which is connected with a mounting surface of the mounting chute and is used for traction of the mounting chute for telescopic movement. On the basis that the lenses or the infrared filters form a convex structure on the mounting chute, the telescopic traction mechanism can retract the mounting chute when the infrared transceiving unit collides with an obstacle, so as to realize physical contact detection of the obstacle.

[0010] Further, the telescopic traction mechanism is a spring movable structure connected to the bottom mounting surface of the mounting chute. The infrared transceiver unit has a certain elasticity, which can be retracted when encountering external pressure, and is used to trigger the collision signal.

[0011] A detection device, as technical solution one, the detection device includes two infrared transceiver units and a horizontally arranged mounting slot; the two infrared transceiver units are arranged at the left end and the right end of the mounting slot respectively, so that the infrared transceiver unit arranged at one end of the mounting slot receives: the infrared modulation light emitted by the infrared transceiver unit arranged at the other end of the mounting slot, or the infrared modulation light emitted by the infrared transceiver unit arranged at any end of the mounting slot and reflected by the obstacle; among the infrared transceiver units arranged at the left end of the mounting slot, the left mounting chute is fixedly provided with the infrared emitter, and the right mounting chute is fixedly provided with two infrared receivers; among the infrared transceiver units arranged at the right end of the mounting slot, the left mounting chute is fixedly provided with the infrared emitter, and the right mounting chute is fixedly provided with two infrared receivers; wherein, the infrared receivers inclined in the same direction as the infrared emitter are directed towards the inside of the mounting slot, and the other infrared receiver is directed towards the outside of the mounting slot; the infrared transceiver units on different ends emit infrared modulation light in different time periods. This technical solution enables the detection device to detect and identify the orientation information of the obstacle relative to the center line of the device, and the overall defined structure formed by the two infrared transceiver units and the horizontally arranged mounting slot improves the utilization rate of the infrared modulation light emitted by the infrared emitter, and also makes the detectable distance difference of the infrared modulation light in the obstacle detectable area for black and white obstacles small.

[0012] As technical solution two, the infrared transceiver unit further includes a telescopic traction mechanism, one end of the telescopic traction mechanism is connected to the mounting surface of the mounting chute, and the other end of the telescopic traction mechanism is fixedly connected to the mounting slot, for traction of the mounting chute for telescopic movement. This technical solution triggers the contact collision signal during the obstacle collision process, and plays a role in protecting the infrared transceiver unit.

[0013] As a technical solution three, the multi-infrared detection device comprises a horizontally arranged mounting groove and at least two groups of the infrared transceiving units arranged in pairs. The infrared transceiving units arranged in pairs are two infrared transceiving units. The infrared transceiving units arranged in pairs are arranged in the mounting groove in sequence, or two infrared transceiving units arranged in pairs are arranged on both sides of the horizontal center line of the mounting groove, and are symmetrically arranged from the outside to the inside of the mounting groove with the horizontal center line of the mounting groove as the symmetric axis. In the two infrared transceiving units arranged in pairs, one of the infrared transceiving units receives infrared modulation light emitted by the other infrared transceiving unit, or infrared modulation light emitted by any one of the infrared transceiving units and reflected by an obstacle. In the two infrared transceiving units arranged in pairs, for the infrared transceiving unit arranged on the left side, the left mounting chute is fixedly provided with two infrared receiving sources, and the right mounting chute is fixedly provided with the infrared emitter. For the infrared transceiving unit arranged on the right side, the left mounting chute is fixedly provided with the infrared emitter, and the right mounting chute is fixedly provided with two infrared receiving sources. Each of the infrared transceiving units emits infrared modulation light in time periods. Compared with the foregoing technical solution, the technical solution refines the obstacle detection area range of the front end of the device, and improves the detection effect.

[0014] As a technical solution four, the infrared transceiving unit further comprises a telescopic traction mechanism, one end of the telescopic traction mechanism is connected with the mounting surface of the mounting chute, and the other end of the telescopic traction mechanism is fixedly connected with the mounting groove, and is used for traction of the mounting chute for telescopic movement. The technical solution is used for triggering a contact collision signal, driving the infrared transceiving unit to retract, avoiding collision with an obstacle, and playing a role in protecting the infrared transceiving unit.

[0015] As a technical solution five, the infrared transceiving units arranged in the mounting groove in sequence are at least one layer, and adjacent layers are arranged in alignment or staggered. The technical solution is suitable for actual detection environment.

[0016] As a technical solution five, the infrared transceiving units arranged in the mounting groove in sequence are at least one layer, and adjacent layers are arranged in alignment or staggered. The technical solution is suitable for actual detection environment. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1is the first structural schematic diagram of the obstacle avoidance robot in the application.

[0018] Figure 2 is Figure 1 the structural schematic diagram of the infrared transmitting and receiving unit 108 (including the spring movable structure).

[0019] Figure 3 is the second structural schematic diagram of the obstacle avoidance robot in the application.

[0020] Figure 4 is the third structural schematic diagram of the obstacle avoidance robot in the application.

