Sensor module and cleaning robot

Abstract

The application discloses a sensor module and a cleaning robot, wherein the sensor module comprises a sensor, a mirror and a light outlet; the sensor is used for emitting a detection light; the mirror is used for reflecting the detection light emitted by the sensor to the light outlet, and the detection light is emitted from the light outlet to an obstacle; wherein the total length of the light path of the detection light from the sensor to the light outlet through the mirror is greater than the minimum working distance of the sensor; compared with the prior art, the light path of the detection light is increased through the mirror in the application, the blind area of the sensor is hidden in the range of the sensor module, and the blind area problem caused by the need of the minimum working distance of the sensor itself can be avoided.

Description

Technical Field

[0001] This application belongs to the field of home appliance technology, and in particular relates to a sensor module and a cleaning robot. Background Technology

[0002] Robotic vacuum cleaners have become increasingly popular in recent years, but currently they generally suffer from problems such as low intelligence, weak environmental adaptability, and the simultaneous occurrence of repeated cleaning and missed cleaning.

[0003] To accurately identify the robot vacuum's own status and environmental information, various sensors need to be installed on it. How to rationally install these sensors on the robot vacuum has become a challenge. While the number of sensors used in robot vacuums has decreased with technological advancements, sensors such as obstacle detection sensors, suspension sensors, collision detection sensors, and charging docking sensors remain essential. Therefore, it is necessary to study how to rationally deploy these sensors on the robot vacuum, especially avoiding interference between them, which leads to limited internal space. For example, the position sensor (PSD) used for edge detection is a triangulation-based sensor that requires light to be perpendicular to the wall and needs sufficient structural space to achieve a minimum working distance to avoid blind spots. Summary of the Invention

[0004] In view of this, embodiments of this application provide a sensor module and a cleaning robot to avoid the blind spot problem of the sensor itself.

[0005] A first aspect of this application provides a sensor module, including: a sensor, a reflector, and a light outlet;

[0006] The sensor is used to emit detection light;

[0007] The reflector is used to reflect the detection light emitted by the sensor to the light outlet, and the detection light is emitted from the light outlet to the obstacle;

[0008] Wherein, the total length of the optical path of the detection light from the sensor through the reflector to the light outlet is greater than the minimum working distance of the sensor.

[0009] The sensor module of the first aspect of this application includes a sensor, a reflector, and a light outlet; the sensor emits a detection light; the reflector reflects the detection light emitted by the sensor to the light outlet, and the detection light is emitted from the light outlet to an obstacle; wherein, the total optical path length of the detection light from the sensor through the reflector to the light outlet is greater than the minimum working distance of the sensor. Compared with the prior art, this application hides the sensor blind zone within the sensor module range by increasing the optical path of the detection light, which can avoid the blind zone problem caused by the minimum working distance requirement of the sensor itself.

[0010] In some embodiments of this application, the sensor module further includes a transmission device for driving the reflector to rotate to a preset angle.

[0011] In some embodiments of this application, the sensor module further includes a motor, which is connected to the transmission device.

[0012] In some embodiments of this application, the sensor module further includes a controller for receiving control commands and controlling the rotation of the motor according to the control commands.

[0013] In some embodiments of this application, the reflector is a plane reflector.

[0014] In some embodiments of this application, the reflective surface of the reflector forms a 45-degree angle with the probe light.

[0015] In some embodiments of this application, the reflector is a right-angle prism.

[0016] In some embodiments of this application, the detection light is infrared light.

[0017] In some embodiments of this application, the sensor is a PSD sensor.

[0018] The cleaning robot of the second aspect of this application includes: a cleaning robot body and the sensor module described in the first aspect; the light outlet of the sensor module is disposed on the side of the cleaning robot body.

[0019] The cleaning robot of the second aspect of this application hides the sensor blind zone inside the main body of the cleaning robot by increasing the optical path of the detection light. This can avoid the blind zone problem caused by the requirement of the minimum working distance of the sensor itself when the structural space inside the main body of the cleaning robot is insufficient. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0021] Appendix Figure 1 A schematic diagram of a sensor module according to an embodiment of this application is shown;

[0022] Appendix Figure 2 A schematic diagram of another sensor module according to an embodiment of this application is shown;

[0023] Appendix Figure 3 A schematic diagram of a cleaning robot according to an embodiment of this application is shown;

[0024] Appendix Figure 4 The relationship between sensor detection distance and output voltage is shown.

