Method and apparatus for detecting non-solid matter and method and apparatus for calculating distance

Abstract

The application discloses a non-solid substance detection device, comprising: a processing circuit; an image sensor; a first light source emitting first light in a first direction; a second light source emitting second light in a second direction; wherein the processing circuit performs the following steps: controlling the image sensor to sense a first sensing image generated according to the reflection of the first light; controlling the image sensor to sense a second sensing image generated according to the reflection of the second light; calculating an obstacle area in the second sensing image; and calculating a non-solid substance area in the first sensing image without calculating the area of the first sensing image corresponding to the obstacle area. The application also discloses a non-solid substance detection method and a distance calculation device and method. According to the application, liquid detection can be more accurate. In addition, even if the automatic cleaning device is close to an obstacle, the distance can be accurately calculated.

Description

Technical Field

[0001] This invention relates to a method / apparatus for detecting non-solid substances and a method / apparatus for calculating distances, particularly to a method / apparatus for detecting non-solid substances that can distinguish between non-solid substances and obstacles, and a method / apparatus for calculating distances that can still calculate distances when the distance calculation device and an object are close together. Background Technology

[0002] Automated cleaning devices (such as robotic vacuum cleaners) have become increasingly popular in recent years. These devices can determine their location and perform cleaning actions accordingly. However, traditional automated cleaning devices lack the ability to detect liquids, so they may still attempt to clean liquids even if they are not designed to do so. This can be inconvenient for users. For example, if an automated cleaning device is a vacuum cleaner but still attempts to clean liquids or gels, this could worsen the surrounding environment or damage the device itself.

[0003] Furthermore, automatic cleaning devices typically incorporate distance calculation mechanisms to determine their distance from obstacles such as walls or furniture. This allows the device to avoid obstacles when approaching them. However, traditional automatic cleaning devices often fail to accurately calculate distances when near obstacles. For example, if an automatic cleaning device uses a TOF (Time of Flight) image sensor, the shortest distance it can calculate is limited by the characteristics of the TOF image sensor. Summary of the Invention

[0004] One objective of this invention is to disclose a non-solid material detection device that can accurately detect non-solid materials such as liquids or colloids.

[0005] Another objective of this invention is to disclose a method for detecting non-solid materials such as liquids or colloids that can accurately detect non-solid materials.

[0006] Another objective of this invention is to disclose a distance calculation device that can accurately detect the distance between itself and an obstacle.

[0007] Another objective of this invention is to disclose a distance calculation method that can accurately detect the distance between itself and obstacles.

[0008] An embodiment of the present invention discloses a non-solid substance detection device, comprising: a processing circuit; an image sensor; a first light source emitting first light in a first direction; and a second light source emitting second light in a second direction; wherein the processing circuit performs the following steps: controlling the image sensor to sense a first sensing image generated based on the reflected light of the first light; controlling the image sensor to sense a second sensing image generated based on the reflected light of the second light; calculating an obstacle region in the second sensing image; and calculating a non-solid substance region in the first sensing image without calculating a region in the first sensing image corresponding to the obstacle region.

[0009] Another embodiment of the present invention discloses a non-solid substance detection device, comprising: a processing circuit; an image sensor; a first light source emitting first light in a first direction; and a second light source emitting second light in a second direction; wherein if the non-solid substance detection device is located on a surface, the first direction is toward the surface and the second direction is away from or parallel to the surface; wherein the processing circuit determines obstacles based on a second sensing image generated according to the second light and determines obstacles based on a first sensing image generated according to the first light.

[0010] Another embodiment of the present invention discloses a distance calculation device, comprising: a planar light source for emitting planar light; a line light source for emitting linear light; an image sensor for sensing a first sensing image generated based on the reflected light of the planar light, and for sensing a second sensing image generated based on the reflected light of the linear light; and a processing circuit for calculating the distance between the distance calculation device and an obstacle based on the first sensing image or the second sensing image.

[0011] Based on the foregoing embodiments, a method for detecting non-solid substances and a method for calculating distance can be obtained.

[0012] According to the foregoing embodiments, liquid detection can be more accurate. Furthermore, the distance can be accurately calculated even when the automatic cleaning device is near an obstacle. Attached Figure Description

[0013] Figure 1 A schematic diagram of an automatic cleaning device according to an embodiment of the present invention is shown.