[0021] Figure 5 is the top view schematic diagram of the detection device in the application and the light path diagram of detecting obstacles. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be described in detail below with reference to the accompanying drawings, but the present application can be implemented in various different ways limited and covered by the claims. It should be noted that, unless otherwise specified, when a certain feature is referred to as being "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. In addition, the up, down, left, right and the like used in the present application are merely relative to the relative positional relationship of the components of the present application in the drawings, unless otherwise specified. In addition, unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art. The terms used in the specification herein are only used to describe specific embodiments, and are not intended to limit the present application. The term "or" used in the present application includes any combination of one or more related listed elements, devices, or arrangements.

[0023] The embodiments of the present application disclose an infrared transmitting and receiving unit, which comprises a mounting chute, an infrared emitting source and an infrared receiving source. The mounting chute comprises a left mounting chute and a right mounting chute, which are respectively arranged on the left side and the right side of the mounting chute and are used for mounting the infrared tubes with matched shapes. As a structural form of the infrared transmitting and receiving unit, as shown in Figure 2 the right mounting chute is fixedly arranged with the infrared emitting source, and the left mounting chute is fixedly arranged with two groups of infrared receiving sources. Each group of the infrared receiving sources preferably comprises one infrared demodulation receiving tube, which corresponds to the infrared demodulation receiving tube 1083 and the infrared demodulation receiving tube 1084 as shown in Figure 2 the infrared emitting source is one infrared emitting tube, which corresponds to the infrared emitting tube 1085 as shown in Figure 2 the sensing direction (i.e. the receiving direction) of the infrared demodulation receiving tube 1084 and the infrared emitting tube 1085 are both towards the sensing center line of the mounting chute (i.e. the center line of the infrared transmitting and receiving unit). Figure 2the right side of the dashed line L) toward the sensing center line of the mounting chute (i.e. the receiving direction of the infrared demodulation receiving tube 1083 is toward the left side of the dashed line L). As another structural form of the infrared transceiver unit, the infrared transceiver unit 1080 is combined with the infrared transceiver unit 1070, and the infrared transceiver unit 1080 is arranged on the left side of the dashed line L) and the infrared transceiver unit 1070 is arranged on the right side of the dashed line L). Figure 2 As another structural form of the infrared transceiver unit, the infrared transceiver unit 1080 is combined with the infrared transceiver unit 1070, and the infrared transceiver unit 1080 is arranged on the left side of the dashed line L) and the infrared transceiver unit 1070 is arranged on the right side of the dashed line L). Figure 5 As another structural form of the infrared transceiver unit, the infrared transceiver unit 1080 is combined with the infrared transceiver unit 1070, and the infrared transceiver unit 1080 is arranged on the left side of the dashed line L) and the infrared transceiver unit 1070 is arranged on the right side of the dashed line L). Figure 2 As another structural form of the infrared transceiver unit, the infrared transceiver unit 1080 is combined with the infrared transceiver unit 1070, and the infrared transceiver unit 1080 is arranged on the left side of the dashed line L) and the infrared transceiver unit 1070 is arranged on the right side of the dashed line L). Figure 5 As another structural form of the infrared transceiver unit, the infrared transceiver unit 1080 is combined with the infrared transceiver unit 1070, and the infrared transceiver unit 1080 is arranged on the left side of the dashed line L) and the infrared transceiver unit 1070 is arranged on the right side of the dashed line L). Figure 5 As another structural form of the infrared transceiver unit, the infrared transceiver unit 1080 is combined with the infrared transceiver unit 1070, and the infrared transceiver unit 1080 is arranged on the left side of the dashed line L) and the infrared transceiver unit 1070 is arranged on the right side of the dashed line L).

[0024] Specifically, when the obstacle is close to the infrared transceiver unit, since the infrared modulated light is used to detect the obstacle, the detectable distance of the obstacle is limited within a certain distance range, so the nearest detection distance of the obstacle detection area is recorded as distance m1, as shown in (b). Figure 5 As another structural form of the infrared transceiver unit, the infrared transceiver unit 1080 is combined with the infrared transceiver unit 1070, and the infrared transceiver unit 1080 is arranged on the left side of the dashed line L) and the infrared transceiver unit 1070 is arranged on the right side of the dashed line L). Figure 5(b) can be known, infrared demodulation receiving tube 1083 received by infrared emitter 1085 and reflected by infrared modulated light barrier P2, wherein the distance between the infrared transceiver unit and the detectable distance m2; in order to limit the detection distance within a range, the installation groove cooperates with the infrared emitter and the infrared receiver to form the above-mentioned limiting structure, so that when the obstacle is within the detectable distance m1 and the detectable distance m2, both white obstacles and black obstacles can be detected, and the difference between the two detectable distances is small, thereby reducing the difference between the detectable distances of the infrared modulated light for black and white obstacles. In combination with Figure 5 (b) and Figure 5 (c) can be known, Figure 5 (c) in the obstacle relative to Figure 5 (b) of the obstacle P1 and P2 have a certain distance in the horizontal direction, at this time, the infrared demodulation receiving tube 1083 can also receive the infrared modulated light emitted by the infrared emitter 1075 of another structure form infrared transceiver unit or other direction emission source and reflected by the obstacle (diagonal circular obstacle); from Figure 5 (a) can be known, infrared demodulation receiving tube 1083 receives the infrared modulated light emitted directly by infrared emitter 1075. In summary, the installation mode of the infrared emitter and the infrared receiver of the present application realizes the detection of a wide range of obstacles in front of the infrared transceiver unit, and improves the utilization rate of the infrared modulated light emitted by the infrared emitter. The present application uses modulated light to detect obstacles and cooperates with the above-mentioned limiting mold structure to reduce the detectable distance difference of the infrared modulated light for black and white obstacles, and the mold production cost is relatively low.

