Work area surface detection device and cleaning robot

Abstract

The embodiment of the application discloses a work area surface detection device and a cleaning robot, the work area surface detection device comprises a signal emission module and a signal receiving module; the signal emission module comprises a light emission part and a first light path changing part, the first light path changing part is arranged on the emission light path of the light emission part, and is used for converting the light emitted by the light emission part into first light, the first light is approximately parallel light which is inclined to the signal receiving module by a first angle; the signal receiving module comprises a light receiving part, and a distance interval of a preset distance is arranged between the light emission part and the light receiving part, so that at least part of second light is received by the light receiving part, the second light is light reflected by the first light via the work area surface; and the light intensity of the at least part of second light is used for determining the material of the work area surface.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a work area surface detection device and a cleaning robot. BACKGROUND

[0002] With the continuous improvement of material life and scientific and technological level, at present, more and more user families begin to apply robots to provide corresponding services for people, especially to apply cleaning robots to replace people to clean the home environment or large places, which not only can reduce the labor pressure of people, but also can improve the cleaning efficiency.

[0003] At present, the cleaning robot is usually provided with a special sensor device to detect the surface to be cleaned, for example, an ultrasonic wave is used to identify whether the surface to be cleaned is a carpet, so as to avoid wetting the carpet, but the ultrasonic sensor has a large volume, a high cost and a slow response speed. SUMMARY

[0004] A series of simplified concepts are introduced in the summary part, which will be further described in detail in the specific embodiment part. The summary part of the present application does not mean to try to limit the key features and necessary technical features of the claimed technical solution, and does not mean to try to determine the protection scope of the claimed technical solution.

[0005] In a first aspect, the embodiments of the present application provide a work area surface detection device comprising a signal emitting module and a signal receiving module.

[0006] The signal emitting module comprises a light emitting part and a first light path changing part, the first light path changing part is arranged in the emitting light path of the light emitting part, and is used for converting the light emitted by the light emitting part into first light, the first light is approximately parallel light inclined by a first angle in the direction of the signal receiving module;

[0007] The signal receiving module comprises a light receiving part, a distance is arranged between the light emitting part and the light receiving part, at least part of the second light is received by the light receiving part, the second light is the light reflected by the work area surface after the first light, and the light intensity of the at least part of the second light is used to determine the material of the work area surface.

[0008] Optionally, the signal emitting module and the signal receiving module are independent of each other.

[0009] Optionally, the first light path changing part comprises a first convex lens, a thickness of the first convex lens gradually increases along a direction from a first side of the first convex lens to a second side of the first convex lens, the first side of the first convex lens is a side of the first convex lens away from the second light path changing part, and the second side of the first convex lens is a side of the first convex lens close to the second light path changing part.

[0010] Optionally, the second side of the first convex lens is provided with a first total reflection part, the first total reflection part is configured to totally reflect light rays in the first convex lens and directed to the second side of the first convex lens, so as to form approximately parallel outgoing light rays inclined to the signal receiving module by a second angle.

[0011] Optionally, the first total reflection part comprises a first plane gradually inclined to a direction away from the first side of the first convex lens from a first end to a second end, the first end is an end of the first plane close to the light emitting part, and the second end is an end of the first plane away from the light emitting part.

[0012] Optionally, the light receiving part is further provided with the second light path changing part on a receiving light path of the light receiving part; the second light path changing part is configured to convert the received second light rays into third light rays to be received by the light receiving part, and the third light rays are light rays converted from the second light rays to be converged to the light receiving part.

[0013] Optionally, the second light path changing part comprises a second convex lens, a thickness of the second convex lens gradually increases along a direction from a first side of the second convex lens to a second side of the second convex lens, the first side of the second convex lens is a side of the second convex lens away from the first light path changing part, and the second side of the second convex lens is a side of the second convex lens close to the first light path changing part.

[0014] Optionally, the second side of the second convex lens is provided with a second total reflection part, the second total reflection part is configured to totally reflect light rays in the second convex lens and directed to the second side of the second convex lens, so as to form converging light rays converging to the light receiving part.