[0014] Figure 2A as well as Figure 2B A schematic diagram illustrating how obstacles and liquids are determined according to an embodiment of the present invention is shown.

[0015] Figure 3 The diagram illustrates the emission time of the first light source and the second light source according to different embodiments of the present invention.

[0016] Figure 4 , Figure 5 as well as Figure 6 Schematic diagrams of automatic cleaning devices according to different embodiments of the present invention are shown.

[0017] Figure 7 A flowchart illustrating a method for detecting non-solid substances according to an embodiment of the present invention is shown.

[0018] Figure 8 A schematic diagram of an automatic cleaning device according to another embodiment of the present invention is shown.

[0019] Figure 9 A schematic diagram illustrating how an automatic cleaning device calculates distance according to an embodiment of the present invention is shown.

[0020] Figure 10 Schematic diagrams illustrating the emission time of planar light sources and line light sources according to different embodiments of the present invention are shown.

[0021] Figure 11 A flowchart illustrating a distance calculation method according to an embodiment of the present invention is shown.

[0022] The reference numerals in the attached figures are explained as follows:

[0023] 100, 400, 500, 600, 800 Automatic cleaning devices

[0024] 101,803 includes processing circuitry.

[0025] 103,801 Image Sensor

[0026] BS bottom

[0027] Ob obstacles

[0028] R_1 First ROI

[0029] R_2 Second ROI

[0030] Img_1 First Sensor Image

[0031] Img_2 Second Sensor Image

[0032] EP extension surface

[0033] L_1 First Light

[0034] L_2 Second Light

[0035] LS_1 First Light Source

[0036] LS_2 Second Light Source

[0037] LS_S surface light source

[0038] LS_L line light source

[0039] Sr surface Detailed Implementation

[0040] The present invention will be described below with reference to several embodiments. It should be noted that the components in each embodiment can be implemented by hardware (e.g., a device or circuit) or firmware (e.g., at least one program written to a microprocessor). Furthermore, the terms "first," "second," and similar descriptions in the following description are only used to define different components, parameters, data, signals, or steps, and are not intended to limit their order. For example, the first device and the second device can be devices with the same structure but different from each other.

[0041] In the following embodiments, the presence of a liquid can be determined based on the degree of light diffusion. More specifically, if light shines on an obstacle, such as furniture or a wall, most of the light will be reflected or absorbed, resulting in a narrower image. Conversely, if light is emitted into a liquid, the light will be diffused due to the liquid's light-guiding properties, thus creating a wider image. Details of liquid detection can be found in the relevant U.S. application, No. 17 / 393,424. It should also be noted that the following embodiments are illustrated using an automatic cleaning device capable of detecting liquids, but this does not limit the scope of the invention. The liquid detection mechanism disclosed herein can be used to detect other non-solid substances, such as colloids. Furthermore, any other device can be used to detect non-solid substances in the following embodiments, not limited to automatic cleaning devices.

[0042] However, in some scenarios, obstacles (or objects) may also have high light-guiding capabilities (e.g., glass or plastic), so automatic cleaning devices may also mistake these obstacles for liquids. Therefore, this invention discloses a new liquid detection mechanism to solve the above problem. Figure 1 A schematic diagram of an automatic cleaning device according to an embodiment of the present invention is shown. Figure 1 As shown, the automatic cleaning device 100 includes a processing circuit 101, an image sensor 103, a first light source LS_1, and a second light source LS_2. In one embodiment, the processing circuit 101 is integrated into the image sensor 103. The first light source LS_1 emits a first light L_1 along a first direction, and the second light source LS_2 emits a second light L_2 along a second direction. Figure 1 In one embodiment, the second light L_2 is parallel to the surface Sr (e.g., the ground) where the automatic cleaning device 100 is located. Furthermore, in Figure 1In one embodiment, the first direction faces the surface Sr. The first and second directions are neither parallel nor perpendicular to each other. Note that in one embodiment, the automatic cleaning device 100 includes a bottom surface BS. The emission direction of the first light L_1 is towards the extension surface EP of the bottom surface BS, while the emission direction of the second light L_2 is parallel to the extension surface EP of the bottom surface BS. In another embodiment, the emission direction of the second light LS_2 is away from the extension surface EP of the bottom surface BS. Note that in embodiments of the invention, the surface Sr is the ground. However, the surface Sr can be any working surface on which the automatic cleaning device 100 is located.