[0025] Preferably, one of the groups of infrared receivers is inclined in the same direction as the infrared emitter, specifically: Figure 2 The infrared demodulation receiving tube 1084 in the group of infrared receivers on the right side of the sensing center line L is inclined in the same direction as the infrared emitter 1085, the infrared emitter 1085 is inclined in the same direction as the right installation groove, the center line of the infrared demodulation receiving tube 1084 and the center line of the infrared emitter 1085 are arranged in the same direction or intersected on the right side of the sensing center line L to form a small angle, the installation plate of the right installation groove is formed at an acute angle with the horizontal installation surface, and the installation plate of the left installation groove is formed at an obtuse angle with the horizontal installation surface. Figure 5The infrared demodulation receiving tube 1074 in the group of infrared receiving sources on the right side of the sensing center line L is co-directionally inclined with the infrared emitting tube 1075, the center line of the infrared demodulation receiving tube 1074 is parallelly arranged to the center line of the infrared emitting tube 1075 in the same direction or forms a small included angle on the left side of the sensing center line, the infrared emitting tube 1075 is co-directionally inclined with the left mounting inclined groove, the mounting plate of the left mounting inclined groove forms an acute angle with the horizontal mounting surface, and the mounting plate of the right mounting inclined groove forms an obtuse angle with the horizontal mounting surface. The two groups of infrared receiving sources receive the receivable range formed by the mounting inclined groove through the light path channel openings at a diffusion angle, and the infrared emitting source emits the emittable range formed by the mounting inclined groove through the light path channel opening thereof at a diffusion angle, wherein the receivable range is greater than the emittable range, and therefore, as shown in Figure 2 the same infrared sensing plane, the radian of the light path channel opening corresponding to the mounting inclined groove where the infrared emitting source of the infrared transceiver unit is arranged is smaller than the radian of the light path channel opening corresponding to the mounting inclined groove where the infrared receiving source is arranged. Figure 2 The overlapping degree of the line bundle areas covered by the receiving angle 201 of the mid-infrared demodulation receiving tube 1083 and Figure 2 the receiving angle 202 of the mid-infrared demodulation receiving tube 1084 is not high, Figure 2 the emitting angle 203 formed by the mid-infrared emitting tube 1085 in the light path channel opening thereof is small, the sum of the radian of the light path channel opening formed by the two receiving tubes on the two sides of the sensing center line in the mounting inclined groove (the sum of the non-overlapping angles of the receiving angle 201 and the receiving angle 202) is greater than the radian of the light path channel opening formed by the emitting tube on one side of the sensing center line in the mounting inclined groove (such as the emitting angle 203 in Figure 2 ), thereby further expanding the detection width of the infrared detectable area in the horizontal direction, and the relative position relationship between the infrared receiving source and the infrared emitting source is arranged to expand the receiving range of the detection signal of the infrared receiving source and improve the detection effect.

[0026] The infrared emitting tube in the foregoing embodiment adopts small-current constant-current control and is in a low-emitting power state. The use of modulated light will cause the problem of weakened signal due to long detection distance, and in order to limit the detection distance within a range, the power of the emitting tube also needs to be adjusted to solve the problem in cooperation with the structure limiting. In order to limit the infrared emitting power within a relatively small range, the infrared tube of the technical scheme adopts small-current constant-current control, thereby reducing the phenomenon that the secondary reflection signal can be recognized.

[0027] The light path channel openings of the left mounting inclined groove and the right mounting inclined groove are preferably provided with lenses or infrared filters, which can close the light path channel openings of the mounting inclined grooves, so that the environment where the infrared emitting source and the infrared receiving source are located is cleaner. As Figure 2As shown, the infrared transmitting tube 1085, the infrared demodulation receiving tube 1083 and the infrared demodulation receiving tube 1084 select the same lens 1082 (including infrared filter) covering the corresponding light path channel port of the installation chute where they are located, so that the structure is simple, which is helpful to filter the interference light source.

[0028] The infrared transceiver unit can further include a telescopic traction mechanism 1081 connected with the mounting surface of the installation chute, for traction of the installation chute for telescopic movement. On the basis that the lens or infrared filter forms a convex structure in the installation chute, the telescopic traction mechanism 1081 can retract the installation chute when the infrared transceiver unit collides with an obstacle, thereby achieving the effect of physical contact detection of the obstacle. Figure 2 As shown, the telescopic traction mechanism 1081 is a spring movable structure connected to the bottom mounting surface of the installation chute, so that the infrared transceiver unit has a certain elasticity and can be retracted when encountering external pressure, while triggering a collision signal.