[0015] Optionally, the second total reflection part comprises a second plane gradually inclined to a direction away from the first side of the second convex lens from a third end to a fourth end, the third end is an end of the second plane close to the light receiving part, and the fourth end is an end of the second plane away from the light receiving part.

[0016] Optionally, inner walls of the light emitting part and the light receiving part are made of non-reflective material.

[0017] Optionally, the light intensity of the at least part of the second light is used to determine the material of the work area surface, including: when the light intensity of the at least part of the second light is less than a preset light intensity, determining that the work area surface is a first material.

[0018] Optionally, when the light intensity of the at least part of the second light is greater than the preset light intensity, it is determined that the work area surface is a second material.

[0019] Optionally, the first material is a rough surface; and the second material is a smooth surface.

[0020] Optionally, the rough surface is a carpet; and the smooth surface is a floor or a tile.

[0021] In a second aspect, an embodiment of the present application provides a cleaning robot, comprising the work area surface detection device described above.

[0022] According to the work area surface detection device and the cleaning robot provided by the embodiment of the present application, the light emitted by the light emitting part is converted into the first light by the first light path changing part, and the light receiving part can receive at least part of the second light, wherein the first light is the approximately parallel light inclined by the first angle to the direction of the signal receiving module, and the second light is the light reflected by the work area surface after the first light. In this way, the light intensity of the at least part of the second light can be used to determine the material of the work area surface, and the optical element is used for detection, which not only reduces the volume and cost of the detection device, but also improves the detection speed. BRIEF DESCRIPTION OF DRAWINGS

[0023] The following drawings of the present application are hereby incorporated as part of the present application for understanding the embodiments of the present application. The embodiments of the present application and the description thereof shown in the drawings are used to explain the principles of the present application.

[0024] In the drawings:

[0025] Figure 1 It is a perspective view of a cleaning robot according to an optional embodiment of the present application;

[0026] Figure 2 It is a bottom view of a cleaning robot according to an optional embodiment of the present application;

[0027] Figure 3 It is a perspective view of a wet cleaning system according to an optional embodiment of the present application;

[0028] Figure 4 It is a light path diagram of a work area surface detection device according to an optional embodiment of the present application;

[0029] Figure 5FIG. 1 is a diagram of an optical path of a work area surface detection device according to another optional embodiment of the present application.

[0030] BRIEF DESCRIPTION OF DRAWINGS

[0031] 10 - cleaning robot; 110 - main body; 111 - frontward portion; 112 - rearward portion; 120 - sensing system; 121 - position determining device; 122 - buffer; 130 - control module; 140 - traveling mechanism; 150 - cleaning system; 151 - dry cleaning system; 152 - side brush; 153 - wet cleaning system; 160 - energy system; 170 - human-machine interaction system; 20 - signal emitting module; 201 - light emitting part; 202 - first light path changing part; 203 - first total reflection part; 30 - signal receiving module; 301 - light receiving part; 302 - second light path changing part; 303 - second total reflection part. DETAILED DESCRIPTION

[0032] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the application. However, it will be apparent to one skilled in the art that the application can be practiced without one or more of these specific details. In other instances, well-known features have not been described in detail to avoid obscuring the application.

[0033] It is also to be understood that the terminology used herein is for the purpose of describing the particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0034] Reference will now be made to the drawings to describe in more detail exemplary embodiments of the present application. These exemplary embodiments are described so that the disclosure of the present application can be complete and fully convey the concept of the exemplary embodiments of the present application to those skilled in the art. However, the present application is not limited to the embodiments described herein, but can be implemented in various forms. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments of the present application to those skilled in the art.