[0043] Furthermore, the image sensor 103 is positioned to sense the position of the reflected light from the first light L_1 and the second light L_2. Figure 1 In one embodiment, the first light source LS_1 is positioned above the image sensor 103, while the second light source LS_2 is positioned below the image sensor 103.

[0044] Processing circuit 101 controls image sensor 103 to sense a first sensing image generated by the reflected light of the first light L_1, and controls image sensor 103 to sense a second sensing image L_2 generated by the reflected light of the second light. Processing circuit 101 determines an obstacle Ob based on the second sensing image and determines a liquid based on the first sensing image. More specifically, processing circuit 101 calculates the obstacle area in the second sensing image and the liquid area in the first sensing image, but does not calculate the area in the first sensing image corresponding to the obstacle area. Details regarding the obstacle area and the liquid area will be described in detail below.

[0045] Figure 2A as well as Figure 2B A schematic diagram illustrating how obstacles and liquids are determined according to an embodiment of the present invention is shown. Figure 2AIn the first sensor image Img_1 and the second sensor image Img_2, areas marked with dashed lines are bright areas in the images. As mentioned above, bright areas may be caused by liquids or obstacles. The automatic cleaning device 100 first defines a first ROI (Region of Interest) R_1 corresponding to the obstacle image. Such a first ROI R_1 can be regarded as the aforementioned obstacle area. Many methods can be used to define the first ROI R_1. For example, since the obstacle image and the liquid image may have different shapes, the centroid of the bright area can be calculated, and the first ROI R_1 can be determined based on the centroid. Alternatively, the first ROI R_1 can be determined based on the shape of the bright area. After obtaining the first ROI R_1 in the second sensor image Img_2, the area in the first sensor image Img_1 corresponding to the first ROI R_1 is not calculated, and only the second ROI R_2 can be calculated to determine the liquid. The second ROI R_2 can be regarded as the aforementioned liquid area.

[0046] exist Figure 2A In one embodiment, the second sensing image Img_2 includes the image generated by the second light L_2 (the image indicated by the slashes). In one embodiment, the second light L_2 may have high light intensity, or the image sensor may have high sensitivity, or the transmission direction of the second light L_2 may be towards the surface Sr (i.e., the second light L_2 or the surface Sr is tilted), so that the image sensor can sense the image generated by the second light L_2. However, in another embodiment, the second sensing image Img_2 does not include the image generated by the second light L_2, such as... Figure 2B As shown. In such an embodiment, the second light L_2 may have low light intensity, or the image sensor may have low sensitivity, or the transmission direction of the second light L_2 may be away from the surface Sr (i.e., the second light L_2 or the surface Sr is tilted), thus the image sensor cannot sense the image generated by the second light L_2. Conversely, in Figure 2A and Figure 2B In one embodiment, the first image Img_1 includes an image generated by the first light L_1, since the emission direction of the first light L_1 is toward the surface Sr.

[0047] Upon detecting the presence of liquid, the automatic cleaning device 100 can take corresponding actions. For example, if liquid is detected and the automatic cleaning device 100 lacks liquid cleaning capabilities, it can either avoid the liquid or generate a reminder message to notify the user. Conversely, if liquid is detected and the automatic cleaning device 100 possesses liquid cleaning capabilities, it can activate its liquid cleaning mechanism to clean the liquid.

[0048] Please note that the size, shape, and position of the first ROI R_1 and the second ROI R_2 are not limited to... Figure 2A and Figure 2B The example shown. Furthermore, in Figure 2A and Figure 2B In this embodiment, the first sensing image Img_1 and the second sensing image Img_2 have the same image content. However, the first sensing image Img_1 and the second sensing image Img_2 may have different image content due to the different emission directions of the first light L_1 and the second light L_2, or due to the emission time difference of the first light L_1 and the second light L_2.

[0049] The emission times of the first beam L_1 and the second beam L_2 can be set in various ways. Figure 3 Schematic diagrams illustrating the emission times of a first light source and a second light source according to different embodiments of the present invention are shown. Figure 3 In this embodiment, a high logic level indicates that the light source is turned on and emits light, and a low logic level indicates that the light source is turned off and does not emit light. However, this invention is not limited thereto.