[0029] Based on the foregoing infrared transceiver unit, the present application further provides a structural embodiment of a detection device assembled on the end surface of the advancing direction of a mobile robot, for performing infrared detection obstacle avoidance function, forming Figure 1 As shown in the structural schematic diagram of the obstacle avoidance robot, the detection device includes two aforementioned infrared transceiver units and a horizontally arranged installation groove; the two infrared transceiver units are arranged at the left end and the right end of the installation groove, so that the infrared transceiver unit arranged at one end of the installation groove receives: the infrared modulation light emitted by the infrared transceiver unit arranged at the other end of the installation groove, or the infrared modulation light emitted by the infrared transceiver unit arranged at either end of the installation groove and reflected by the obstacle. The detection device can realize the detection mode as described above. Wherein, the infrared modulation light received by the infrared transceiver unit arranged at one end of the installation groove is received in time segments, including first receiving the infrared modulation light emitted by the infrared transceiver unit arranged at the other end of the installation groove, and then receiving the infrared modulation light emitted by the infrared transceiver unit arranged at either end of the installation groove and reflected by the obstacle; or, first receiving the infrared modulation light emitted by the infrared transceiver unit arranged at either end of the installation groove and reflected by the obstacle, and then receiving the infrared modulation light emitted by the infrared transceiver unit arranged at the other end of the installation groove.

[0030] Specifically, in combination with Figure 1 , Figure 2 and Figure 5It can be seen that in the infrared transceiver unit 108 located at the left end of the mounting slot, the infrared emitting source is fixedly installed in the right mounting groove, and the infrared receiving source is preferably fixedly installed in the left mounting groove. For ease of explanation, this embodiment sets the number of infrared receiving sources in each group to one, that is, only one infrared demodulation receiving tube is set in each group, which helps to reduce costs; the sensing direction (i.e., the receiving direction) of the infrared demodulation receiving tube 1084 and the infrared emitting tube 1085 are both oriented towards the sensing center line of the mounting groove. Figure 2 To the right of the dashed line L, the sensing direction (i.e., the receiving direction) of the infrared demodulation receiver 1083 is towards the sensing center line of the mounting groove. Figure 2 To the left of the dashed line L. Combined with Figure 2 and Figure 5 It can be seen that the infrared demodulation receiver 1084 can be tilted in the same direction as the infrared transmitter 1085. The infrared demodulation receiver 1084, which is tilted in the same direction as the infrared transmitter 1085, faces the inner side of the mounting groove, while the other infrared demodulation receiver 1083 faces the outer side of the mounting groove. In the infrared transceiver unit 107 located at the right end of the mounting groove, the infrared transmitter is fixedly installed in the left mounting groove, and two sets of infrared receivers are fixedly installed in the right mounting groove. For ease of explanation, this embodiment sets the number of infrared receivers in each set to one, that is, only one infrared demodulation receiver is set in each set, which helps to reduce costs. The sensing direction (i.e., the receiving direction) of the infrared demodulation receiver 1074 and the infrared transmitter 1075 both face to the left of the sensing center line of the mounting groove, while the sensing direction (i.e., the receiving direction) of the infrared demodulation receiver 1073 faces to the right of the sensing center line of the mounting groove. Figure 2 and Figure 5 It can be seen that the infrared demodulation receiver 1074 can be tilted in the same direction as the infrared transmitter 1075, with the infrared demodulation receiver 1074 tilted in the same direction as the infrared transmitter 1075 facing the inside of the mounting groove, and the other infrared demodulation receiver 1073 facing the outside of the mounting groove.

[0031] The infrared transceiver units on the left and right ends of the mounting slot emit modulated infrared light in time intervals, which is beneficial for determining the directional characteristics of obstacles. The specific detection method is as follows:

[0032] At time t1, the infrared transmitting tube 1085 of the infrared transceiver unit 108 is controlled to be turned on to emit infrared modulated light, and the infrared transmitting tube 1075 is kept off. If the infrared receiving source of the infrared transceiver unit 108 does not receive the infrared modulated light, it can be determined that the obstacle is not located near the horizontal center line of the installation slot. If the infrared receiving source of the infrared transceiver unit 107 receives the infrared modulated light emitted by the infrared transmitting tube 1085, it is further determined whether there is an obstacle on the right side of the infrared transceiver unit 107. If only the infrared demodulation receiving tube 1074 facing the inside of the installation slot receives the infrared modulated light emitted by the infrared transmitting tube 1085, it is determined that there is no obstacle on the right side of the infrared transceiver unit 107. Since the obstacle is not located at the corner of the right end of the detection device, the obstacle does not block the infrared modulated light emitted by the infrared transceiver unit 108. If only the infrared demodulation receiving tube 1073 facing the outside of the installation slot receives the infrared modulated light emitted by the infrared transmitting tube 1085, it is determined that there is an obstacle at the corner of the right end of the infrared transceiver unit 107.