[0035] In a first aspect, as Figure 4 and Figure 5As shown, the embodiment of the present application provides a work area surface detection device, which comprises a signal transmitting module 20 and a signal receiving module 30; the signal transmitting module 20 comprises a light emitting part 201 and a first light path changing part 202, the first light path changing part 202 is arranged on the light emitting path of the light emitting part 201, and is used for converting the light emitted by the light emitting part 201 into first light, the first light is approximately parallel light which is inclined to the signal receiving module by a first angle α; the signal receiving module 30 comprises a light receiving part 301, and a distance is arranged between the light emitting part 201 and the light receiving part 301, so that at least part of the second light is received by the light receiving part, the second light is the light reflected by the work area surface after the first light; the light intensity of the at least part of the second light is used to determine the material of the work area surface. In some embodiments, the work area surface detection device or the signal receiving module comprises a processing module, and the processing module is used to determine the material of the work area surface according to the light intensity of the at least part of the second light. In some embodiments, the work area surface detection device does not comprise a processing module, and the operation of determining the material of the work area surface according to the light intensity of the at least part of the second light is performed by a controller which is independent of the work area surface detection device.

[0036] In a specific application, the signal transmitting module 20 and the signal receiving module 30 are arranged side by side, that is, the vertical distance from the signal transmitting module 20 to the work area surface is the same as the vertical distance from the signal receiving module 30 to the work area surface. The vertical distance from the signal transmitting module 20 to the work area surface and the vertical distance from the signal receiving module 30 to the work area surface can be set according to the type of the cleaning robot, for example, when the cleaning robot is a sweeping robot, the vertical distance from the signal transmitting module 20 to the work area surface and the vertical distance from the signal receiving module 30 to the work area surface are 1 cm.

[0037] The first included angle is determined by the vertical distance from the light emitting part 201 to the work area surface and the distance between the light emitting part 201 and the light receiving part 301. The worker can obtain the vertical distance from the light emitting part 201 to the work area surface and the distance between the light emitting part 201 and the light receiving part 301 according to the installation positions of the light emitting part 201 and the light receiving part 301, so as to determine the first angle value.

[0038] In a specific application, the first included angle α of each light ray constituting the first light ray to the signal receiving module 30 is within a preset range, that is, the inclination angle of part of the light rays in the first light ray can be different from the inclination angle of the other light rays, but it is within the preset range. In this embodiment, the preset range is not strictly limited.

[0039] The light emitting part 201 can adopt an infrared emitter, and the light receiving part 301 can adopt an infrared receiver, which have the advantages of long service life, small volume and strong anti-interference.

[0040] Specifically, when light irradiates on the surface of a reflecting object, it can be specular reflection or diffuse reflection. The principle of specular reflection is that the light irradiating on the surface of the reflecting object at a certain incident angle will be reflected by the surface of the reflecting object along the reflection angle, that is, the light reflected by the surface of the reflecting object will also be emitted at the same reflection angle as the incident angle, and the specular reflection occurs on a smooth or polished surface (such as a glossy surface or a metal surface, etc.). The principle of diffuse reflection is that the light irradiating on the surface of the reflecting object is reflected in all directions, and the diffuse reflection occurs on a rough surface (such as a fiber surface, etc.).

[0041] Based on the above principles of diffuse reflection and specular reflection, in the embodiment, the light emitting part 201 emits light towards the surface of the working area, and then the first light path changing part 202 converts the light emitted by the light emitting part 201 into the first light, which is reflected by the surface of the working area. The reflection can be diffuse reflection or specular reflection, that is, the second light can be approximately parallel light or divergent light reflected in all directions. If the second light is approximately parallel light, the light receiving part 301 can receive at least part of the second light. As shown in FIG. 2B, if the second light is divergent light emitted in all directions, only a small part of the reflected light is received by the light receiving part 301. Thus, the controller can determine whether the first light is specularly reflected or diffusely reflected on the surface of the working area by judging the light intensity of the at least part of the second light received by the light receiving part 301, so as to determine whether the working area is a rough surface, that is, if the intensity of the light signal received by the light receiving part 301 is greater than a preset intensity, it is determined that the first light is specularly reflected on the surface of the working area, so it can be determined that the surface of the working area is a smooth surface, and further it is determined that the working area is not a carpet; if the intensity of the light signal received by the light receiving part 301 is less than the preset intensity, it is determined that the first light is diffusely reflected on the surface of the working area, so it can be determined that the surface of the working area is a rough surface, and further it is determined that the working area is a carpet, so as to accurately identify whether the working area is a carpet. Figure 5

[0042] ​In the embodiment, the light emitting part emits light, the first light path changing part converts the light into first light, and the light receiving part can receive at least part of the second light, wherein the first light is approximately parallel light that is inclined to the signal receiving module by a first angle, and the second light is light reflected by the surface of the work area. The intensity of the light received by the light receiving part can be used to determine the material of the surface of the work area, and the optical element is used for detection, which not only reduces the volume and cost of the detection device, but also improves the detection speed.