[0050] like Figure 3 As shown, for setting 1, the first light L_1 and the second light L_2 are emitted alternately, and the time interval between each emission of the first light L_1 and the second light L_2 is the same. For setting 2, the first light L_1 and the second light L_2 are also emitted alternately, but the time interval between each emission of the second light L_2 is longer than the time interval between each emission of the first light L_1. In other words, for setting 2, the first light L_1 and the second light L_2 are emitted alternately, but the first light L_1 is emitted in the first time interval, and the second light L_2 is emitted in the second time interval, which is longer than the first time interval. In other words, the activation times of the first light and the second light do not overlap.

[0051] Regarding setting 3, the second light L_2 is emitted multiple times (twice in this embodiment), and then the first light L_1 is emitted once. The emission time intervals of the first light L_1 and the second light L_2 are the same each time. These steps are repeated, as follows: Figure 3 As shown. In one embodiment, the first light L_1 and the second light L_2 are emitted simultaneously. In this case, the first light L_1 and the second light L_2 have different wavelengths, and the image sensor 103 has different coatings so that different areas of the image sensor 103 can receive light of different wavelengths.

[0052] The positions and emission directions of the first light source LS_1 and the second light source LS_2 are not limited to... Figure 1 The example shown. Figure 4 , Figure 5 as well as Figure 6 Schematic diagrams of automatic cleaning devices according to different embodiments of the present invention are illustrated. Figure 4In the middle, the automatic cleaning device 400 includes and Figure 1 The automatic cleaning device 100 in the middle has the same components. However, the emission direction of the second light L_2 is away from the surface Sr instead of parallel to the surface Sr. In addition, in Figure 5 In the middle, the automatic cleaning device 500 includes... Figure 1 The automatic cleaning device 100 in the image sensor 103 uses the same components. However, both the first light source LS_1 and the second light source LS_2 are located below the image sensor 103. Additionally, in Figure 6 In the middle, the automatic cleaning device 600 includes and Figure 1 The automatic cleaning device 100 in the image sensor 103 uses the same components. However, both the first light source LS_1 and the second light source LS_2 are located above the image sensor 103. Note that in Figure 5 and Figure 6 In one embodiment, the emission direction of the second light source L_2 can be changed so that the emission direction of the second light L_2 is away from the image sensor 103.

[0053] According to the foregoing embodiments, a method for detecting non-solid substances can be obtained. This method is applied to a non-solid substance detection device (e.g., an automatic cleaning device 100) that includes an image sensor, a first light source, and a second light source. This detection method includes... Figure 7 The steps are shown below. Please note that the order of these steps is for illustrative purposes only and does not limit the scope of the invention.

[0054] Step 701

[0055] The first light L_1 is emitted in the first direction by the first light source LS_1.

[0056] Step 703

[0057] The first sensing image Img_1 is generated by sensing the reflected light of the first light L_1 through the image sensor 103.

[0058] Step 705

[0059] The second light L_2 is emitted in the second direction through the second light source LS_2.

[0060] Step 707

[0061] The second sensing image Img_2 is generated by sensing the reflected light of the second light L_2 through the image sensor 103.

[0062] Step 709

[0063] Calculate the obstacle region in the second sensing image Img_2 (e.g., Figure 2A and Figure 2B The first ROI (RI_1) in the data.

[0064] Step 711

[0065] Without calculating the area of ​​the first sensing image Img_1 corresponding to the obstacle area, calculate the non-solid material area (e.g., Figure 2A and Figure 2B The second ROI (RI_2) in the example, such as Figure 2A and Figure 2B As shown in the example.

[0066] In one embodiment, the non-solid substance detection device is located on the surface Sr, with a first direction facing the surface and a second direction away from or parallel to the surface.

[0067] Other detailed steps have been described in the above embodiments and will not be repeated here.

[0068] This invention also discloses a distance calculation mechanism for an automatic cleaning device. Please note that while the following embodiments use an automatic cleaning device as an example to illustrate the concept of this invention, the distance calculation mechanism disclosed herein can also be applied to any other electronic device.

[0069] Figure 8 A schematic diagram of an automatic cleaning device according to another embodiment of the present invention is shown. Figure 8 As shown, the automatic cleaning device 800 includes a surface light source LS_S, a line light source LS_L, an image sensor 801, and a processing circuit 803. In one embodiment, the image sensor 801 is a single-photon avalanche diode (SPAD) image sensor. Note that the positions of the surface light source LS_S, the line light source LS_L, and the image sensor 801 are not limited to... Figure 8 The embodiments shown can be modified according to different requirements.