[0033] At time t1, only the infrared demodulation receiving tube 1074 facing the inside of the installation slot receives the infrared modulated light emitted by the infrared transmitting tube 1085. Then at time t2 (t2>t1), the infrared transmitting tube 1085 is turned off, and the infrared transmitting tube 1075 is turned on to emit infrared modulated light. If only the infrared demodulation receiving tube 1084 facing the inside of the installation slot receives the infrared modulated light emitted by the infrared transmitting tube 1075 in the infrared transceiver unit 108, it is determined that there is no obstacle on the left side of the infrared transceiver unit 108. If only the infrared demodulation receiving tube 1083 facing the outside of the installation slot receives the infrared modulated light emitted by the infrared transmitting tube 1075, it is determined that there is an obstacle at the corner of the left end of the infrared transceiver unit 108, as shown in Figure 5 (c) shown, the obstacle located at the corner of the left end of the detection device just blocks the infrared modulated light emitted by the infrared transmitting tube 1075 and reflects it to the infrared demodulation receiving tube 1083 facing the outside of the installation slot in the infrared transceiver unit 108, thereby determining that the obstacle is located at the corner of the left end of the detection device, and also widening the width of the detectable area of the detection device in the horizontal direction.

[0034] At time t3, the infrared transmitting tube 1085 and the infrared transmitting tube 1075 are turned off, and the next detection control cycle is entered.

[0035] If the infrared emitter 1075 is first turned on, and only the infrared demodulation receiving tube 1084 facing the inside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1075, it is determined that there is no obstacle on the left side of the infrared transceiver unit 108, because the obstacle is not located at the corner of the left end of the detection device, so the obstacle does not block the infrared modulated light emitted by the infrared transceiver unit 107; if only the infrared demodulation receiving tube 1083 facing the outside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1075, it is determined that there is an obstacle at the corner of the left end of the infrared transceiver unit 108. Then the infrared emitter 1075 is turned off and the infrared emitter 1085 is turned on, if only the infrared demodulation receiving tube 1074 facing the inside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1085, it is determined that there is no obstacle on the right side of the infrared transceiver unit 107, if only the infrared demodulation receiving tube 1073 facing the outside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1085, it is determined that there is an obstacle at the corner of the right end of the infrared transceiver unit 107.

[0036] When the obstacle is located near the horizontal center line of the mounting slot, as shown in Figure 5 As shown in (b), the infrared demodulation receiving tube 1084 facing the inside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1085 at the same end of the mounting slot and reflected by the nearer obstacle PI (closer to the horizontal line of the mounting slot), and the infrared demodulation receiving tube 1083 facing the outside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1085 and reflected by the farther obstacle P2 (farther from the horizontal line of the mounting slot); the infrared demodulation receiving tube 1074 facing the inside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1075 at the same end of the mounting slot and reflected by the nearer obstacle PI (closer to the horizontal line of the mounting slot), and the infrared demodulation receiving tube 1073 facing the outside of the mounting slot receives the infrared modulated light emitted by the infrared emitter 1075 and reflected by the farther obstacle P2 (farther from the horizontal line of the mounting slot), wherein the horizontal line of the mounting slot is Figure 5 The horizontal line connecting the two infrared transceiver units in (b).

[0037] Therefore, the effects achieved by the foregoing embodiments include: when the infrared receiving source outside (relative to the inside of the installation groove) of the infrared transceiver unit on one end of the installation groove can receive the signal emitted by the infrared transceiver unit on the other end, there is an obstacle blocking the outside corner of the infrared transceiver unit that emits the infrared modulation signal; when the infrared transceiver unit arranged on one end of the installation groove receives the infrared modulation light emitted by the infrared transceiver unit arranged on the other end, there is no obstacle blocking the inside and outside of the installation groove; when the infrared receiving source of the infrared transceiver unit on one end of the installation groove can also receive the signal emitted by the infrared transceiver unit on the same end, the infrared transceiver unit on which end emits infrared modulation light first and the infrared transceiver unit on that end receives the infrared modulation light reflected by the obstacle first, and the infrared receiving source that deviates to the outside of the installation groove is more likely to receive the infrared modulation light reflected by the obstacle that is farther away from the detection device, there is an obstacle blocking near the horizontal center line of the installation groove, but it is also limited to the obstacles between the detectable distance m1 and the detectable distance m2 disclosed in the foregoing embodiments, so that the obstacle located near the horizontal center line of the installation groove can be normally detected, and the area between the center line of the infrared transceiver unit 107 and the center line of the infrared transceiver unit 108 can be expanded to ensure the accuracy and precision of obstacle detection. In summary, the embodiments of the present application enable the detection device to have the function of detecting and identifying the orientation information of the obstacle relative to the center line of the device, and the overall limiting structure formed by the two infrared transceiver units and the horizontally arranged installation groove improves the utilization rate of the infrared modulation light emitted by the infrared emission source and ensures that the detectable distance difference of the infrared modulation light for black and white obstacles in the detectable area of the obstacle is small.

[0038] It is worth noting that the infrared modulation signal emitted by the detection device is a modulation signal superimposed on a control signal. When the infrared demodulation receiving tube receives the infrared modulation signal, the infrared demodulation receiving tube demodulates a low-level signal. When no infrared modulation signal is received, the infrared demodulation receiving tube outputs a low-level signal. The detection device can filter external interference by detecting the high and low level signals.

[0039] Preferably, the infrared transceiver unit further comprises a telescopic traction mechanism, one end of the telescopic traction mechanism is connected to the mounting surface of the installation chute, and the other end of the telescopic traction mechanism is fixedly connected to the installation groove, for traction of the installation chute for telescopic movement. When the detection device contacts and collides with the obstacle, a contact and collision signal is triggered, so that the telescopic traction mechanism retracts the installation chute, drives the infrared transceiver unit to avoid direct contact with the obstacle, and plays a role in protecting the infrared transceiver unit.