[0043] Specifically, the intensity of the light received by the light receiving part 301 can be used to determine the material of the surface of the work area, including: when the intensity of the light received by the light receiving part 301 is less than a preset intensity, it is determined that the surface of the work area is a first material. When the intensity of the light received by the light receiving part 301 is greater than the preset intensity, it is determined that the surface of the work area is a second material.

[0044] The preset intensity can be determined by the staff according to the performance of the light emitting part, and the embodiment is not strictly limited.

[0045] In specific applications, if the intensity of the light signal received by the light receiving part 301 is greater than the preset intensity, it is determined that the first light is specularly reflected on the surface of the work area, so that it can be determined that the surface of the work area is a smooth surface, and it is determined that the surface of the work area is a first material that can be specularly reflected.

[0046] If the intensity of the light signal received by the light receiving part 301 is less than the preset intensity, it is determined that the first light is diffusely reflected on the surface of the work area, so that it can be determined that the surface of the work area is a second material that can be diffusely reflected, so that the detection of the material of the surface of the work area can be realized by the optical element, which not only reduces the volume and cost of the detection device, but also improves the detection speed.

[0047] Further, the first material is a rough surface, and the second material is a smooth surface.

[0048] In some implementations, the rough surface is a carpet, and the second material is a floor or a tile, so that the equipment loaded with the work area surface detection device of the present application can accurately identify whether the surface of the work area is a carpet, a floor or a tile, so that corresponding strategies can be executed for different materials.

[0049] Further, as shown in Figure 4 and Figure 5 The signal emitting module 20 and the signal receiving module are independent of each other.

[0050] The signal transmitting module 20 and the signal receiving module 30 are independent of each other, that is, there is no connection relationship between the signal transmitting module 20 and the signal receiving module 30, and they are separate parts. In this way, the signal transmitting module 20 and the signal receiving module 30 can be separately manufactured, installed and maintained.

[0051] Further, the first light path changing part 202 comprises a first convex lens, a thickness of the first convex lens gradually increases along a direction from a first side of the first convex lens to a second side of the first convex lens, the first side of the first convex lens is a side of the first convex lens away from the second light path changing part 302, and the second side of the first convex lens is a side of the first convex lens close to the second light path changing part 302.

[0052] In a specific application, the first convex lens can be a lens with a convex incident surface facing the direction close to the light emitting part 201 and a flat exit surface. For details, please refer to Figure 4 and Figure 5 .

[0053] The thickness of the first convex lens gradually increases along the direction from the first side of the first convex lens to the second side of the first convex lens, that is, the thickness of the second side of the first convex lens is greater than the thickness of the first side, so that the first convex lens forms a convex lens with an asymmetric structure.

[0054] Further, as shown in Figure 4 and Figure 5 , the second side of the first convex lens is provided with a first total reflection part 203, the first total reflection part 203 is used for totally reflecting the light rays in the first convex lens towards the second side of the first convex lens to form the approximately parallel exit light with the second angle γ inclined to the direction close to the signal receiving module 30. The second angle γ at which each light ray of the exit light is inclined to the signal receiving module direction is within a preset range, that is, the inclination angle of part of the second light rays can be different from the inclination angle of the other light rays, but it is within the preset range. It is worth noting that the preset ranges of the first angle α and the second angle γ are the same.