[0070] A surface light source LS_S emits planar light. A line light source LS_L emits linear light. An image sensor 801 senses a first sensed image generated from the reflected light of the planar light and a second sensed image generated from the reflected light of the linear light. A processing circuit 803 calculates the distance between the distance calculation device 800 and the obstacle Ob based on the first or second sensed image. That is, the distance calculation device 800 can calculate the distance based on the first sensed image without using the second sensed image, or based on the second sensed image without using the first sensed image. In one embodiment, the processing circuit 803 calculates the distance based on the first sensed image using a Time-of-Flight (TOF) algorithm and calculates the distance based on the second sensed image based on the image's centroid displacement.

[0071] Figure 9 A schematic diagram illustrating how an automatic cleaning device calculates distance according to an embodiment of the present invention is shown. Figure 9 As shown in the figure, in one embodiment, the automatic cleaning device 800 initially uses planar light SL to calculate the distance without using linear light LL. If the calculated distance D is greater than the second threshold distance Dt2, the automatic cleaning device 800 continues to use planar light SL to calculate the distance. In addition, if the calculated distance D is less than the first threshold distance Dt1, the automatic cleaning device 800 switches to using linear light LL to calculate the distance. In this case, the automatic cleaning device 800 does not use planar light SL to calculate the distance. The first threshold distance Dt1 and the second threshold distance Dt2 may be the same or different. Furthermore, when the automatic cleaning device 800 uses linear light LL to calculate the distance, if the calculated distance D is greater than the second threshold distance Dt2, the automatic cleaning device 800 switches back to using planar light SL to calculate the distance. The aforementioned threshold distance may be a threshold value, therefore, when the calculated distance D exceeds the threshold distance, it indicates that the automatic cleaning device is far away from an obstacle. On the contrary, when the calculated distance D does not exceed the threshold distance, it indicates that the automatic cleaning device is close to the obstacle.

[0072] Please also note that the switching sequence of the present invention is not limited to Figure 9 the example shown in the figure. For example, in one embodiment, the automatic cleaning device 800 initially uses linear light LL to calculate the distance without using planar light SL. If the calculated distance D is greater than the second threshold distance Dt2, the automatic cleaning device 800 switches to using planar light SL to calculate the distance without using linear light LL.

[0073] When the automatic cleaning device 800 is far away from an obstacle Ob (i.e., D>Dt2), a SPAD image sensor using the TOF algorithm can accurately detect the distance. In addition, when the automatic cleaning device 800 approaches the obstacle Ob (i.e., D<Dt1), the distance calculated based on the movement of the image center of gravity is relatively accurate. Therefore, Figure 9 the embodiment can provide accurate distance calculation regardless of whether the automatic cleaning device 800 is far away from or close to the obstacle Ob.

[0074] Furthermore, in Figure 8 and Figure 9 the embodiment, the emission direction of the linear light LL is parallel to the surface Sr. However, the emission direction of the linear light LL may be set to approach or depart from the surface Sr, such as Figure 4 the first light L_1 and the second light L_2 shown in the figure.

[0075] the on / off switching of the area light source LS_S and the line light source LS_L is not limited to the embodiments in Figure 9 the embodiments. Figure 10 there is illustrated a schematic diagram of light emission durations of a planar light source and a linear light source according to different embodiments of the present invention. In Figure 10In this embodiment, a high logic level indicates that the light source is turned on and emits light, while a low logic level indicates that the light source is turned off and does not emit light. Setting 1 corresponds to... Figure 9 The embodiment described above states that when the calculated distance D is greater than the second threshold distance Dt2, the area light source LS_S is turned on while the line light source LS_L is turned off. Conversely, when the calculated distance D is less than the first threshold distance Dt1, the area light source LS_S is turned off while the line light source LS_L is turned on.

[0076] Regarding setting 2, the area light source LS_S and the line light source LS_L are alternately activated. Furthermore, in one embodiment, the planar light and the line light are emitted simultaneously. In this case, the planar light and the line light have different wavelengths, and different areas of the image sensor have different coatings. Thus, different areas of the image sensor can receive light of different wavelengths. In these cases, the final calculated distance can be obtained based on the distances calculated according to different light sources. For example, the average of the calculated distances based on the planar light and the calculated distances based on the line light can be used as the final calculated distance.