[0040] Based on the aforementioned infrared transceiver unit, the present invention also provides a multi-infrared detection device, as an embodiment of a multi-infrared detection device mounted on a robot, such as... Figure 3 As shown, the multi-infrared detection device includes a horizontally arranged mounting slot and at least two pairs of the aforementioned infrared transceiver units. This embodiment provides three pairs of the aforementioned infrared transceiver units, with each pair consisting of two of the aforementioned infrared transceiver units, and arranged according to… Figure 5 The corresponding structural features are distributed on the end face of the robot in the direction of travel. These three pairs of paired infrared transceiver units are arranged continuously in the mounting slot, as shown in the following figure. Figure 3 Infrared transceiver units 118 and 117 are positioned on the left side of the mounting slot, infrared transceiver units 128 and 127 are positioned in the middle of the mounting slot, and infrared transceiver units 138 and 137 are positioned on the right side of the mounting slot. Figure 2 , Figure 3 and Figure 5 As can be seen, in the two paired infrared transceiver units, for the infrared transceiver unit located on the left, the right mounting groove is used to fix the infrared emitting source, and the left mounting groove is used to fix two sets of infrared receiving sources. For ease of explanation, this embodiment sets the number of infrared receiving sources in each set to one, that is, each set has one infrared demodulation receiving tube. Meanwhile, for the infrared transceiver unit located on the right, the left mounting groove is used to fix the infrared emitting source, and the right mounting groove is used to fix two infrared receiving sources. These paired infrared transceiver units... The signal transmission and reception of the infrared modulated light of the unit are the same as those of the aforementioned detection device. In the two infrared transceiver units arranged in pairs, one infrared transceiver unit receives the infrared modulated light emitted by the other infrared transceiver unit, or the infrared modulated light emitted by either infrared transceiver unit and reflected by the obstacle. However, the determination of the relative position between the obstacle and the center line of the infrared transceiver unit is more specific, specifically within the position area defined by the center lines of these six infrared transceiver units. The specific detection position can be adjusted according to the interval between different infrared transceiver units.

[0041] like Figure 4 As shown, the two infrared transceiver units arranged in pairs can also be respectively arranged on both sides of the horizontal center line of the mounting slot, and with the horizontal center line of the mounting slot ( Figure 4 The robot body 101 has a central axis (dashed line) as its axis of symmetry, and the components are arranged symmetrically from the outside of the mounting slot to its inside, as shown in the following figure. Figure 4, the infrared transceiver unit 148 and the infrared transceiver unit 147 are symmetrically arranged about the horizontal center line of the mounting groove; the infrared transceiver unit 158 is arranged on the right side of the infrared transceiver unit 148, the infrared transceiver unit 157 is arranged on the left side of the infrared transceiver unit 147, and the horizontal center line of the mounting groove is symmetrically arranged; the infrared transceiver unit 168 is arranged on the right side of the infrared transceiver unit 158, the infrared transceiver unit 167 is arranged on the left side of the infrared transceiver unit 157, and the horizontal center line of the mounting groove is symmetrically arranged; the signal transmission and reception of the infrared modulated light of the infrared transceiver unit arranged in pairs is the same as that of the above-mentioned detection device, one of the infrared transceiver units receives the infrared modulated light emitted by the other infrared transceiver unit, or the infrared modulated light emitted by any one of the infrared transceiver units and reflected by the obstacle, but the detection of the relative position of the obstacle and the center line of the infrared transceiver unit is more regular, and the specific detection position can be adjusted according to the interval between different infrared transceiver units in the symmetric position region defined by the center lines of the six infrared transceiver units. Different pairs of infrared transceiver units can be selected to emit infrared modulated light in different time periods to avoid multiple signal interference and reduce the difficulty of obstacle detection. Compared with the above-mentioned embodiment, the multi-infrared detection device refines the detection position of the obstacle relative to the front end of the device, and improves the detection effect.

[0042] The multi-infrared detection device preferably comprises a telescopic traction mechanism, one end of the telescopic traction mechanism is connected to the mounting surface of the mounting groove, and the other end of the telescopic traction mechanism is fixedly connected to the mounting groove, for traction of the mounting groove for telescopic movement, and the detection device triggers a contact collision signal when contacting and colliding with an obstacle, so that the telescopic traction mechanism drives the mounting groove to retract, and the infrared transceiver unit is driven to avoid direct contact with the obstacle, thereby protecting the infrared transceiver unit.

[0043] Preferably, in the multi-infrared detection device, the infrared transceiver units arranged in the mounting groove are at least one layer, and the adjacent layers are arranged in alignment or staggered, which can be set according to the specific detection environment requirements.

[0044] The above-mentioned detection device and the multi-infrared detection device are integrated with the infrared transceiver units arranged in pairs to form an infrared detection obstacle avoidance device with a wide detection area, which has good detection sensitivity to white and black obstacles, and based on this, the application also provides an obstacle avoidance robot, which comprises Figure 1The robot body 101, the robot left wheel 102, the robot right wheel 103, the robot balance wheel 104 arranged on the middle axis of the robot body 101, the robot left wheel 102 arranged on the left side of the middle axis of the robot body 101, and the robot right wheel 103 arranged on the right side of the middle axis of the robot body 101 make the robot body 101 available for devices such as carrying robots, floor sweeping machines, etc.