[0025] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0027] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0028] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0029] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0031] This application proposes a sensor module and a cleaning robot. The sensor emits a detection light beam; a reflector reflects the detection light beam emitted by the sensor to a light outlet, and the detection light beam exits from the light outlet to the obstacle. The total optical path length of the detection light beam from the sensor through the reflector to the light outlet is greater than the minimum working distance of the sensor. Compared with the prior art, this application hides the sensor blind zone within the sensor module range by increasing the optical path of the detection light beam, which can avoid the blind zone problem caused by the minimum working distance requirement of the sensor itself.

[0032] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0033] Figure 1 This is a schematic diagram of a sensor module provided in an embodiment of this application. Figure 1 As shown, the sensor module 100 includes: a sensor 110, a reflector 120, and a light outlet 130; the mounting positions of the sensor 110, the reflector 120, and the light outlet 130 are variable according to actual needs.

[0034] Sensor 110 is used to emit detection light; the detection light can be infrared light.

[0035] The reflector 120 is used to reflect the detection light emitted by the sensor 110 to the light outlet 130, from which the detection light is emitted to the obstacle. The reflector 120 has the characteristic of near total internal reflection of the detection light. By installing it at a certain angle, the detection light can be reflected without loss, thereby increasing the optical path length of the detection light. In other words, it increases the optical path length from the sensor to the obstacle. If the optical path length is less than the minimum working distance of the sensor, there will be a detection blind zone. Therefore, increasing the optical path length can avoid the detection blind zone problem. It is especially suitable for some devices with limited structural space, such as cleaning robots.

[0036] Please see Figure 4 , Figure 4 The figure shows the relationship between the sensor's detection distance to an obstacle and its output voltage. As can be seen from the figure, as the sensor's detection distance to an obstacle increases from 0 to 150 mm, the corresponding output voltage first increases from 1.3V to 2.1V (shown in the box in the figure), and then gradually decreases from 2.1V to about 1V. This results in the same output voltage of the sensor corresponding to two different sensor-to-obstacle detection distances, failing to establish a one-to-one correspondence between the sensor's detection distance to the obstacle and its output voltage. Therefore, in order to establish a one-to-one correspondence between the sensor's detection distance to the obstacle and its output voltage, the detection distance of 11 mm corresponding to 2.1V is taken as the sensor's minimum working distance, and the detection distance less than the minimum working distance is the sensor's detection blind zone.

[0037] In this application, the total length of the optical path of the probe light from sensor 110 through mirror 120 to light outlet 130 is greater than the minimum working distance of sensor 110.

[0038] According to some embodiments of this application, sensor 110 can be a PSD sensor. Common PSD sensors include infrared emitting and receiving parts, use triangulation to detect the distance to obstacles, and output an analog voltage signal.

[0039] By applying PSD sensors to cleaning robots, the PSD sensor can provide the distance between a point on the side of the cleaning robot and a point on the wall. By comparing the real-time distance fed back by the PSD with a reference threshold, and by changing the speed of the left and right drive wheels of the cleaning robot, the robot can be made to walk along the wall.

[0040] According to some embodiments of this application, the reflector 120 may be a plane reflector, such as... Figure 1 As shown, the reflecting surface of mirror 120 forms a 45-degree angle with the probe light.

[0041] According to some embodiments of this application, the reflector 120 can be a right-angle prism, such as... Figure 2 As shown.

[0042] According to some embodiments of this application, the sensor module 100 further includes a transmission device for driving the reflector 120 to rotate to a preset angle.

[0043] In practical applications, in order to adapt to the limited space inside the cleaning robot, the installation position of the sensor 110 varies and the emission direction of the detection light will also be different. Therefore, in this application, the deflection angle of the reflector 120 can be changed by the transmission device to adapt to the emission direction of the sensor detection light.