[0077] Based on the above embodiments, a distance calculation method can be obtained, which includes as follows: Figure 11 The steps are shown. Please note that... Figure 11 The order of steps described herein is not intended to limit the scope of the invention.

[0078] Step 1101

[0079] Planar light is emitted through the planar light source LS_S.

[0080] Step 1103

[0081] The image sensor 801 senses a first sensed image generated based on the reflected light from a plane.

[0082] Step 1105

[0083] Linear light is emitted through a line light source LS_L.

[0084] Step 1107

[0085] The image sensor 801 senses a second sensing image generated based on the reflected light of the linear light.

[0086] Step 1109

[0087] The distance calculation device (e.g., automatic cleaning device 800) and the distance between obstacles Ob are calculated based on the first or second sensor image.

[0088] For other detailed steps, please refer to... Figure 8 , Figure 9 and Figure 10 The specific implementation examples are not described in detail here.

[0089] According to the aforementioned embodiments, liquid detection can be more accurate. Furthermore, the distance can be accurately calculated even when the automatic cleaning device is near an obstacle.

[0090] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for detecting non-solid substances, used in a non-solid substance detection device, characterized in that, The non-solid substance detection device includes an image sensor, a first light source, and a second light source. The non-solid substance detection method includes: First light is emitted from a first light source in a first direction: A first sensed image is generated by sensing the reflected light of the first light through the image sensor; A second light is emitted from a second light source in a second direction: The second sensed image is generated by sensing the reflected light of the second light through the image sensor; Calculate the obstacle region in the second sensor image; and Without calculating the area of ​​the first sensor image corresponding to the obstacle area, calculate the non-solid material area in the first sensor image; The non-solid substance detection device is located on the surface, the first direction is towards the surface and the second direction is away from the surface or parallel to the surface; The steps of emitting a first light in a first direction through a first light source and emitting a second light in a second direction through a second light source are to emit the first light and the second light alternately. The steps of emitting first light in a first direction through a first light source and emitting second light in a second direction through a second light source further include: The first light is emitted in a first time interval; and the second light is emitted in a second time interval, the second time interval being longer than the first time interval.

2. The method for detecting non-solid substances as described in claim 1, characterized in that, This non-solid material region includes either the liquid region or the colloidal region.

3. A non-solid substance detection device, comprising: Processing circuitry; Image sensor; The first light source emits first light in a first direction; A second light source emits a second light in a second direction; The processing circuit performs the following steps: Control the image sensor to sense a first sensed image generated based on the reflected light of the first light; Control the image sensor to sense a second sensed image generated based on the reflected light of the second light; Calculate the obstacle region in the second sensor image; as well as Without calculating the area of ​​the first sensor image corresponding to the obstacle area, calculate the non-solid material area in the first sensor image; The non-solid substance detection device is located on the surface, the first direction is towards the surface and the second direction is away from the surface or parallel to the surface; The steps of emitting a first light in a first direction through a first light source and emitting a second light in a second direction through a second light source are to emit the first light and the second light alternately. The steps of emitting first light in a first direction through a first light source and emitting second light in a second direction through a second light source further include: The first light is emitted in a first time interval; and the second light is emitted in a second time interval, the second time interval being longer than the first time interval.

4. The non-solid substance detection device as described in claim 3, characterized in that, This non-solid material region includes either the liquid region or the colloidal region.

5. The non-solid substance detection device as described in claim 3, characterized in that, The position of the image sensor enables it to sense the reflected light of the first light and the reflected light of the second light. The first light source is positioned above the image sensor and the second light source is positioned below the image sensor.

6. The non-solid substance detection device as described in claim 3, characterized in that, The position of the image sensor enables it to sense the reflected light of the first light and the reflected light of the second light. The first light source and the second light source are located below the image sensor.

7. The non-solid substance detection device as described in claim 3, characterized in that, The position of the image sensor enables it to sense the reflected light of the first light and the reflected light of the second light. The first light source and the second light source are located above the image sensor.

8. The non-solid substance detection device as described in claim 3, characterized in that, The non-solid substance detection device is an automatic cleaning machine.

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