[0045] The aforementioned detection device is installed on the end face of the advancing direction of the robot body 101: Figure 1 The infrared transceiver unit 107 and the infrared transceiver unit 108 are arranged on the left and right ends of the robot body 101 respectively. In the infrared transceiver unit 108 arranged on the left end of the robot body 101, the infrared emitter is fixedly installed in the left mounting groove, and two groups of infrared receivers are fixedly installed in the right mounting groove, one group of which faces the inside of the robot body 101, and the other group of which faces the outside of the robot body 101. 105 represents the emission direction of the infrared modulated light of the infrared transceiver unit 108, and 109 represents the receiving direction of the infrared modulated light of the infrared transceiver unit 108. In the infrared transceiver unit 107 arranged on the right end of the mounting groove, the infrared emitter is fixedly installed in the right mounting groove, and two groups of infrared receivers are fixedly installed in the left mounting groove, one group of which faces the inside of the robot body 101, and the other group of which faces the outside of the robot body 101. 106 represents the emission direction of the infrared modulated light of the infrared transceiver unit 107, and 110 represents the receiving direction of the infrared modulated light of the infrared transceiver unit 107. It is worth noting that when the detection device is not provided with the telescopic traction mechanism, it can be installed in the concave mounting surface in the advancing direction of the robot, and the robot can avoid being stuck during the process of obstacle avoidance turning, and at the same time, the infrared transceiver unit 108 and the infrared transceiver unit 107 and their limiting structure can still complete the obstacle detection work. When the detection device is provided with the telescopic traction mechanism, the infrared transceiver unit 108 and the infrared transceiver unit 107 form a convex structure, which is divided into two convexes on the left and right sides in front of the robot. When the telescopic traction mechanism has a movable spring structure, the convex has a certain elastic force, which is used for detecting external extrusion and can be retracted into the robot, at the same time, triggering a signal to inform the control system of physical contact collision.

[0046] When the aforementioned multi-infrared detection device is installed on the end face of the advancing direction of the robot body 101, as shown in Figure 3 Three pairs of the infrared transceiver units arranged in pairs are arranged in series in the mounting groove, as shown in Figure 4As shown, the three pairs of infrared transceiver units are respectively arranged on both sides of the horizontal center line of the mounting slot, and are positioned with respect to the horizontal center line of the mounting slot ( Figure 4 The robot body 101 has a central axis (dashed line) as its axis of symmetry, and the units are symmetrically arranged from the outside to the inside of the mounting slot. The signal transmission and reception of the infrared modulated light of these paired infrared transceiver units are the same as those of the aforementioned detection device. In the paired infrared transceiver units, one of the infrared transceiver units receives the infrared modulated light emitted by the other infrared transceiver unit, or the infrared modulated light emitted by either infrared transceiver unit and reflected by an obstacle. In this embodiment, when the obstacle is between the sensing center lines of the mounting slots of the two infrared transceiver units... Within a fixed distance range, each infrared transceiver unit can receive the infrared modulated light emitted by itself. When an obstacle is located at a limited distance outside the area between the sensing center lines of the mounting slots of the two infrared transceiver units, such as at the corner of one end of the detection device, the infrared receiver on the outside of the infrared transceiver unit at that end (relative to the inside of the mounting slot) can receive the signal emitted by the infrared transceiver unit at the other end. When there is no obstacle blocking the way, the infrared transceiver unit at one end of the mounting slot receives the infrared modulated light emitted by the infrared transceiver unit at the other end. It is worth noting that when the detection device is not equipped with a telescopic traction mechanism, it can be installed in the concave mounting surface in the robot's forward direction. This prevents the robot from getting stuck during obstacle avoidance and turning, while still allowing obstacle detection to be completed using the paired infrared transceiver units and their limiting structures. When the detection device is equipped with the telescopic traction mechanism, the paired infrared transceiver units form a convex structure, located on both sides of the front of the robot. When the telescopic traction mechanism has a movable spring structure, the convex structure has a certain elasticity, which is used to detect external compression. It can retract into the robot and simultaneously trigger a signal to inform the control system of physical contact collision.

[0047] The obstacle avoidance robot provided in this embodiment can use infrared modulated light for obstacle detection. Through structural cooperation, it can achieve wide-range obstacle detection in front of the robot and overcome the problem of large differences in the detectable distance of infrared modulated light for black and white obstacles within a limited area. The detection effect is good, which improves the robot's perception ability. Moreover, it can prevent the robot from getting stuck when performing obstacle avoidance turns.

[0048] It should be pointed out finally that the above examples are only used to illustrate the technical solutions of the present application but not to limit it; the present application has been described in detail with reference to the preferred embodiments, and those skilled in the art should understand that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solutions of the present application, and all of them should be covered in the technical solution range claimed by the present application.