[0055] The first total reflection part 203 is used for totally reflecting the light rays in the first convex lens towards the second side of the first convex lens, so as to form the approximately parallel exit light with the second angle γ inclined to the direction close to the signal receiving module 30. In this way, the intensity of stray light is reduced, and the intensity of the first light is increased, so as to increase the light intensity of the second light when the first light is specularly reflected on the surface of the work area, thereby increasing the light intensity of the second light received by the light receiving part 301, and further improving the accuracy of the comparison between the light signal intensity and the preset intensity by the subsequent controller, and thus improving the detection accuracy of the work area surface detection device.

[0056] Specifically, as shown in Figure 4 andFigure 5 As shown, the first total reflection part 203 comprises a first plane gradually inclined to the direction away from the first side of the first convex lens from the first end to the second end, the first end being the end of the first plane close to the light emitting part 201, and the second end being the end of the first plane away from the light emitting part 201.

[0057] One side of the first plane is the material of the first convex lens, i.e. the optical dense medium, and the other side is the medium of air, i.e. the optical sparse medium, so that the first plane forms a total reflection surface, thereby enabling the first plane to totally reflect the light rays in the first convex lens toward the second side of the first convex lens to form the outgoing light inclined to the signal receiving module 30 by the third angle γ.

[0058] In this embodiment, the generation of stray light is reduced by setting the inclined first plane, thereby making the structure of the first total reflection part 203 simpler and easier to process.

[0059] Further, as shown, Figure 4 The second light path changing part 302 is arranged on the receiving light path of the light receiving part 301 and is used to convert the received second light rays into third light rays to be received by the light receiving part 301, the third light rays being the light rays converted from the second light rays to be converged toward the light receiving part 301.

[0060] As shown, Figure 4 The second light rays are incident on the second light path changing part 302, and then the reflected light rays are converted into convergent light rays (i.e. the third light rays) by the second light path changing part 302, and then the third light rays are received by the light receiving part 301, so that the light receiving part 301 can receive light rays with increased intensity, thereby making the detection result more accurate. Further, as shown, Figure 4 and Figure 5 The second light path changing part 302 comprises a second convex lens, the thickness of the second convex lens gradually increases along the direction from the first side of the second convex lens to the second side of the second convex lens, the first side of the second convex lens being the side away from the first light path changing part 202, and the second side of the second convex lens being the side close to the first light path changing part 202.

[0061] In specific applications, the second convex lens can be a lens with a convex outcoming surface and a planar incident surface, which can be specifically referred to Figure 4 and Figure 5 .

[0062] The thickness of the second convex lens gradually increases along the direction from the first side of the second convex lens to the second side of the second convex lens, that is, the thickness of the second side of the second convex lens is greater than that of the first side, so that the second convex lens forms a convex lens with an asymmetric structure.

[0063] Further, as shown in Figure 4 and Figure 5 , the second side of the second convex lens is provided with a second total reflection part 303, the second total reflection part 303 is used for totally reflecting the light rays in the second convex lens and shooting to the second side of the second convex lens to form converging light rays converging to the light receiving part 301.

[0064] The light rays in the second convex lens and shooting to the second side of the second convex lens are totally reflected by the second total reflection part 303, so that the light rays in the second convex lens and shooting to the second side of the second convex lens are totally reflected to form converging light rays converging to the light receiving part 301, thereby reducing the intensity of stray light, further increasing the intensity of the light signal received by the light receiving part 301, and further improving the accuracy of the subsequent controller in judging the comparison between the intensity of the light signal and the preset intensity, thereby further improving the detection accuracy of the work area surface detection device.

[0065] Specifically, as shown in Figure 4 and Figure 5 , the second total reflection part 303 includes a second plane gradually inclined to the direction away from the first side of the second convex lens from the third end to the fourth end, the third end is one end of the second plane close to the light receiving part 301, and the fourth end is one end of the second plane away from the light receiving part 301.

[0066] One side of the second plane is the material of the second convex lens, that is, the optical dense medium, and the other side is the medium of air, that is, the optical sparse medium, so that the second plane forms a total reflection surface, thereby realizing the total reflection of the light rays in the second convex lens and shooting to the second side of the second convex lens to form converging light rays converging to the light receiving part 301.

[0067] In the embodiment, the inclined second plane can reduce the generation of stray light, so that the structure of the second total reflection part 303 is simpler and easier to process.