[0044] According to some embodiments of this application, the sensor module 100 further includes a motor connected to a transmission device. The motor drives the transmission device to rotate, and the transmission device drives the reflector 120 to rotate.

[0045] According to some embodiments of this application, the sensor module 100 further includes a controller for receiving control commands and controlling the rotation of the motor according to the control commands. The control commands are for controlling the rotation angle of the reflector 120.

[0046] In the sensor module of this application embodiment, the sensor emits a detection light beam; a reflector reflects the detection light beam emitted by the sensor to the light outlet, and the detection light beam exits from the light outlet to the obstacle; the total optical path length of the detection light beam from the sensor through the reflector to the light outlet is greater than the minimum working distance of the sensor. Compared with the prior art, this application hides the sensor blind zone within the range of the sensor module by increasing the optical path of the detection light beam, which can avoid the blind zone problem caused by the sensor's own minimum working distance in a limited space.

[0047] Figure 3 This is a schematic diagram of a cleaning robot provided in an embodiment of this application, as shown below. Figure 3 As shown, the cleaning robot includes: a cleaning robot body and a sensor module 100 as described in the above embodiment; the light outlet of the sensor module 100 is disposed on the side of the cleaning robot body.

[0048] Cleaning robots can be, for example, robot vacuums or robot mops.

[0049] Taking the PSD sensor as an example, the PSD sensor needs a certain amount of structural space to avoid its own blind spot problem, that is, it needs a minimum working distance. Since the internal structural space of the cleaning robot is insufficient, this application sets a reflector with a certain angle in front of the PSD sensor. When the detection light emitted by the PSD sensor reaches the mirror surface, it is totally reflected, so that it is incident perpendicular to the wall surface. This not only allows it to be incident perpendicularly to the wall (obstacle) but also increases the optical path length of the detection light to avoid the blind spot problem.

[0050] Of course, the cleaning robot may also include: a processor, a memory, a bus, and a communication interface, wherein the processor, the communication interface, and the memory are connected via the bus; the memory stores a computer program that can run on the processor.

[0051] The memory may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk drive. Communication between this system network element and at least one other network element is achieved through at least one communication interface (wired or wireless), which can use the Internet, wide area network, local area network, metropolitan area network, etc.

[0052] The bus can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory is used to store the program, and the processor executes the program after receiving an execution instruction. The sensor module disclosed in any of the foregoing embodiments of this application can be applied to a processor, or implemented by a processor.

[0053] The processor may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above methods can be completed by integrated logic circuits in the processor's hardware or by software instructions. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), an Off-the-shelf Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art.

[0054] It should be noted that:

[0055] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0056] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of this application, various features of this application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0057] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0058] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0059] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the virtual machine creation apparatus according to embodiments of this application. This application can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such an implementation of this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0060] It should be noted that the above embodiments are illustrative of this application and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0061] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A sensor module, characterized in that, include: Sensors, mirrors, and light outlets; The sensor is used to emit detection light; The reflector is used to reflect the detection light emitted by the sensor to the light outlet, and the detection light is emitted from the light outlet to the obstacle; Wherein, the total length of the optical path of the detection light from the sensor through the reflector to the light outlet is greater than the minimum working distance of the sensor, and the sensor is a PSD sensor.

2. The sensor module according to claim 1, characterized in that, The sensor module also includes a transmission device, which is used to drive the reflector to rotate to a preset angle.

3. The sensor module according to claim 2, characterized in that, The sensor module also includes a motor, which is connected to the transmission device.

4. The sensor module according to claim 3, characterized in that, The sensor module also includes a controller, which receives control commands and controls the rotation of the motor according to the control commands.

5. The sensor module according to claim 1, characterized in that, The reflector is a plane reflector.

6. The sensor module according to claim 5, characterized in that, The reflective surface of the mirror forms a 45-degree angle with the probe light.

7. The sensor module according to claim 1, characterized in that, The reflector is a right-angle prism.

8. The sensor module according to claim 1, characterized in that, The detection light is infrared light.

9. A cleaning robot, characterized in that, include: The main body of the cleaning robot and the sensor module according to any one of claims 1 to 8; The light outlet of the sensor module is located on the side of the main body of the cleaning robot.

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