Claims

1. An infrared transceiver unit comprising a mounting chute, an infrared transmitting source and an infrared receiving source, characterized in that, The installation chute comprises a left installation chute and a right installation chute; The left installation chute is fixedly provided with an infrared emitter, and the right installation chute is fixedly provided with two groups of infrared receivers, or the right installation chute is fixedly provided with an infrared emitter, and the left installation chute is fixedly provided with two groups of infrared receivers; The sensing direction of one group of the infrared receivers and the emission direction of the infrared emitter are both directed to one side of a sensing center line of the installation chute, and the sensing direction of the other group of the infrared receivers is directed to the other side of the sensing center line of the installation chute, so that one of the infrared receivers receives infrared modulated light emitted by the infrared emitter and reflected by an obstacle; The one group of the infrared receivers and the infrared emitter are inclined in the same direction, and the two groups of the infrared receivers receive a receivable range of the installation chute through respective light path passage openings at a diffusion angle, and the infrared emitter emits an emittable range of the installation chute through a light path passage opening thereof at the diffusion angle, wherein the receivable range is greater than the emittable range.

2. The infrared transceiver unit of claim 1, wherein, Each group of the infrared receivers has an infrared demodulation receiver tube, and the infrared emitter is an infrared emitter tube which is controlled by a small current constant current to be in a low emission power state.

3. The infrared transceiver unit of claim 2, wherein, The light path passage openings of the left installation chute and the right installation chute are provided with lenses or infrared filters.

4. The infrared transceiver unit of claim 3, wherein, The detection device further comprises a telescopic traction mechanism connected to a mounting surface of the installation chute and used for traction of the installation chute for telescopic movement.

5. The infrared transceiver unit of claim 4, wherein the infrared transceiver unit is configured to transmit the infrared signal in a first infrared frequency band and to receive the infrared signal in a second infrared frequency band. The telescopic traction mechanism is a spring movable structure connected to a bottom mounting surface of the installation chute.

6. A detection device, characterized in that The detection device comprises two infrared transmitting and receiving units according to any one of claims 1 to 3 and a horizontally arranged installation chute; The two infrared transmitting and receiving units are arranged at left and right ends of the installation chute respectively, so that the two infrared transmitting and receiving units are separated on two sides of the detection device, and the infrared transmitting and receiving unit arranged at one end of the installation chute receives infrared modulated light emitted by the infrared transmitting and receiving unit arranged at the other end of the installation chute or infrared modulated light emitted by the infrared transmitting and receiving unit arranged at any end of the installation chute and reflected by an obstacle; In the infrared transmitting and receiving unit arranged at the left end of the installation chute, the right installation chute is fixedly provided with the infrared emitter, and the left installation chute is fixedly provided with two groups of the infrared receivers, one group of the infrared receivers is directed to an inner side of the installation chute, and the other group of the infrared receivers is directed to an outer side of the installation chute; in the infrared transmitting and receiving unit arranged at the right end of the installation chute, the left installation chute is fixedly provided with the infrared emitter, and the right installation chute is fixedly provided with two groups of the infrared receivers, one group of the infrared receivers is directed to the inner side of the installation chute, and the other group of the infrared receivers is directed to the outer side of the installation chute.

7. The detection device of claim 6, wherein, The telescopic traction mechanism has one end connected to a mounting surface of the installation chute and the other end fixedly connected to the installation chute, and is used for traction of the installation chute for telescopic movement.

8. A multi-infrared detection device, characterized in that, The multi-infrared detection device comprises a horizontally arranged mounting groove and at least two pairs of infrared transceiving units as claimed in any one of claims 1 to 3, which are arranged in pairs. The pairs of infrared transceiving units are arranged in succession in the mounting groove, or two pairs of infrared transceiving units are arranged on both sides of the horizontal center line of the mounting groove, and are symmetrically arranged from the outside to the inside of the mounting groove with the horizontal center line of the mounting groove as the axis of symmetry. In the two pairs of infrared transceiving units, one of the infrared transceiving units receives the infrared modulated light emitted by the other infrared transceiving unit, or the infrared modulated light emitted by either of the infrared transceiving units and reflected by an obstacle. In the two pairs of infrared transceiving units, for the infrared transceiving unit arranged on the left side, the right mounting inclined groove is fixedly provided with the infrared emitter, and the left mounting inclined groove is fixedly provided with two groups of infrared receivers; for the infrared transceiving unit arranged on the right side, the left mounting inclined groove is fixedly provided with the infrared emitter, and the right mounting inclined groove is fixedly provided with two groups of infrared receivers.

9. The multi-infrared detection device of claim 8, wherein, The infrared transceiving unit further comprises a telescopic traction mechanism, one end of which is connected to the mounting surface of the mounting inclined groove, and the other end of which is fixedly connected to the mounting groove, for traction of the mounting inclined groove for telescopic movement.

10. The multi-infrared detection device of claim 8, wherein, The infrared transceiving units arranged in the mounting groove are at least one layer, and the adjacent layers are arranged in alignment or staggered.

11. A barrier avoiding robot, characterized in that, The detection device of claim 6 or the multi-infrared detection device of claim 8 or 9 is arranged in the concave mounting surface in the advancing direction of the robot; or the detection device of claim 6 or the multi-infrared detection device of claim 8 is arranged on the end surface in the advancing direction of the robot.

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