[0068] Further, the inner wall of the light emitting part 201 and the light receiving part 301 is made of non-reflective material, which can avoid the occurrence of interference caused by light reflection on the inner wall of the light emitting part 201 and the light receiving part 301.

[0069] The non-reflective material can be made of black acrylonitrile-butadiene-styrene (ABS) material.

[0070] In a second aspect, the embodiment of the present application provides a cleaning robot, which comprises the work area surface detection device described above.

[0071] The specific structure of the working area surface detection device in the embodiment is as described in the above embodiments. Since the cleaning robot adopts all the technical solutions of the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described again.

[0072] The cleaning robot of the embodiment can be a sweeping robot 10, a mopping robot, a floor polishing robot, or a weeding robot. For ease of description, the embodiment takes the sweeping robot 10 as an example to describe the technical solutions of the present disclosure.

[0073] Further, as shown in Figure 1 and Figure 2 , the sweeping robot 10 can include a robot body 110, a perception module 120, a controller, a driving module, a cleaning system 150, an energy system, and a human-computer interaction module 130. As shown in Figure 1 , the robot body 110 includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (circular in front and rear), or other shapes, including but not limited to an approximately D-shaped shape with a circular rear and a rectangular or square shape in front and rear.

[0074] As shown in Figure 1 , the perception module 120 includes a position determination device 121 located on the robot body 110, a collision sensor arranged on the front collision structure 122 of the forward portion 111 of the robot body 110, a wall sensor located on the side of the robot, a working area surface detection device arranged at the lower part of the robot body 110, and a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices arranged inside the robot body 110, for providing various position information and motion state information of the robot to the controller. The position determination device 121 includes but is not limited to a camera and a laser distance sensor (LDS, full name Laser Distance Sensor). In some preferred implementations, the position determination device 121 (such as a camera and a laser sensor) is located on the front side of the robot body 110, that is, the frontmost end of the forward portion 111, so as to more accurately sense the environment in front of the cleaning robot and achieve accurate positioning.

[0075] As shown in Figure 1As shown, the front portion 111 of the machine body 110 can carry a front bump structure 122, via which a sensor system, such as a bump sensor or a proximity sensor (infrared sensor) disposed thereon, detects one or more events in the travel path of the cleaning robot 10 when the drive wheel module 141 propels the cleaning robot 10 to walk on the ground during the cleaning process, through which the cleaning robot 10 can control the drive module to make the cleaning robot 10 respond to the events, such as obstacles, walls, etc., for example, to perform an obstacle avoidance operation away from the obstacles, etc.

[0076] The controller is disposed on a circuit board within the machine body 110, including a computing processor, such as a central processing unit, an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory, a random access memory, etc. The application processor draws an instant map of the environment in which the cleaning robot 10 is located according to the obstacle information fed back by the laser ranging device using a positioning algorithm, such as simultaneous localization and mapping (SLAM, full name Simultaneous Localization And Mapping). And in combination with the distance information, speed information fed back by the sensors disposed on the front bump structure 122, the working area surface detection device, the magnetometer, the accelerometer, the gyroscope, the odometer, etc. Comprehensive judgment of the current working state of the cleaning robot 10, the location, and the current pose of the cleaning robot 10, such as crossing the threshold, laying the carpet, the dust box being full, being picked up, etc. And give specific next action strategy for different situations, so that the cleaning robot 10 has better cleaning performance and user experience.

[0077] As Figure 2As shown, the drive module can maneuver the machine body 110 across the ground based on drive commands having distance and angle information. The drive module includes a main drive wheel module that can control the left wheel 140 and the right wheel 141, and preferably includes a left drive wheel module and a right drive wheel module, respectively, for more precise control of the machine's movement. The left and right drive wheel modules are disposed along a lateral axis defined by the machine body 110. To enable the cleaning robot 10 to move more stably or with more power on the ground, the cleaning robot 10 can include one or more driven wheels 142, including but not limited to a universal wheel. The main drive wheel module includes a drive motor and control circuitry to control the drive motor, and can also be connected to a circuit to measure drive current and an odometer. And the left wheel 140 and the right wheel 141 can have a biased drop suspension system, movably secured, for example, rotatably attached to the machine body 110, and receiving a spring bias that biases downward and away from the machine body 110. The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 10 also contact the ground with a certain pressure.

[0078] The energy system includes a rechargeable battery, such as a nickel-hydrogen battery and a lithium battery. The rechargeable battery can be connected with a charge control circuit, a battery pack charge temperature detection circuit and a battery undervoltage monitoring circuit, and the charge control circuit, the battery pack charge temperature detection circuit and the battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The host is connected with the charging pile through the charging electrode 160 arranged on the side or the lower side of the machine body to charge.

[0079] The human-computer interaction module 130 includes keys on the host panel for the user to select functions, and can also include a display screen and / or an indicator light and / or a loudspeaker to show the user the current mode of the machine or the function selection item, and can also include a mobile phone client program. For a path navigation type automatic cleaning robot 10, the mobile phone client can show the user a map of the environment where the device is located, and the position of the machine, and can provide the user with more rich and humanized function items. Specifically, the cleaning robot has multiple modes, such as a working mode and a self-cleaning mode. The working mode refers to a mode in which the cleaning robot performs automatic cleaning work, and the self-cleaning mode refers to a mode in which the cleaning robot removes dirt on the roller brush and the side brush 152 on the base, and automatically collects the dirt, and / or automatically washes and dries the mop.

[0080] The cleaning system 150 can be a dry cleaning system 151 and / or a wet cleaning system 153.

[0081] As Figure 2As shown, the dry cleaning system 151 provided in this embodiment may include a roller brush, a dustbin, a fan, and an air outlet. The roller brush, which interferes with the ground to a certain extent, sweeps up debris from the ground and carries it to the suction port between the roller brush and the dustbin. The debris is then drawn into the dustbin by the suction gas generated by the fan and passing through the dustbin. The dry cleaning system 151 may also include a side brush 152 with a rotating shaft at an angle relative to the ground to move debris into the roller brush area of ​​the cleaning system 150.

[0082] like Figure 2 and Figure 3 As shown, the wet cleaning system 153 provided in this embodiment may include: a cleaning head 1531, a drive unit 1532, a water delivery mechanism, and a liquid storage tank. The cleaning head 1531 may be disposed below the liquid storage tank. The cleaning liquid inside the liquid storage tank is transferred to the cleaning head 1531 through the water delivery mechanism, enabling the cleaning head 1531 to perform wet cleaning of the surface to be cleaned. In other embodiments of this disclosure, the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the surface to be cleaned, and the cleaning head 1531 cleans the surface by spreading the cleaning liquid evenly.

[0083] The cleaning head 1531 is used to clean the surface to be cleaned, and the drive unit 1532 is used to drive the cleaning head 1531 to reciprocate substantially along a target surface, which is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, and a mop is provided on the contact surface between the cleaning head 1531 and the surface to be cleaned. The drive unit 1532 drives the mop of the cleaning head 1531 to reciprocate and generate high-frequency friction with the surface to be cleaned, thereby removing stains from the surface to be cleaned; or the mop can be floated and maintain contact with the surface to be cleaned throughout the cleaning process without the need for the drive unit 1532 to drive its reciprocating motion.

[0084] like Figure 3 As shown, the drive unit 1532 may also include a drive platform 1533 and a support platform 1534. The drive platform 1533 is connected to the bottom surface of the machine body 110 and is used to provide driving force. The support platform 1534 is detachably connected to the drive platform 1533 and is used to support the cleaning head 1531. It can be raised and lowered under the drive of the drive platform 1533.

[0085] The wet cleaning system 153 can be connected to the main body 110 via an active lifting module. When the wet cleaning system 153 is not in operation, for example, when the cleaning robot 10 docks at the base station to clean the cleaning head 1531 of the wet cleaning system 153 or fill the liquid tank with water; or when encountering a surface that cannot be cleaned by the wet cleaning system 153, the wet cleaning system 153 can be raised via the active lifting module.

[0086] The present application has been described by way of the above examples, but it should be understood that the above examples are for illustrative and explanatory purposes only, and are not intended to limit the present application to the scope of the described examples. Furthermore, those skilled in the art can understand that the present application is not limited to the above examples, and that various modifications and changes can be made to the present application according to the teachings of the present application, and that these modifications and changes all fall within the scope of the present application claimed. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A work area surface detection device characterized by comprising: The signal transmitting module and the signal receiving module are independent of each other. The signal transmitting module comprises a light emitting part and a first light path changing part, the first light path changing part is arranged in the light emitting path of the light emitting part, and is used for converting the light emitted by the light emitting part into first light, the first light is approximately parallel light which is inclined to the signal receiving module by a first angle. The signal receiving module comprises a light receiving part, a distance is arranged between the light emitting part and the light receiving part, the light receiving part receives at least part of second light, the second light is light reflected by the first light via the working area surface, and the light intensity of the at least part of second light is used to determine the material of the working area surface. The first light path changing part comprises a first convex lens, the thickness of the first convex lens gradually increases along the direction from the first side of the first convex lens to the second side of the first convex lens, the first side of the first convex lens is the side of the first convex lens away from the second light path changing part, and the second side of the first convex lens is the side of the first convex lens close to the second light path changing part. The second side of the first convex lens is provided with a first total reflection part, the first total reflection part is used for totally reflecting the light in the first convex lens and shooting to the second side of the first convex lens, so as to form approximately parallel light which is inclined to the direction close to the signal receiving module by a second angle. The receiving light path of the light receiving part is also provided with the second light path changing part, the second light path changing part is used for converting the received second light into third light to be received by the light receiving part, and the third light is light which is converted from the second light to be gathered to the light receiving part.

2. The work area surface detection apparatus according to claim 1, characterized by, The signal transmitting module and the signal receiving module are independent of each other.

3. The work area surface detection apparatus according to claim 1, characterized by, The first total reflection part comprises a first plane which gradually inclines to the direction away from the first side of the first convex lens from the first end of the first plane to the second end of the first plane, the first end of the first plane is the end of the first plane close to the light emitting part, and the second end of the first plane is the end of the first plane away from the light emitting part.

4. The work area surface detection apparatus according to claim 1, characterized by, The second light path changing part comprises a second convex lens, the thickness of the second convex lens gradually increases along the direction from the first side of the second convex lens to the second side of the second convex lens, the first side of the second convex lens is the side of the second convex lens away from the first light path changing part, and the second side of the second convex lens is the side of the second convex lens close to the first light path changing part.

5. The work area surface detection apparatus according to claim 4, characterized by The second side of the second convex lens is provided with a second total reflection part, the second total reflection part is used for totally reflecting the light in the second convex lens and shooting to the second side of the second convex lens, so as to form converging light which is gathered to the light receiving part.

6. The work area surface detection apparatus according to claim 5, characterized by The second total reflection part comprises a second plane which gradually inclines to the direction away from the first side of the second convex lens from the third end of the second plane to the fourth end of the second plane, the third end of the second plane is the end of the second plane close to the light receiving part, and the fourth end of the second plane is the end of the second plane away from the light receiving part.

7. The work area surface detection apparatus according to claim 6, characterized by The inner wall of the light emitting part and the light receiving part is made of non-reflective material.

8. The work area surface detection device of any one of claims 1-7, wherein the light intensity of the at least some of the second light is used to determine a material of the work area surface comprises: when the light intensity of the at least some of the second light is less than a predetermined light intensity, determining the work area surface to be a first material.

9. The work area surface detection device of claim 8, when the light intensity of the at least some of the second light is greater than the predetermined light intensity, determining the work area surface to be a second material.

10. The work area surface detection device of claim 9, wherein the first material is a rough surface; and the second material is a smooth surface.

11. The work area surface detection device of claim 10, wherein the rough surface is a carpet; and the smooth surface is a floor or tile.

12. A cleaning robot, characterized in that, A work area surface detection device as claimed in any one of claims 1-11.

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